frc::TimedRobot Class Reference

TimedRobot implements the IterativeRobotBase robot program framework. More...

#include <frc/TimedRobot.h>

Inheritance diagram for frc::TimedRobot:

Public Member Functions
void	StartCompetition () override
	Provide an alternate "main loop" via StartCompetition().
void	EndCompetition () override
	Ends the main loop in StartCompetition().
	TimedRobot (units::second_t period=kDefaultPeriod)
	Constructor for TimedRobot.
	TimedRobot (TimedRobot &&)=default
TimedRobot &	operator= (TimedRobot &&)=default
	~TimedRobot () override
uint64_t	GetLoopStartTime ()
	Return the system clock time in micrseconds for the start of the current periodic loop.
void	AddPeriodic (std::function< void()> callback, units::second_t period, units::second_t offset=0_s)
	Add a callback to run at a specific period with a starting time offset.
Public Member Functions inherited from frc::IterativeRobotBase
virtual void	RobotInit ()
	Robot-wide initialization code should go here.
virtual void	DriverStationConnected ()
	Code that needs to know the DS state should go here.
virtual void	SimulationInit ()
	Robot-wide simulation initialization code should go here.
virtual void	DisabledInit ()
	Initialization code for disabled mode should go here.
virtual void	AutonomousInit ()
	Initialization code for autonomous mode should go here.
virtual void	TeleopInit ()
	Initialization code for teleop mode should go here.
virtual void	TestInit ()
	Initialization code for test mode should go here.
virtual void	RobotPeriodic ()
	Periodic code for all modes should go here.
virtual void	SimulationPeriodic ()
	Periodic simulation code should go here.
virtual void	DisabledPeriodic ()
	Periodic code for disabled mode should go here.
virtual void	AutonomousPeriodic ()
	Periodic code for autonomous mode should go here.
virtual void	TeleopPeriodic ()
	Periodic code for teleop mode should go here.
virtual void	TestPeriodic ()
	Periodic code for test mode should go here.
virtual void	DisabledExit ()
	Exit code for disabled mode should go here.
virtual void	AutonomousExit ()
	Exit code for autonomous mode should go here.
virtual void	TeleopExit ()
	Exit code for teleop mode should go here.
virtual void	TestExit ()
	Exit code for test mode should go here.
void	SetNetworkTablesFlushEnabled (bool enabled)
	Enables or disables flushing NetworkTables every loop iteration.
void	EnableLiveWindowInTest (bool testLW)
	Sets whether LiveWindow operation is enabled during test mode.
bool	IsLiveWindowEnabledInTest ()
	Whether LiveWindow operation is enabled during test mode.
units::second_t	GetPeriod () const
	Gets time period between calls to Periodic() functions.
void	PrintWatchdogEpochs ()
	Prints list of epochs added so far and their times.
	IterativeRobotBase (units::second_t period)
	Constructor for IterativeRobotBase.
	~IterativeRobotBase () override=default
Public Member Functions inherited from frc::RobotBase
bool	IsEnabled () const
	Determine if the Robot is currently enabled.
bool	IsDisabled () const
	Determine if the Robot is currently disabled.
bool	IsAutonomous () const
	Determine if the robot is currently in Autonomous mode.
bool	IsAutonomousEnabled () const
	Determine if the robot is currently in Autonomous mode and enabled.
bool	IsTeleop () const
	Determine if the robot is currently in Operator Control mode.
bool	IsTeleopEnabled () const
	Determine if the robot is current in Operator Control mode and enabled.
bool	IsTest () const
	Determine if the robot is currently in Test mode.
bool	IsTestEnabled () const
	Determine if the robot is current in Test mode and enabled.
	RobotBase ()
	Constructor for a generic robot program.
virtual	~RobotBase ()=default

Static Public Attributes
static constexpr auto	kDefaultPeriod = 20_ms
	Default loop period.

Additional Inherited Members
Static Public Member Functions inherited from frc::RobotBase
static std::thread::id	GetThreadId ()
	Returns the main thread ID.
static RuntimeType	GetRuntimeType ()
	Get the current runtime type.
static constexpr bool	IsReal ()
	Get if the robot is real.
static constexpr bool	IsSimulation ()
	Get if the robot is a simulation.
Protected Member Functions inherited from frc::IterativeRobotBase
	IterativeRobotBase (IterativeRobotBase &&)=default
IterativeRobotBase &	operator= (IterativeRobotBase &&)=default
void	LoopFunc ()
	Loop function.
Protected Member Functions inherited from frc::RobotBase
	RobotBase (RobotBase &&)=default
RobotBase &	operator= (RobotBase &&)=default
Protected Attributes inherited from frc::RobotBase
NT_Listener	connListenerHandle
bool	m_dashboardDetected = false
Static Protected Attributes inherited from frc::RobotBase
static std::thread::id	m_threadId

Detailed Description

TimedRobot implements the IterativeRobotBase robot program framework.

The TimedRobot class is intended to be subclassed by a user creating a robot program.

Periodic() functions from the base class are called on an interval by a Notifier instance.

Constructor & Destructor Documentation

TimedRobot() [1/2]

frc::TimedRobot::TimedRobot ( units::second_t period = kDefaultPeriod )

explicit

Constructor for TimedRobot.

Parameters

period

Period.

TimedRobot() [2/2]

frc::TimedRobot::TimedRobot ( TimedRobot && )

default

~TimedRobot()

frc::TimedRobot::~TimedRobot ( )

override

Member Function Documentation

AddPeriodic()

void frc::TimedRobot::AddPeriodic	(	std::function< void()>	callback,
		units::second_t	period,
		units::second_t	offset = 0_s )

Add a callback to run at a specific period with a starting time offset.

This is scheduled on TimedRobot's Notifier, so TimedRobot and the callback run synchronously. Interactions between them are thread-safe.

Parameters

callback	The callback to run.
period	The period at which to run the callback.
offset	The offset from the common starting time. This is useful for scheduling a callback in a different timeslot relative to TimedRobot.

EndCompetition()

void frc::TimedRobot::EndCompetition ( )

overridevirtual

Ends the main loop in StartCompetition().

Implements frc::RobotBase.

GetLoopStartTime()

uint64_t frc::TimedRobot::GetLoopStartTime

(

)

Return the system clock time in micrseconds for the start of the current periodic loop.

This is in the same time base as Timer.GetFPGATimestamp(), but is stable through a loop. It is updated at the beginning of every periodic callback (including the normal periodic loop).

Returns

Robot running time in microseconds, as of the start of the current periodic function.

operator=()

TimedRobot & frc::TimedRobot::operator= ( TimedRobot && )

default

StartCompetition()

void frc::TimedRobot::StartCompetition ( )

overridevirtual

Provide an alternate "main loop" via StartCompetition().

Implements frc::RobotBase.

Member Data Documentation

kDefaultPeriod

auto frc::TimedRobot::kDefaultPeriod = 20_ms

staticconstexpr

Default loop period.

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The documentation for this class was generated from the following file:

• frc/TimedRobot.h