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Added TimedRobot::GetPeriod() (#915)

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Fixes #914.
This commit is contained in:
Tyler Veness
2018-01-27 01:01:15 -08:00
committed by Peter Johnson
parent 120ceb3427
commit 5ca00dddbe
3 changed files with 17 additions and 3 deletions
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7
wpilibc/src/main/native/cpp/TimedRobot.cpp
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@@ -43,10 +43,15 @@ void TimedRobot::SetPeriod(double period) {
m_period = period;
if (m_startLoop) {
m_loop->StartPeriodic(m_period);
m_loop->StartPeriodic(period);
}
}
/**
* Get time period between calls to Periodic() functions.
*/
double TimedRobot::GetPeriod() const { return m_period; }
TimedRobot::TimedRobot() {
m_loop = std::make_unique<Notifier>(&TimedRobot::LoopFunc, this);

4
wpilibc/src/main/native/include/TimedRobot.h
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@@ -7,6 +7,7 @@
#pragma once
#include <atomic>
#include <memory>
#include "IterativeRobotBase.h"
@@ -30,13 +31,14 @@ class TimedRobot : public IterativeRobotBase {
void StartCompetition() override;
void SetPeriod(double seconds);
double GetPeriod() const;
protected:
TimedRobot();
virtual ~TimedRobot();
private:
double m_period = kDefaultPeriod;
std::atomic<double> m_period{kDefaultPeriod};
// Prevents loop from starting if user calls SetPeriod() in RobotInit()
bool m_startLoop = false;

9
wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
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@@ -21,7 +21,7 @@ import edu.wpi.first.wpilibj.hal.HAL;
public class TimedRobot extends IterativeRobotBase {
public static final double DEFAULT_PERIOD = 0.02;
private double m_period = DEFAULT_PERIOD;
private volatile double m_period = DEFAULT_PERIOD;
// Prevents loop from starting if user calls setPeriod() in robotInit()
private boolean m_startLoop = false;
@@ -68,4 +68,11 @@ public class TimedRobot extends IterativeRobotBase {
m_loop.startPeriodic(m_period);
}
}
/**
* Get time period between calls to Periodic() functions.
*/
public double getPeriod() {
return m_period;
}
}