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https://github.com/wpilibsuite/allwpilib
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40 lines
1.3 KiB
Java
40 lines
1.3 KiB
Java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package org.wpilib.opmode;
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/**
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* Top-level interface for opmode classes. Users should generally extend one of the abstract
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* implementations of this interface (e.g. {@link PeriodicOpMode} or {@link LinearOpMode}) rather
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* than directly implementing this interface.
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*/
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public interface OpMode {
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/**
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* This function is called periodically while the opmode is selected on the DS (robot is
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* disabled). Code that should only run once when the opmode is selected should go in the opmode
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* constructor.
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*/
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default void disabledPeriodic() {}
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/**
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* This function is called when the opmode starts (robot is enabled).
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*
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* @param opModeId opmode unique ID
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* @throws InterruptedException when interrupted
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*/
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void opModeRun(long opModeId) throws InterruptedException;
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/**
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* This function is called asynchronously when the robot is disabled, to request the opmode return
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* from opModeRun().
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*/
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void opModeStop();
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/**
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* This function is called when the opmode is no longer selected on the DS or after opModeRun()
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* returns. The object will not be reused after this is called.
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*/
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void opModeClose();
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}
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