Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Remove SampleRobot (#1658)

Browse Source 
SampleRobot provides no benefits over RobotBase to advanced teams and
TimedRobot is recommended for everyone else.

A skeleton template for RobotBase was added.
This commit is contained in:
Tyler Veness
2019-07-15 18:09:47 -07:00
committed by Peter Johnson
parent 62be0392b6
commit 73ec940786
13 changed files with 188 additions and 679 deletions
Download Patch File Download Diff File Expand all files Collapse all files

66
wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp Normal file
View File

@@ -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 <hal/DriverStation.h>
#include <frc/DriverStation.h>
#include <frc/livewindow/LiveWindow.h>
#include <frc/shuffleboard/Shuffleboard.h>
#include <networktables/NetworkTable.h>
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<Robot>(); }
#endif

21
wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.h Normal file
View File

@@ -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 <frc/RobotBase.h>
class Robot : public frc::RobotBase {
public:
void RobotInit();
void Disabled();
void Autonomous();
void Teleop();
void Test();
void StartCompetition() override;
};

92
wpilibcExamples/src/main/cpp/templates/sample/cpp/Robot.cpp
View File

@@ -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 <iostream>
#include <frc/Timer.h>
#include <frc/smartdashboard/SmartDashboard.h>
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<Robot>(); }
#endif

49
wpilibcExamples/src/main/cpp/templates/sample/include/Robot.h
View File

@@ -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 <string>
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/SampleRobot.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/smartdashboard/SendableChooser.h>
/**
* 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<std::string> m_chooser;
const std::string kAutoNameDefault = "Default";
const std::string kAutoNameCustom = "My Auto";
};

18
wpilibcExamples/src/main/cpp/templates/templates.json
View File

@@ -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"
}
]