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Remove SampleRobot (#1658)

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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
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4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Main.java → wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Main.java
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@@ -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;

80
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java Normal file
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@@ -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();
}
}
}
}
}

155
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java
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@@ -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.
*
* <p>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.
*
* <p>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<String> 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
*
* <p>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.
*
* <p>If you wanted to run a similar autonomous mode with an TimedRobot
* you would write:
*
* <blockquote><pre>{@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
* }
* }
* }</pre></blockquote>
*/
@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.
*
* <p>If you wanted to run a similar teleoperated mode with an TimedRobot
* you would write:
*
* <blockquote><pre>{@code
* // This function is called periodically during operator control
* public void teleopPeriodic() {
* myRobot.arcadeDrive(stick);
* }
* }</pre></blockquote>
*/
@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() {
}
}

20
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
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@@ -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"
}
]