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Removed the timing option from Iterative Robot Template since it conflicted with its purpose (artf3751)

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This commit is contained in:
Brad Miller
2014-11-11 14:49:05 -05:00
parent da0cc0c83f
commit c3c7baa15c
2 changed files with 8 additions and 95 deletions
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95
wpilibc/wpilibC++Devices/src/IterativeRobot.cpp
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@@ -26,7 +26,6 @@ IterativeRobot::IterativeRobot()
, m_autonomousInitialized (false)
, m_teleopInitialized (false)
, m_testInitialized (false)
, m_period (kDefaultPeriod)
{
}
@@ -37,50 +36,6 @@ IterativeRobot::~IterativeRobot()
{
}
/**
* Set the period for the periodic functions.
*
* @param period The period of the periodic function calls. 0.0 means sync to driver station control data.
*/
void IterativeRobot::SetPeriod(double period)
{
if (period > 0.0)
{
// Not syncing with the DS, so start the timer for the main loop
m_mainLoopTimer.Reset();
m_mainLoopTimer.Start();
}
else
{
// Syncing with the DS, don't need the timer
m_mainLoopTimer.Stop();
}
m_period = period;
}
/**
* Get the period for the periodic functions.
* Returns 0.0 if configured to syncronize with DS control data packets.
* @return Period of the periodic function calls
*/
double IterativeRobot::GetPeriod()
{
return m_period;
}
/**
* Get the number of loops per second for the IterativeRobot
* @return Frequency of the periodic function calls
*/
double IterativeRobot::GetLoopsPerSec()
{
// If syncing to the driver station, we don't know the rate,
// so guess something close.
if (m_period <= 0.0)
return 50.0;
return 1.0 / m_period;
}
/**
* Provide an alternate "main loop" via StartCompetition().
*
@@ -118,11 +73,8 @@ void IterativeRobot::StartCompetition()
m_teleopInitialized = false;
m_testInitialized = false;
}
if (NextPeriodReady())
{
HALNetworkCommunicationObserveUserProgramDisabled();
DisabledPeriodic();
}
HALNetworkCommunicationObserveUserProgramDisabled();
DisabledPeriodic();
}
else if (IsAutonomous())
{
@@ -138,11 +90,8 @@ void IterativeRobot::StartCompetition()
m_teleopInitialized = false;
m_testInitialized = false;
}
if (NextPeriodReady())
{
HALNetworkCommunicationObserveUserProgramAutonomous();
AutonomousPeriodic();
}
HALNetworkCommunicationObserveUserProgramAutonomous();
AutonomousPeriodic();
}
else if (IsTest())
{
@@ -158,11 +107,8 @@ void IterativeRobot::StartCompetition()
m_autonomousInitialized = false;
m_teleopInitialized = false;
}
if (NextPeriodReady())
{
HALNetworkCommunicationObserveUserProgramTest();
TestPeriodic();
}
HALNetworkCommunicationObserveUserProgramTest();
TestPeriodic();
}
else
{
@@ -179,39 +125,14 @@ void IterativeRobot::StartCompetition()
m_testInitialized = false;
Scheduler::GetInstance()->SetEnabled(true);
}
if (NextPeriodReady())
{
HALNetworkCommunicationObserveUserProgramTeleop();
TeleopPeriodic();
}
HALNetworkCommunicationObserveUserProgramTeleop();
TeleopPeriodic();
}
// wait for driver station data so the loop doesn't hog the CPU
m_ds->WaitForData();
}
}
/**
* Determine if the periodic functions should be called.
*
* If m_period > 0.0, call the periodic function every m_period as compared
* to Timer.Get(). If m_period == 0.0, call the periodic functions whenever
* a packet is received from the Driver Station, or about every 20ms.
*
* @todo Decide what this should do if it slips more than one cycle.
*/
bool IterativeRobot::NextPeriodReady()
{
if (m_period > 0.0)
{
return m_mainLoopTimer.HasPeriodPassed(m_period);
}
else
{
return m_ds->IsNewControlData();
}
}
/**
* Robot-wide initialization code should go here.
*