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Remove kDefaultPeriod from IterativeRobot (#232)

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* Remove kDefaultPeriod from IterativeRobot

* Remove period

* Remove NextPeriodReady
This commit is contained in:
Austin Shalit
2016-10-09 16:58:30 -04:00
committed by Peter Johnson
parent 4896a77c86
commit 27bf94fd06
4 changed files with 11 additions and 107 deletions
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24
wpilibc/sim/include/IterativeRobot.h
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@@ -8,7 +8,6 @@
#pragma once
#include "RobotBase.h"
#include "Timer.h"
/**
* IterativeRobot implements a specific type of Robot Program framework,
@@ -33,11 +32,9 @@
* - 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).
* Periodic() functions -- each of these functions is called each time a
* new packet is received from the driver station:
* - RobotPeriodic()
* - DisabledPeriodic()
* - AutonomousPeriodic()
* - TeleopPeriodic()
@@ -47,13 +44,6 @@
class IterativeRobot : public RobotBase {
public:
/*
* The default period for the periodic function calls (seconds).
* Setting the period to 0.0 will cause the periodic functions to follow
* the Driver Station packet rate of about 50Hz.
*/
static const double kDefaultPeriod;
virtual void StartCompetition();
virtual void RobotInit();
@@ -68,21 +58,13 @@ class IterativeRobot : public RobotBase {
virtual void TeleopPeriodic();
virtual void TestPeriodic();
void SetPeriod(double period);
double GetPeriod();
double GetLoopsPerSec();
protected:
virtual ~IterativeRobot() = default;
IterativeRobot() = default;
private:
bool NextPeriodReady();
bool m_disabledInitialized = false;
bool m_autonomousInitialized = false;
bool m_teleopInitialized = false;
bool m_testInitialized = false;
double m_period = kDefaultPeriod;
Timer m_mainLoopTimer;
};