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[examples] Add TimesliceRobot templates (#3683)

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This commit is contained in:
Tyler Veness
2023-09-15 20:42:21 -07:00
committed by GitHub
parent 9047682202
commit 19a8850fb1
11 changed files with 486 additions and 0 deletions
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8
styleguide/spotbugs-exclude.xml
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@@ -116,6 +116,14 @@
<Bug pattern="UC_USELESS_VOID_METHOD" />
<Class name="edu.wpi.first.wpilibj.templates.timed.Robot" />
</Match>
<Match>
<Bug pattern="UC_USELESS_VOID_METHOD" />
<Class name="edu.wpi.first.wpilibj.templates.timeslice.Robot" />
</Match>
<Match>
<Bug pattern="UC_USELESS_VOID_METHOD" />
<Class name="edu.wpi.first.wpilibj.templates.timesliceskeleton.Robot" />
</Match>
<Match>
<Bug pattern="URF_UNREAD_FIELD" />
<Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />

21
wpilibcExamples/src/main/cpp/templates/templates.json
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@@ -41,6 +41,27 @@
"gradlebase": "cpp",
"commandversion": 2
},
{
"name": "Timeslice Robot",
"description": "Timeslice style",
"tags": [
"Timeslice"
],
"foldername": "timeslice",
"gradlebase": "cpp",
"commandversion": 2
},
{
"name": "Timeslice Skeleton (Advanced)",
"description": "Skeleton (stub) code for TimesliceRobot",
"tags": [
"Timeslice",
"Skeleton"
],
"foldername": "timesliceskeleton",
"gradlebase": "cpp",
"commandversion": 2
},
{
"name": "RobotBase Skeleton (Advanced)",
"description": "Skeleton (stub) code for RobotBase - Not recommended for competition use",

92
wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp Normal file
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@@ -0,0 +1,92 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "Robot.h"
#include <fmt/core.h>
#include <frc/livewindow/LiveWindow.h>
#include <frc/smartdashboard/SmartDashboard.h>
// Run robot periodic() functions for 5 ms, and run controllers every 10 ms
Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
// LiveWindow causes drastic overruns in robot periodic functions that will
// interfere with controllers
frc::LiveWindow::DisableAllTelemetry();
// Runs for 2 ms after robot periodic functions
Schedule([=] {}, 2_ms);
// Runs for 2 ms after first controller function
Schedule([=] {}, 2_ms);
// Total usage:
// 5 ms (robot) + 2 ms (controller 1) + 2 ms (controller 2) = 9 ms
// 9 ms / 10 ms -> 90% allocated
}
void Robot::RobotInit() {
m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault);
m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom);
frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
}
/**
* This function is called every robot packet, no matter the mode. Use
* this for items like diagnostics that you want ran during disabled,
* autonomous, teleoperated and test.
*
* <p> This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
*/
void Robot::RobotPeriodic() {}
/**
* This autonomous (along with the chooser code above) shows how to select
* between different autonomous modes using the dashboard. The sendable chooser
* code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
* remove all of the chooser code and uncomment the GetString line to get the
* auto name from the text box below the Gyro.
*
* You can add additional auto modes by adding additional comparisons to the
* if-else structure below with additional strings. If using the SendableChooser
* make sure to add them to the chooser code above as well.
*/
void Robot::AutonomousInit() {
m_autoSelected = m_chooser.GetSelected();
// m_autoSelected = SmartDashboard::GetString("Auto Selector",
// kAutoNameDefault);
fmt::print("Auto selected: {}\n", m_autoSelected);
if (m_autoSelected == kAutoNameCustom) {
// Custom Auto goes here
} else {
// Default Auto goes here
}
}
void Robot::AutonomousPeriodic() {
if (m_autoSelected == kAutoNameCustom) {
// Custom Auto goes here
} else {
// Default Auto goes here
}
}
void Robot::TeleopInit() {}
void Robot::TeleopPeriodic() {}
void Robot::DisabledInit() {}
void Robot::DisabledPeriodic() {}
void Robot::TestInit() {}
void Robot::TestPeriodic() {}
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
}
#endif

32
wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.h Normal file
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@@ -0,0 +1,32 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <string>
#include <frc/TimesliceRobot.h>
#include <frc/smartdashboard/SendableChooser.h>
class Robot : public frc::TimesliceRobot {
public:
Robot();
void RobotInit() override;
void RobotPeriodic() override;
void AutonomousInit() override;
void AutonomousPeriodic() override;
void TeleopInit() override;
void TeleopPeriodic() override;
void DisabledInit() override;
void DisabledPeriodic() override;
void TestInit() override;
void TestPeriodic() override;
private:
frc::SendableChooser<std::string> m_chooser;
const std::string kAutoNameDefault = "Default";
const std::string kAutoNameCustom = "My Auto";
std::string m_autoSelected;
};

45
wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp Normal file
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@@ -0,0 +1,45 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "Robot.h"
#include <frc/livewindow/LiveWindow.h>
// Run robot periodic() functions for 5 ms, and run controllers every 10 ms
Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
// LiveWindow causes drastic overruns in robot periodic functions that will
// interfere with controllers
frc::LiveWindow::DisableAllTelemetry();
// Runs for 2 ms after robot periodic functions
Schedule([=] {}, 2_ms);
// Runs for 2 ms after first controller function
Schedule([=] {}, 2_ms);
// Total usage:
// 5 ms (robot) + 2 ms (controller 1) + 2 ms (controller 2) = 9 ms
// 9 ms / 10 ms -> 90% allocated
}
void Robot::RobotInit() {}
void Robot::RobotPeriodic() {}
void Robot::AutonomousInit() {}
void Robot::AutonomousPeriodic() {}
void Robot::TeleopInit() {}
void Robot::TeleopPeriodic() {}
void Robot::DisabledInit() {}
void Robot::DisabledPeriodic() {}
void Robot::TestInit() {}
void Robot::TestPeriodic() {}
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
}
#endif

27
wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.h Normal file
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@@ -0,0 +1,27 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <frc/TimesliceRobot.h>
class Robot : public frc::TimesliceRobot {
public:
Robot();
void RobotInit() override;
void RobotPeriodic() override;
void AutonomousInit() override;
void AutonomousPeriodic() override;
void TeleopInit() override;
void TeleopPeriodic() override;
void DisabledInit() override;
void DisabledPeriodic() override;
void TestInit() override;
void TestPeriodic() override;
};

23
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
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@@ -45,6 +45,29 @@
"mainclass": "Main",
"commandversion": 2
},
{
"name": "Timesice Robot",
"description": "Timeslice style",
"tags": [
"Timeslice"
],
"foldername": "timeslice",
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 2
},
{
"name": "Timeslice Skeleton (Advanced)",
"description": "Skeleton (stub) code for TimesliceRobot",
"tags": [
"Timeslice",
"Skeleton"
],
"foldername": "timesliceskeleton",
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 2
},
{
"name": "RobotBase Skeleton (Advanced)",
"description": "Skeleton (stub) code for RobotBase - Not recommended for competition use",

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timeslice/Main.java Normal file
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@@ -0,0 +1,25 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.templates.timeslice;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

118
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timeslice/Robot.java Normal file
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@@ -0,0 +1,118 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.templates.timeslice;
import edu.wpi.first.wpilibj.TimesliceRobot;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
* each mode, as described in the TimesliceRobot documentation. If you change the name of this class
* or the package after creating this project, you must also update the build.gradle file in the
* project.
*/
public class Robot extends TimesliceRobot {
private static final String kDefaultAuto = "Default";
private static final String kCustomAuto = "My Auto";
private String m_autoSelected;
private final SendableChooser<String> m_chooser = new SendableChooser<>();
/** Robot constructor. */
public Robot() {
// Run robot periodic() functions for 5 ms, and run controllers every 10 ms
super(0.005, 0.01);
// LiveWindow causes drastic overruns in robot periodic functions that will
// interfere with controllers
LiveWindow.disableAllTelemetry();
// Runs for 2 ms after robot periodic functions
schedule(() -> {}, 0.002);
// Runs for 2 ms after first controller function
schedule(() -> {}, 0.002);
// Total usage: 5 ms (robot) + 2 ms (controller 1) + 2 ms (controller 2)
// = 9 ms -> 90% allocated
}
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
@Override
public void robotInit() {
m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
m_chooser.addOption("My Auto", kCustomAuto);
SmartDashboard.putData("Auto choices", m_chooser);
}
/**
* This function is called every robot packet, no matter the mode. Use this for items like
* diagnostics that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {}
/**
* This autonomous (along with the chooser code above) shows how to select between different
* autonomous modes using the dashboard. The sendable chooser code works with the Java
* SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the chooser code and
* uncomment the getString line to get the auto name from the text box below the Gyro
*
* <p>You can add additional auto modes by adding additional comparisons to the switch structure
* below with additional strings. If using the SendableChooser make sure to add them to the
* chooser code above as well.
*/
@Override
public void autonomousInit() {
m_autoSelected = m_chooser.getSelected();
// m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
System.out.println("Auto selected: " + m_autoSelected);
}
/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {
switch (m_autoSelected) {
case kCustomAuto:
// Put custom auto code here
break;
case kDefaultAuto:
default:
// Put default auto code here
break;
}
}
/** This function is called once when teleop is enabled. */
@Override
public void teleopInit() {}
/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {}
/** This function is called once when the robot is disabled. */
@Override
public void disabledInit() {}
/** This function is called periodically when disabled. */
@Override
public void disabledPeriodic() {}
/** This function is called once when test mode is enabled. */
@Override
public void testInit() {}
/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {}
}

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timesliceskeleton/Main.java Normal file
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@@ -0,0 +1,25 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.templates.timesliceskeleton;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

70
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timesliceskeleton/Robot.java Normal file
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@@ -0,0 +1,70 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.templates.timesliceskeleton;
import edu.wpi.first.wpilibj.TimesliceRobot;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
* each mode, as described in the TimesliceRobot documentation. If you change the name of this class
* or the package after creating this project, you must also update the build.gradle file in the
* project.
*/
public class Robot extends TimesliceRobot {
/** Robot constructor. */
public Robot() {
// Run robot periodic() functions for 5 ms, and run controllers every 10 ms
super(0.005, 0.01);
// LiveWindow causes drastic overruns in robot periodic functions that will
// interfere with controllers
LiveWindow.disableAllTelemetry();
// Runs for 2 ms after robot periodic functions
schedule(() -> {}, 0.002);
// Runs for 2 ms after first controller function
schedule(() -> {}, 0.002);
// Total usage:
// 5 ms (robot) + 2 ms (controller 1) + 2 ms (controller 2) = 9 ms
// 9 ms / 10 ms -> 90% allocated
}
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
@Override
public void robotInit() {}
@Override
public void robotPeriodic() {}
@Override
public void autonomousInit() {}
@Override
public void autonomousPeriodic() {}
@Override
public void teleopInit() {}
@Override
public void teleopPeriodic() {}
@Override
public void disabledInit() {}
@Override
public void disabledPeriodic() {}
@Override
public void testInit() {}
@Override
public void testPeriodic() {}
}