IterativeRobot Class Reference

#include <IterativeRobot.h>

Inheritance diagram for IterativeRobot:

Collaboration diagram for IterativeRobot:

Public Member Functions
virtual void	StartCompetition ()
virtual void	RobotInit ()
virtual void	DisabledInit ()
virtual void	AutonomousInit ()
virtual void	TeleopInit ()
virtual void	TestInit ()
virtual void	DisabledPeriodic ()
virtual void	AutonomousPeriodic ()
virtual void	TeleopPeriodic ()
virtual void	TestPeriodic ()
void	SetPeriod (double period)
double	GetPeriod ()
double	GetLoopsPerSec ()
Public Member Functions inherited from RobotBase
bool	IsEnabled ()
bool	IsDisabled ()
bool	IsAutonomous ()
bool	IsOperatorControl ()
bool	IsTest ()
bool	IsSystemActive ()
bool	IsNewDataAvailable ()
Watchdog &	GetWatchdog ()

Static Public Attributes
static constexpr double	kDefaultPeriod = 0.0

Protected Member Functions
virtual	~IterativeRobot ()
	IterativeRobot ()
Protected Member Functions inherited from RobotBase
virtual	~RobotBase ()
	RobotBase ()

Additional Inherited Members
Static Public Member Functions inherited from RobotBase
static RobotBase &	getInstance ()
static void	setInstance (RobotBase *robot)
static void	startRobotTask (FUNCPTR factory)
static void	robotTask (FUNCPTR factory, Task *task)
Static Protected Member Functions inherited from RobotBase
static void	WriteVersionString ()
Protected Attributes inherited from RobotBase
Task *	m_task
Watchdog	m_watchdog
DriverStation *	m_ds

Detailed Description

IterativeRobot implements a specific type of Robot Program framework, extending the RobotBase class.

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

This class is intended to implement the "old style" default code, by providing the following functions which are called by the main loop, StartCompetition(), at the appropriate times:

RobotInit() – provide for initialization at robot power-on

Init() functions – each of the following functions is called once when the appropriate mode is entered:

• DisabledInit() – called only when first disabled
• 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 iteratively at the appropriate periodic rate (aka the "slow loop"). The default period of the iterative robot is synced to the driver station control packets, giving a periodic frequency of about 50Hz (50 times per second).

• DisabledPeriodic()
• AutonomousPeriodic()
• TeleopPeriodic()
• TestPeriodic()

Definition at line 41 of file IterativeRobot.h.

Constructor & Destructor Documentation

IterativeRobot::~IterativeRobot ( )

protectedvirtual

Free the resources for a RobotIterativeBase class.

Definition at line 37 of file IterativeRobot.cpp.

IterativeRobot::IterativeRobot ( )

protected

Constructor for RobotIterativeBase

The constructor initializes the instance variables for the robot to indicate the status of initialization for disabled, autonomous, teleop, and test code.

Definition at line 24 of file IterativeRobot.cpp.

Member Function Documentation

void IterativeRobot::AutonomousInit ( )

virtual

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.

Definition at line 244 of file IterativeRobot.cpp.

void IterativeRobot::AutonomousPeriodic ( )

virtual

Periodic code for autonomous mode should go here.

Users should override this method for code which will be called periodically at a regular rate while the robot is in autonomous mode.

Definition at line 294 of file IterativeRobot.cpp.

void IterativeRobot::DisabledInit ( )

virtual

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.

Definition at line 233 of file IterativeRobot.cpp.

void IterativeRobot::DisabledPeriodic ( )

virtual

Periodic code for disabled mode should go here.

Users should override this method for code which will be called periodically at a regular rate while the robot is in disabled mode.

Definition at line 277 of file IterativeRobot.cpp.

double IterativeRobot::GetLoopsPerSec

(

)

Get the number of loops per second for the IterativeRobot

Returns

Frequency of the periodic function calls

Definition at line 76 of file IterativeRobot.cpp.

double IterativeRobot::GetPeriod

(

)

Get the period for the periodic functions. Returns 0.0 if configured to syncronize with DS control data packets.

Returns

Period of the periodic function calls

Definition at line 67 of file IterativeRobot.cpp.

void IterativeRobot::RobotInit ( )

virtual

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 1 time.

Definition at line 222 of file IterativeRobot.cpp.

void IterativeRobot::SetPeriod

(

double

period

)

Set the period for the periodic functions.

Parameters

period

The period of the periodic function calls. 0.0 means sync to driver station control data.

Definition at line 46 of file IterativeRobot.cpp.

void IterativeRobot::StartCompetition ( )

virtual

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

This specific StartCompetition() implements "main loop" behavior like that of the FRC control system in 2008 and earlier, with a primary (slow) loop that is called periodically, and a "fast loop" (a.k.a. "spin loop") that is called as fast as possible with no delay between calls.

Implements RobotBase.

Definition at line 93 of file IterativeRobot.cpp.

void IterativeRobot::TeleopInit ( )

virtual

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.

Definition at line 255 of file IterativeRobot.cpp.

void IterativeRobot::TeleopPeriodic ( )

virtual

Periodic code for teleop mode should go here.

Users should override this method for code which will be called periodically at a regular rate while the robot is in teleop mode.

Definition at line 311 of file IterativeRobot.cpp.

void IterativeRobot::TestInit ( )

virtual

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.

Definition at line 266 of file IterativeRobot.cpp.

void IterativeRobot::TestPeriodic ( )

virtual

Periodic code for test mode should go here.

Users should override this method for code which will be called periodically at a regular rate while the robot is in test mode.

Definition at line 328 of file IterativeRobot.cpp.

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

• IterativeRobot.h
• IterativeRobot.cpp