Package edu.wpi.first.wpilibj

Class IterativeRobotBase

java.lang.Object
edu.wpi.first.wpilibj.RobotBase
edu.wpi.first.wpilibj.IterativeRobotBase
All Implemented Interfaces:
AutoCloseable
Direct Known Subclasses:
TimedRobot
public abstract class IterativeRobotBase extends RobotBase
IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase class.

The IterativeRobotBase class does not implement startCompetition(), so it should not be used by teams directly.

This class provides the following functions which are called by the main loop, startCompetition(), at the appropriate times:

robotInit() -- provide for initialization at robot power-on

driverStationConnected() -- provide for initialization the first time the DS is connected

init() functions -- each of the following functions is called once when the appropriate mode is entered:

  • disabledInit() -- called each and every time disabled is entered from another mode
  • autonomousInit() -- called each and every time autonomous is entered from another mode
  • teleopInit() -- called each and every time teleop is entered from another mode
  • testInit() -- called each and every time test is entered from another mode

periodic() functions -- each of these functions is called on an interval:

  • robotPeriodic()
  • disabledPeriodic()
  • autonomousPeriodic()
  • teleopPeriodic()
  • testPeriodic()

exit() functions -- each of the following functions is called once when the appropriate mode is exited:

  • disabledExit() -- called each and every time disabled is exited
  • autonomousExit() -- called each and every time autonomous is exited
  • teleopExit() -- called each and every time teleop is exited
  • testExit() -- called each and every time test is exited

  • Constructor Details

    • IterativeRobotBase

      protected IterativeRobotBase(double period)
      Constructor for IterativeRobotBase.
      Parameters:
      period - Period in seconds.

  • Method Details

    • startCompetition

      public abstract void startCompetition()
      Provide an alternate "main loop" via startCompetition().
      Specified by:
      startCompetition in class RobotBase

    • robotInit

      public void robotInit()
      Robot-wide initialization code should go here.

      Users should override this method for default Robot-wide initialization which will be called when the robot is first powered on. It will be called exactly one time.

      Note: This method is functionally identical to the class constructor so that should be used instead.

    • driverStationConnected

      public void driverStationConnected()
      Code that needs to know the DS state should go here.

      Users should override this method for initialization that needs to occur after the DS is connected, such as needing the alliance information.

    • simulationInit

      public void simulationInit()
      Robot-wide simulation initialization code should go here.

      Users should override this method for default Robot-wide simulation related initialization which will be called when the robot is first started. It will be called exactly one time after RobotInit is called only when the robot is in simulation.

    • disabledInit

      public void disabledInit()
      Initialization code for disabled mode should go here.

      Users should override this method for initialization code which will be called each time the robot enters disabled mode.

    • autonomousInit

      public void autonomousInit()
      Initialization code for autonomous mode should go here.

      Users should override this method for initialization code which will be called each time the robot enters autonomous mode.

    • teleopInit

      public void teleopInit()
      Initialization code for teleop mode should go here.

      Users should override this method for initialization code which will be called each time the robot enters teleop mode.

    • testInit

      public void testInit()
      Initialization code for test mode should go here.

      Users should override this method for initialization code which will be called each time the robot enters test mode.

    • robotPeriodic

      public void robotPeriodic()
      Periodic code for all robot modes should go here.

    • simulationPeriodic

      public void simulationPeriodic()
      Periodic simulation code should go here.

      This function is called in a simulated robot after user code executes.

    • disabledPeriodic

      public void disabledPeriodic()
      Periodic code for disabled mode should go here.

    • autonomousPeriodic

      public void autonomousPeriodic()
      Periodic code for autonomous mode should go here.

    • teleopPeriodic

      public void teleopPeriodic()
      Periodic code for teleop mode should go here.

    • testPeriodic

      public void testPeriodic()
      Periodic code for test mode should go here.

    • disabledExit

      public void disabledExit()
      Exit code for disabled mode should go here.

      Users should override this method for code which will be called each time the robot exits disabled mode.

    • autonomousExit

      public void autonomousExit()
      Exit code for autonomous mode should go here.

      Users should override this method for code which will be called each time the robot exits autonomous mode.

    • teleopExit

      public void teleopExit()
      Exit code for teleop mode should go here.

      Users should override this method for code which will be called each time the robot exits teleop mode.

    • testExit

      public void testExit()
      Exit code for test mode should go here.

      Users should override this method for code which will be called each time the robot exits test mode.

    • setNetworkTablesFlushEnabled

      @Deprecated(forRemoval=true, since="2025") public void setNetworkTablesFlushEnabled(boolean enabled)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Deprecated without replacement.
      Enables or disables flushing NetworkTables every loop iteration. By default, this is enabled.
      Parameters:
      enabled - True to enable, false to disable

    • enableLiveWindowInTest

      public void enableLiveWindowInTest(boolean testLW)
      Sets whether LiveWindow operation is enabled during test mode. Calling
      Parameters:
      testLW - True to enable, false to disable. Defaults to false.
      Throws:
      ConcurrentModificationException - if this is called during test mode.

    • isLiveWindowEnabledInTest

      public boolean isLiveWindowEnabledInTest()
      Whether LiveWindow operation is enabled during test mode.
      Returns:
      whether LiveWindow should be enabled in test mode.

    • getPeriod

      public double getPeriod()
      Gets time period between calls to Periodic() functions.
      Returns:
      The time period between calls to Periodic() functions.

    • loopFunc

      protected void loopFunc()
      Loop function.

    • printWatchdogEpochs

      public void printWatchdogEpochs()
      Prints list of epochs added so far and their times.