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IterativeRobot.h
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef ROBOT_ITERATIVE_H_
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#define ROBOT_ITERATIVE_H_
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#include "Timer.h"
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#include "RobotBase.h"
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class
IterativeRobot
:
public
RobotBase
{
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public
:
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/*
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* The default period for the periodic function calls (seconds)
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* Setting the period to 0.0 will cause the periodic functions to follow
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* the Driver Station packet rate of about 50Hz.
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*/
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static
constexpr
double
kDefaultPeriod = 0.0;
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virtual
void
StartCompetition
();
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virtual
void
RobotInit
();
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virtual
void
DisabledInit
();
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virtual
void
AutonomousInit
();
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virtual
void
TeleopInit
();
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virtual
void
TestInit
();
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virtual
void
DisabledPeriodic
();
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virtual
void
AutonomousPeriodic
();
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virtual
void
TeleopPeriodic
();
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virtual
void
TestPeriodic
();
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void
SetPeriod
(
double
period);
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double
GetPeriod
();
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double
GetLoopsPerSec
();
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protected
:
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virtual
~IterativeRobot
();
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IterativeRobot
();
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private
:
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bool
NextPeriodReady();
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bool
m_disabledInitialized;
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bool
m_autonomousInitialized;
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bool
m_teleopInitialized;
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bool
m_testInitialized;
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double
m_period;
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Timer
m_mainLoopTimer;
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};
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#endif
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IterativeRobot::DisabledPeriodic
virtual void DisabledPeriodic()
Definition:
IterativeRobot.cpp:277
Timer
Definition:
Timer.h:27
IterativeRobot::AutonomousInit
virtual void AutonomousInit()
Definition:
IterativeRobot.cpp:244
IterativeRobot::GetLoopsPerSec
double GetLoopsPerSec()
Definition:
IterativeRobot.cpp:76
IterativeRobot
Definition:
IterativeRobot.h:41
RobotBase
Definition:
RobotBase.h:37
IterativeRobot::DisabledInit
virtual void DisabledInit()
Definition:
IterativeRobot.cpp:233
IterativeRobot::StartCompetition
virtual void StartCompetition()
Definition:
IterativeRobot.cpp:93
IterativeRobot::SetPeriod
void SetPeriod(double period)
Definition:
IterativeRobot.cpp:46
IterativeRobot::IterativeRobot
IterativeRobot()
Definition:
IterativeRobot.cpp:24
IterativeRobot::AutonomousPeriodic
virtual void AutonomousPeriodic()
Definition:
IterativeRobot.cpp:294
IterativeRobot::TestPeriodic
virtual void TestPeriodic()
Definition:
IterativeRobot.cpp:328
IterativeRobot::GetPeriod
double GetPeriod()
Definition:
IterativeRobot.cpp:67
IterativeRobot::~IterativeRobot
virtual ~IterativeRobot()
Definition:
IterativeRobot.cpp:37
IterativeRobot::TeleopPeriodic
virtual void TeleopPeriodic()
Definition:
IterativeRobot.cpp:311
IterativeRobot::TestInit
virtual void TestInit()
Definition:
IterativeRobot.cpp:266
IterativeRobot::TeleopInit
virtual void TeleopInit()
Definition:
IterativeRobot.cpp:255
IterativeRobot::RobotInit
virtual void RobotInit()
Definition:
IterativeRobot.cpp:222
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