Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-27 02:01:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fixed function ordering in robot base classes (#553)

Browse Source
This commit is contained in:
Tyler Veness
2017-07-01 01:12:28 -04:00
committed by Peter Johnson
parent 68b63632c4
commit d34c844900
3 changed files with 67 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files

118
wpilibc/athena/src/SampleRobot.cpp
View File

@@ -15,7 +15,64 @@
using namespace frc;
SampleRobot::SampleRobot() : m_robotMainOverridden(true) {}
/**
* 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 SampleRobot::StartCompetition() {
LiveWindow* lw = LiveWindow::GetInstance();
HAL_Report(HALUsageReporting::kResourceType_Framework,
HALUsageReporting::kFramework_Simple);
NetworkTable::GetTable("LiveWindow")
->GetSubTable("~STATUS~")
->PutBoolean("LW Enabled", false);
RobotInit();
// Tell the DS that the robot is ready to be enabled
HAL_ObserveUserProgramStarting();
RobotMain();
if (!m_robotMainOverridden) {
// first and one-time initialization
lw->SetEnabled(false);
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();
}
}
}
}
/**
* Robot-wide initialization code should go here.
@@ -90,61 +147,4 @@ void SampleRobot::Test() {
*/
void SampleRobot::RobotMain() { m_robotMainOverridden = false; }
/**
* 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 SampleRobot::StartCompetition() {
LiveWindow* lw = LiveWindow::GetInstance();
HAL_Report(HALUsageReporting::kResourceType_Framework,
HALUsageReporting::kFramework_Simple);
NetworkTable::GetTable("LiveWindow")
->GetSubTable("~STATUS~")
->PutBoolean("LW Enabled", false);
RobotInit();
// Tell the DS that the robot is ready to be enabled
HAL_ObserveUserProgramStarting();
RobotMain();
if (!m_robotMainOverridden) {
// first and one-time initialization
lw->SetEnabled(false);
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();
}
}
}
}
SampleRobot::SampleRobot() : m_robotMainOverridden(true) {}