SimpleRobot.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "SimpleRobot.h"

#include "DriverStation.h"
#include "Timer.h"

SimpleRobot::SimpleRobot()
        : m_robotMainOverridden (true)
{
        m_watchdog.SetEnabled(false);
}

void SimpleRobot::RobotInit()
{
        printf("Default %s() method... Override me!\n", __FUNCTION__);
}

void SimpleRobot::Disabled()
{
        printf("Default %s() method... Override me!\n", __FUNCTION__);
}

void SimpleRobot::Autonomous()
{
        printf("Default %s() method... Override me!\n", __FUNCTION__);
}

void SimpleRobot::OperatorControl()
{
        printf("Default %s() method... Override me!\n", __FUNCTION__);
}

void SimpleRobot::RobotMain()
{
        m_robotMainOverridden = false;
}

void SimpleRobot::StartCompetition()
{
        RobotMain();
        
        if (!m_robotMainOverridden)
        {
                // first and one-time initialization
                RobotInit();

                while (true)
                {
                        if (IsDisabled())
                        {
                                m_ds->InDisabled(true);
                                Disabled();
                                m_ds->InDisabled(false);
                                while (IsDisabled()) m_ds->WaitForData();
                        }
                        else if (IsAutonomous())
                        {
                                m_ds->InAutonomous(true);
                                Autonomous();
                                m_ds->InAutonomous(false);
                                while (IsAutonomous() && IsEnabled()) m_ds->WaitForData();
                        }
                        else
                        {
                                m_ds->InOperatorControl(true);
                                OperatorControl();
                                m_ds->InOperatorControl(false);
                                while (IsOperatorControl() && IsEnabled()) m_ds->WaitForData();
                        }
                }
        }
}