Implement a Robot Program framework. More...

#include <frc/RobotBase.h>

Inheritance diagram for frc::RobotBase:

Public Member Functions
bool	IsEnabled () const
	Determine if the Robot is currently enabled. More...

bool	IsDisabled () const
	Determine if the Robot is currently disabled. More...

bool	IsAutonomous () const
	Determine if the robot is currently in Autonomous mode. More...

bool	IsAutonomousEnabled () const
	Determine if the robot is currently in Autonomous mode and enabled. More...

bool	IsTeleop () const
	Determine if the robot is currently in Operator Control mode. More...

bool	IsTeleopEnabled () const
	Determine if the robot is current in Operator Control mode and enabled. More...

bool	IsTest () const
	Determine if the robot is currently in Test mode. More...

bool	IsTestEnabled () const
	Determine if the robot is current in Test mode and enabled. More...

virtual void	StartCompetition ()=0
	Start the main robot code. More...

virtual void	EndCompetition ()=0
	Ends the main loop in StartCompetition(). More...

	RobotBase ()
	Constructor for a generic robot program. More...

virtual	~RobotBase ()=default

Static Public Member Functions
static std::thread::id	GetThreadId ()
	Returns the main thread ID. More...

static RuntimeType	GetRuntimeType ()
	Get the current runtime type. More...

static constexpr bool	IsReal ()
	Get if the robot is real. More...

static constexpr bool	IsSimulation ()
	Get if the robot is a simulation. More...

Protected Member Functions
	RobotBase (RobotBase &&)=default

RobotBase &	operator= (RobotBase &&)=default

Static Protected Attributes
static std::thread::id	m_threadId

Detailed Description

Implement a Robot Program framework.

The RobotBase class is intended to be subclassed to create a robot program. The user must implement StartCompetition() which will be called once and is not expected to exit. The user must also implement EndCompetition(), which signals to the code in StartCompetition() that it should exit.

It is not recommended to subclass this class directly - instead subclass IterativeRobotBase or TimedRobot.

Constructor & Destructor Documentation

◆ RobotBase() [1/2]

frc::RobotBase::RobotBase ( )

Constructor for a generic robot program.

User code can be placed in the constructor that runs before the Autonomous or Operator Control period starts. The constructor will run to completion before Autonomous is entered.

This must be used to ensure that the communications code starts. In the future it would be nice to put this code into it's own task that loads on boot so ensure that it runs.

◆ ~RobotBase()

virtual frc::RobotBase::~RobotBase ( )

virtualdefault

◆ RobotBase() [2/2]

frc::RobotBase::RobotBase ( RobotBase && )

protecteddefault

Member Function Documentation

◆ EndCompetition()

virtual void frc::RobotBase::EndCompetition ( )

pure virtual

Ends the main loop in StartCompetition().

Implemented in frc::TimedRobot.

◆ GetRuntimeType()

static RuntimeType frc::RobotBase::GetRuntimeType ( )

static

Get the current runtime type.

Returns: Current runtime type.

◆ GetThreadId()

static std::thread::id frc::RobotBase::GetThreadId ( )

static

Returns the main thread ID.

Returns: The main thread ID.

◆ IsAutonomous()

bool frc::RobotBase::IsAutonomous ( ) const

Determine if the robot is currently in Autonomous mode.

Returns: True if the robot is currently operating Autonomously as determined by the Driver Station.

◆ IsAutonomousEnabled()

bool frc::RobotBase::IsAutonomousEnabled ( ) const

Determine if the robot is currently in Autonomous mode and enabled.

Returns: True if the robot us currently operating Autonomously while enabled as determined by the Driver Station.

◆ IsDisabled()

bool frc::RobotBase::IsDisabled ( ) const

Determine if the Robot is currently disabled.

Returns: True if the Robot is currently disabled by the Driver Station.

◆ IsEnabled()

bool frc::RobotBase::IsEnabled ( ) const

Determine if the Robot is currently enabled.

Returns: True if the Robot is currently enabled by the Driver Station.

◆ IsReal()

static constexpr bool frc::RobotBase::IsReal ( )

inlinestaticconstexpr

Get if the robot is real.

Returns: If the robot is running in the real world.

◆ IsSimulation()

static constexpr bool frc::RobotBase::IsSimulation ( )

inlinestaticconstexpr

Get if the robot is a simulation.

Returns: If the robot is running in simulation.

◆ IsTeleop()

bool frc::RobotBase::IsTeleop ( ) const

Determine if the robot is currently in Operator Control mode.

Returns: True if the robot is currently operating in Tele-Op mode as determined by the Driver Station.

◆ IsTeleopEnabled()

bool frc::RobotBase::IsTeleopEnabled ( ) const

Determine if the robot is current in Operator Control mode and enabled.

Returns: True if the robot is currently operating in Tele-Op mode while enabled as determined by the Driver Station.

◆ IsTest()

bool frc::RobotBase::IsTest ( ) const

Determine if the robot is currently in Test mode.

Returns: True if the robot is currently running in Test mode as determined by the Driver Station.

◆ IsTestEnabled()

bool frc::RobotBase::IsTestEnabled ( ) const

Determine if the robot is current in Test mode and enabled.

Returns: True if the robot is currently operating in Test mode while enabled as determined by the Driver Station.

◆ operator=()

RobotBase & frc::RobotBase::operator= ( RobotBase && )

protecteddefault

◆ StartCompetition()

virtual void frc::RobotBase::StartCompetition ( )

pure virtual

Start the main robot code.

This function will be called once and should not exit until signalled by EndCompetition()