diff --git a/wpilibc/src/main/native/cpp/SampleRobot.cpp b/wpilibc/src/main/native/cpp/SampleRobot.cpp deleted file mode 100644 index 8277500a15..0000000000 --- a/wpilibc/src/main/native/cpp/SampleRobot.cpp +++ /dev/null @@ -1,86 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -#include "frc/SampleRobot.h" - -#include -#include -#include -#include -#include - -#include "frc/DriverStation.h" -#include "frc/Timer.h" -#include "frc/livewindow/LiveWindow.h" - -using namespace frc; - -void SampleRobot::StartCompetition() { - LiveWindow* lw = LiveWindow::GetInstance(); - - RobotInit(); - - // Tell the DS that the robot is ready to be enabled - HAL_ObserveUserProgramStarting(); - - RobotMain(); - - if (!m_robotMainOverridden) { - while (true) { - if (IsDisabled()) { - m_ds.InDisabled(true); - Disabled(); - m_ds.InDisabled(false); - while (IsDisabled()) m_ds.WaitForData(); - } else if (IsAutonomous()) { - m_ds.InAutonomous(true); - Autonomous(); - m_ds.InAutonomous(false); - while (IsAutonomous() && IsEnabled()) m_ds.WaitForData(); - } else if (IsTest()) { - lw->SetEnabled(true); - m_ds.InTest(true); - Test(); - m_ds.InTest(false); - while (IsTest() && IsEnabled()) m_ds.WaitForData(); - lw->SetEnabled(false); - } else { - m_ds.InOperatorControl(true); - OperatorControl(); - m_ds.InOperatorControl(false); - while (IsOperatorControl() && IsEnabled()) m_ds.WaitForData(); - } - } - } -} - -void SampleRobot::RobotInit() { - wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n"; -} - -void SampleRobot::Disabled() { - wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n"; -} - -void SampleRobot::Autonomous() { - wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n"; -} - -void SampleRobot::OperatorControl() { - wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n"; -} - -void SampleRobot::Test() { - wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n"; -} - -void SampleRobot::RobotMain() { m_robotMainOverridden = false; } - -SampleRobot::SampleRobot() { - HAL_Report(HALUsageReporting::kResourceType_Framework, - HALUsageReporting::kFramework_Simple); -} diff --git a/wpilibc/src/main/native/include/frc/SampleRobot.h b/wpilibc/src/main/native/include/frc/SampleRobot.h deleted file mode 100644 index 4bce0f30e7..0000000000 --- a/wpilibc/src/main/native/include/frc/SampleRobot.h +++ /dev/null @@ -1,109 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -#pragma once - -#include - -#include "frc/RobotBase.h" - -namespace frc { - -class SampleRobot : public RobotBase { - public: - /** - * Start a competition. - * - * This code needs to track the order of the field starting to ensure that - * everything happens in the right order. Repeatedly run the correct method, - * either Autonomous or OperatorControl or Test when the robot is enabled. - * After running the correct method, wait for some state to change, either the - * other mode starts or the robot is disabled. Then go back and wait for the - * robot to be enabled again. - */ - void StartCompetition() override; - - /** - * 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 one time. - * - * Warning: the Driver Station "Robot Code" light and FMS "Robot Ready" - * indicators will be off until RobotInit() exits. Code in RobotInit() that - * waits for enable will cause the robot to never indicate that the code is - * ready, causing the robot to be bypassed in a match. - */ - virtual void RobotInit(); - - /** - * Disabled should go here. - * - * Programmers should override this method to run code that should run while - * the field is disabled. - */ - virtual void Disabled(); - - /** - * Autonomous should go here. - * - * Programmers should override this method to run code that should run while - * the field is in the autonomous period. This will be called once each time - * the robot enters the autonomous state. - */ - virtual void Autonomous(); - - /** - * Operator control (tele-operated) code should go here. - * - * Programmers should override this method to run code that should run while - * the field is in the Operator Control (tele-operated) period. This is called - * once each time the robot enters the teleop state. - */ - virtual void OperatorControl(); - - /** - * Test program should go here. - * - * Programmers should override this method to run code that executes while the - * robot is in test mode. This will be called once whenever the robot enters - * test mode - */ - virtual void Test(); - - /** - * Robot main program for free-form programs. - * - * This should be overridden by user subclasses if the intent is to not use - * the Autonomous() and OperatorControl() methods. In that case, the program - * is responsible for sensing when to run the autonomous and operator control - * functions in their program. - * - * This method will be called immediately after the constructor is called. If - * it has not been overridden by a user subclass (i.e. the default version - * runs), then the Autonomous() and OperatorControl() methods will be called. - */ - virtual void RobotMain(); - - protected: - WPI_DEPRECATED( - "WARNING: While it may look like a good choice to use for your code if " - "you're inexperienced, don't. Unless you know what you are doing, " - "complex code will be much more difficult under this system. Use " - "TimedRobot or Command-Based instead.") - SampleRobot(); - virtual ~SampleRobot() = default; - - SampleRobot(SampleRobot&&) = default; - SampleRobot& operator=(SampleRobot&&) = default; - - private: - bool m_robotMainOverridden = true; -}; - -} // namespace frc diff --git a/wpilibc/src/main/native/include/frc/WPILib.h b/wpilibc/src/main/native/include/frc/WPILib.h index 91dcb5514f..aba8483773 100644 --- a/wpilibc/src/main/native/include/frc/WPILib.h +++ b/wpilibc/src/main/native/include/frc/WPILib.h @@ -56,7 +56,6 @@ #include "frc/RobotDrive.h" #include "frc/SD540.h" #include "frc/SPI.h" -#include "frc/SampleRobot.h" #include "frc/SensorUtil.h" #include "frc/SerialPort.h" #include "frc/Servo.h" diff --git a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp new file mode 100644 index 0000000000..8495b63a7f --- /dev/null +++ b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp @@ -0,0 +1,66 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +#include "Robot.h" + +#include + +#include +#include +#include +#include + +void Robot::RobotInit() {} + +void Robot::Disabled() {} + +void Robot::Autonomous() {} + +void Robot::Teleop() {} + +void Robot::Test() {} + +void Robot::StartCompetition() { + auto& lw = *frc::LiveWindow::GetInstance(); + + RobotInit(); + + // Tell the DS that the robot is ready to be enabled + HAL_ObserveUserProgramStarting(); + + while (true) { + if (IsDisabled()) { + m_ds.InDisabled(true); + Disabled(); + m_ds.InDisabled(false); + while (IsDisabled()) m_ds.WaitForData(); + } else if (IsAutonomous()) { + m_ds.InAutonomous(true); + Autonomous(); + m_ds.InAutonomous(false); + while (IsAutonomous() && IsEnabled()) m_ds.WaitForData(); + } else if (IsTest()) { + lw.SetEnabled(true); + frc::Shuffleboard::EnableActuatorWidgets(); + m_ds.InTest(true); + Test(); + m_ds.InTest(false); + while (IsTest() && IsEnabled()) m_ds.WaitForData(); + lw.SetEnabled(false); + frc::Shuffleboard::DisableActuatorWidgets(); + } else { + m_ds.InOperatorControl(true); + Teleop(); + m_ds.InOperatorControl(false); + while (IsOperatorControl() && IsEnabled()) m_ds.WaitForData(); + } + } +} + +#ifndef RUNNING_FRC_TESTS +int main() { return frc::StartRobot(); } +#endif diff --git a/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.h b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.h new file mode 100644 index 0000000000..4efc087338 --- /dev/null +++ b/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.h @@ -0,0 +1,21 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +#pragma once + +#include + +class Robot : public frc::RobotBase { + public: + void RobotInit(); + void Disabled(); + void Autonomous(); + void Teleop(); + void Test(); + + void StartCompetition() override; +}; diff --git a/wpilibcExamples/src/main/cpp/templates/sample/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/sample/cpp/Robot.cpp deleted file mode 100644 index 06352ea040..0000000000 --- a/wpilibcExamples/src/main/cpp/templates/sample/cpp/Robot.cpp +++ /dev/null @@ -1,92 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -#include "Robot.h" - -#include - -#include -#include - -Robot::Robot() { - // Note SmartDashboard is not initialized here, wait until RobotInit() to make - // SmartDashboard calls - m_robotDrive.SetExpiration(0.1); -} - -void Robot::RobotInit() { - m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault); - m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom); - frc::SmartDashboard::PutData("Auto Modes", &m_chooser); -} - -/** - * 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::Autonomous() { - std::string autoSelected = m_chooser.GetSelected(); - // std::string autoSelected = frc::SmartDashboard::GetString( - // "Auto Selector", kAutoNameDefault); - std::cout << "Auto selected: " << autoSelected << std::endl; - - // MotorSafety improves safety when motors are updated in loops but is - // disabled here because motor updates are not looped in this autonomous mode. - m_robotDrive.SetSafetyEnabled(false); - - if (autoSelected == kAutoNameCustom) { - // Custom Auto goes here - std::cout << "Running custom Autonomous" << std::endl; - - // Spin at half speed for two seconds - m_robotDrive.ArcadeDrive(0.0, 0.5); - frc::Wait(2.0); - - // Stop robot - m_robotDrive.ArcadeDrive(0.0, 0.0); - } else { - // Default Auto goes here - std::cout << "Running default Autonomous" << std::endl; - - // Drive forwards at half speed for two seconds - m_robotDrive.ArcadeDrive(-0.5, 0.0); - frc::Wait(2.0); - - // Stop robot - m_robotDrive.ArcadeDrive(0.0, 0.0); - } -} - -/** - * Runs the motors with arcade steering. - */ -void Robot::OperatorControl() { - m_robotDrive.SetSafetyEnabled(true); - while (IsOperatorControl() && IsEnabled()) { - // Drive with arcade style (use right stick) - m_robotDrive.ArcadeDrive(-m_stick.GetY(), m_stick.GetX()); - - // The motors will be updated every 5ms - frc::Wait(0.005); - } -} - -/** - * Runs during test mode - */ -void Robot::Test() {} - -#ifndef RUNNING_FRC_TESTS -int main() { return frc::StartRobot(); } -#endif diff --git a/wpilibcExamples/src/main/cpp/templates/sample/include/Robot.h b/wpilibcExamples/src/main/cpp/templates/sample/include/Robot.h deleted file mode 100644 index d568111d9e..0000000000 --- a/wpilibcExamples/src/main/cpp/templates/sample/include/Robot.h +++ /dev/null @@ -1,49 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -#pragma once - -#include - -#include -#include -#include -#include -#include - -/** - * This is a demo program showing the use of the DifferentialDrive class. The - * SampleRobot class is the base of a robot application that will automatically - * call your Autonomous and OperatorControl methods at the right time as - * controlled by the switches on the driver station or the field controls. - * - * WARNING: While it may look like a good choice to use for your code if you're - * inexperienced, don't. Unless you know what you are doing, complex code will - * be much more difficult under this system. Use TimedRobot or Command-Based - * instead if you're new. - */ -class Robot : public frc::SampleRobot { - public: - Robot(); - - void RobotInit() override; - void Autonomous() override; - void OperatorControl() override; - void Test() override; - - private: - // Robot drive system - frc::PWMVictorSPX m_leftMotor{0}; - frc::PWMVictorSPX m_rightMotor{1}; - frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor}; - - frc::Joystick m_stick{0}; - - frc::SendableChooser m_chooser; - const std::string kAutoNameDefault = "Default"; - const std::string kAutoNameCustom = "My Auto"; -}; diff --git a/wpilibcExamples/src/main/cpp/templates/templates.json b/wpilibcExamples/src/main/cpp/templates/templates.json index 089ea161ae..71798c9ece 100644 --- a/wpilibcExamples/src/main/cpp/templates/templates.json +++ b/wpilibcExamples/src/main/cpp/templates/templates.json @@ -26,6 +26,15 @@ "foldername": "timedskeleton", "gradlebase": "cpp" }, + { + "name": "RobotBase Skeleton (Advanced)", + "description": "Skeleton (stub) code for RobotBase", + "tags": [ + "RobotBase", "Skeleton" + ], + "foldername": "robotbaseskeleton", + "gradlebase": "cpp" + }, { "name": "Command Robot", "description": "Command style", @@ -34,14 +43,5 @@ ], "foldername": "commandbased", "gradlebase": "cpp" - }, - { - "name": "Sample Robot", - "description": "Sample style", - "tags": [ - "Sample" - ], - "foldername": "sample", - "gradlebase": "cpp" } ] diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java deleted file mode 100644 index c7ba844628..0000000000 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java +++ /dev/null @@ -1,166 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -package edu.wpi.first.wpilibj; - -import edu.wpi.first.hal.FRCNetComm.tInstances; -import edu.wpi.first.hal.FRCNetComm.tResourceType; -import edu.wpi.first.hal.HAL; -import edu.wpi.first.wpilibj.livewindow.LiveWindow; -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; - -/** - * A simple robot base class that knows the standard FRC competition states (disabled, autonomous, - * or operator controlled). - * - *

You can build a simple robot program off of this by overriding the robotinit(), disabled(), - * autonomous() and operatorControl() methods. The startCompetition() method will calls these - * methods (sometimes repeatedly). depending on the state of the competition. - * - *

Alternatively you can override the robotMain() method and manage all aspects of the robot - * yourself. - * - * @deprecated WARNING: While it may look like a good choice to use for your code if you're - * inexperienced, don't. Unless you know what you are doing, complex code will - * be much more difficult under this system. Use TimedRobot or Command-Based - * instead. - */ -@Deprecated -public class SampleRobot extends RobotBase { - private boolean m_robotMainOverridden = true; - - /** - * Create a new SampleRobot. - */ - public SampleRobot() { - HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Simple); - } - - /** - * 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 one time. - * - *

Warning: the Driver Station "Robot Code" light and FMS "Robot Ready" indicators will be off - * until RobotInit() exits. Code in RobotInit() that waits for enable will cause the robot to - * never indicate that the code is ready, causing the robot to be bypassed in a match. - */ - protected void robotInit() { - System.out.println("Default robotInit() method running, consider providing your own"); - } - - /** - * Disabled should go here. Users should override this method to run code that should run while - * the field is disabled. - * - *

Called once each time the robot enters the disabled state. - */ - protected void disabled() { - System.out.println("Default disabled() method running, consider providing your own"); - } - - /** - * Autonomous should go here. Users should add autonomous code to this method that should run - * while the field is in the autonomous period. - * - *

Called once each time the robot enters the autonomous state. - */ - public void autonomous() { - System.out.println("Default autonomous() method running, consider providing your own"); - } - - /** - * Operator control (tele-operated) code should go here. Users should add Operator Control code to - * this method that should run while the field is in the Operator Control (tele-operated) period. - * - *

Called once each time the robot enters the operator-controlled state. - */ - public void operatorControl() { - System.out.println("Default operatorControl() method running, consider providing your own"); - } - - /** - * Test code should go here. Users should add test code to this method that should run while the - * robot is in test mode. - */ - @SuppressWarnings("PMD.JUnit4TestShouldUseTestAnnotation") - public void test() { - System.out.println("Default test() method running, consider providing your own"); - } - - /** - * Robot main program for free-form programs. - * - *

This should be overridden by user subclasses if the intent is to not use the autonomous() - * and operatorControl() methods. In that case, the program is responsible for sensing when to run - * the autonomous and operator control functions in their program. - * - *

This method will be called immediately after the constructor is called. If it has not been - * overridden by a user subclass (i.e. the default version runs), then the robotInit(), - * disabled(), autonomous() and operatorControl() methods will be called. - */ - public void robotMain() { - m_robotMainOverridden = false; - } - - /** - * Start a competition. This code tracks the order of the field starting to ensure that everything - * happens in the right order. Repeatedly run the correct method, either Autonomous or - * OperatorControl when the robot is enabled. After running the correct method, wait for some - * state to change, either the other mode starts or the robot is disabled. Then go back and wait - * for the robot to be enabled again. - */ - @SuppressWarnings("PMD.CyclomaticComplexity") - @Override - public void startCompetition() { - robotInit(); - - // Tell the DS that the robot is ready to be enabled - HAL.observeUserProgramStarting(); - - robotMain(); - - if (!m_robotMainOverridden) { - while (true) { - if (isDisabled()) { - m_ds.InDisabled(true); - disabled(); - m_ds.InDisabled(false); - while (isDisabled()) { - Timer.delay(0.01); - } - } else if (isAutonomous()) { - m_ds.InAutonomous(true); - autonomous(); - m_ds.InAutonomous(false); - while (isAutonomous() && !isDisabled()) { - Timer.delay(0.01); - } - } else if (isTest()) { - LiveWindow.setEnabled(true); - Shuffleboard.enableActuatorWidgets(); - m_ds.InTest(true); - test(); - m_ds.InTest(false); - while (isTest() && isEnabled()) { - Timer.delay(0.01); - } - LiveWindow.setEnabled(false); - Shuffleboard.disableActuatorWidgets(); - } else { - m_ds.InOperatorControl(true); - operatorControl(); - m_ds.InOperatorControl(false); - while (isOperatorControl() && !isDisabled()) { - Timer.delay(0.01); - } - } - } /* while loop */ - } - } -} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Main.java similarity index 88% rename from wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Main.java rename to wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Main.java index 787aff0a6f..65c62685f1 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Main.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Main.java @@ -1,11 +1,11 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ /*----------------------------------------------------------------------------*/ -package edu.wpi.first.wpilibj.templates.sample; +package edu.wpi.first.wpilibj.templates.robotbaseskeleton; import edu.wpi.first.wpilibj.RobotBase; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java new file mode 100644 index 0000000000..f50c6a61cb --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java @@ -0,0 +1,80 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package edu.wpi.first.wpilibj.templates.robotbaseskeleton; + +import edu.wpi.first.hal.HAL; +import edu.wpi.first.wpilibj.RobotBase; +import edu.wpi.first.wpilibj.livewindow.LiveWindow; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; + +/** + * The VM is configured to automatically run this class. 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 RobotBase { + public void robotInit() { + } + + public void disabled() { + } + + public void autonomous() { + } + + public void teleop() { + } + + public void test() { + } + + @SuppressWarnings("PMD.CyclomaticComplexity") + @Override + public void startCompetition() { + robotInit(); + + // Tell the DS that the robot is ready to be enabled + HAL.observeUserProgramStarting(); + + while (true) { + if (isDisabled()) { + m_ds.InDisabled(true); + disabled(); + m_ds.InDisabled(false); + while (isDisabled()) { + m_ds.waitForData(); + } + } else if (isAutonomous()) { + m_ds.InAutonomous(true); + autonomous(); + m_ds.InAutonomous(false); + while (isAutonomous() && !isDisabled()) { + m_ds.waitForData(); + } + } else if (isTest()) { + LiveWindow.setEnabled(true); + Shuffleboard.enableActuatorWidgets(); + m_ds.InTest(true); + test(); + m_ds.InTest(false); + while (isTest() && isEnabled()) { + m_ds.waitForData(); + } + LiveWindow.setEnabled(false); + Shuffleboard.disableActuatorWidgets(); + } else { + m_ds.InOperatorControl(true); + teleop(); + m_ds.InOperatorControl(false); + while (isOperatorControl() && !isDisabled()) { + m_ds.waitForData(); + } + } + } + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java deleted file mode 100644 index 9a670f0e44..0000000000 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java +++ /dev/null @@ -1,155 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -package edu.wpi.first.wpilibj.templates.sample; - -import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj.PWMVictorSPX; -import edu.wpi.first.wpilibj.SampleRobot; -import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.drive.DifferentialDrive; -import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - -/** - * This is a demo program showing the use of the RobotDrive class. The - * SampleRobot class is the base of a robot application that will automatically - * call your Autonomous and OperatorControl methods at the right time as - * controlled by the switches on the driver station or the field controls. - * - *

The VM is configured to automatically run this class, and to call the - * functions corresponding to each mode, as described in the SampleRobot - * documentation. If you change the name of this class or the package after - * creating this project, you must also update the build.properties file in the - * project. - * - *

WARNING: While it may look like a good choice to use for your code if - * you're inexperienced, don't. Unless you know what you are doing, complex code - * will be much more difficult under this system. Use TimedRobot or - * Command-Based instead if you're new. - */ -public class Robot extends SampleRobot { - private static final String kDefaultAuto = "Default"; - private static final String kCustomAuto = "My Auto"; - - private final DifferentialDrive m_robotDrive - = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1)); - private final Joystick m_stick = new Joystick(0); - private final SendableChooser m_chooser = new SendableChooser<>(); - - public Robot() { - m_robotDrive.setExpiration(0.1); - } - - @Override - public void robotInit() { - m_chooser.setDefaultOption("Default Auto", kDefaultAuto); - m_chooser.addOption("My Auto", kCustomAuto); - SmartDashboard.putData("Auto modes", m_chooser); - } - - /** - * 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. - * - *

If you wanted to run a similar autonomous mode with an TimedRobot - * you would write: - * - * 

{@code
-   * Timer timer = new Timer();
-   *
-   * // This function is run once each time the robot enters autonomous mode
-   * public void autonomousInit() {
-   *     timer.reset();
-   *     timer.start();
-   * }
-   *
-   * // This function is called periodically during autonomous
-   * public void autonomousPeriodic() {
-   * // Drive for 2 seconds
-   *     if (timer.get() < 2.0) {
-   *         myRobot.drive(-0.5, 0.0); // drive forwards half speed
-   *     } else if (timer.get() < 5.0) {
-   *         myRobot.drive(-1.0, 0.0); // drive forwards full speed
-   *     } else {
-   *         myRobot.drive(0.0, 0.0); // stop robot
-   *     }
-   * }
-   * }
- */ - @Override - public void autonomous() { - String autoSelected = m_chooser.getSelected(); - // String autoSelected = SmartDashboard.getString("Auto Selector", - // defaultAuto); - System.out.println("Auto selected: " + autoSelected); - - // MotorSafety improves safety when motors are updated in loops - // but is disabled here because motor updates are not looped in - // this autonomous mode. - m_robotDrive.setSafetyEnabled(false); - - switch (autoSelected) { - case kCustomAuto: - // Spin at half speed for two seconds - m_robotDrive.arcadeDrive(0.0, 0.5); - Timer.delay(2.0); - - // Stop robot - m_robotDrive.arcadeDrive(0.0, 0.0); - break; - case kDefaultAuto: - default: - // Drive forwards for two seconds - m_robotDrive.arcadeDrive(-0.5, 0.0); - Timer.delay(2.0); - - // Stop robot - m_robotDrive.arcadeDrive(0.0, 0.0); - break; - } - } - - /** - * Runs the motors with arcade steering. - * - *

If you wanted to run a similar teleoperated mode with an TimedRobot - * you would write: - * - * 

{@code
-   * // This function is called periodically during operator control
-   * public void teleopPeriodic() {
-   *     myRobot.arcadeDrive(stick);
-   * }
-   * }
- */ - @Override - public void operatorControl() { - m_robotDrive.setSafetyEnabled(true); - while (isOperatorControl() && isEnabled()) { - // Drive arcade style - m_robotDrive.arcadeDrive(-m_stick.getY(), m_stick.getX()); - - // The motors will be updated every 5ms - Timer.delay(0.005); - } - } - - /** - * Runs during test mode. - */ - @Override - public void test() { - } -} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json index 430da80da1..e4dbc1d3c2 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json @@ -29,6 +29,16 @@ "gradlebase": "java", "mainclass": "Main" }, + { + "name": "RobotBase Skeleton (Advanced)", + "description": "Skeleton (stub) code for RobotBase", + "tags": [ + "RobotBase", "Skeleton" + ], + "foldername": "robotbaseskeleton", + "gradlebase": "java", + "mainclass": "Main" + }, { "name": "Command Robot", "description": "Command style", @@ -38,15 +48,5 @@ "foldername": "commandbased", "gradlebase": "java", "mainclass": "Main" - }, - { - "name": "Sample Robot", - "description": "Sample style", - "tags": [ - "Sample" - ], - "foldername": "sample", - "gradlebase": "java", - "mainclass": "Main" } ]