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Adds a RobotPeriodic method to IterativeRobot (#226)

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Called globally during each IterativeRobot loop
This commit is contained in:
Thad House
2016-09-13 20:25:18 -07:00
committed by Peter Johnson
parent 4fc7daedc9
commit f271185cbc
6 changed files with 65 additions and 0 deletions
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17
wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java
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@@ -135,6 +135,7 @@ public class IterativeRobot extends RobotBase {
teleopPeriodic();
}
}
robotPeriodic();
m_ds.waitForData();
}
}
@@ -204,6 +205,22 @@ public class IterativeRobot extends RobotBase {
}
/* ----------- Overridable periodic code ----------------- */
private boolean m_rpFirstRun = true;
/**
* Periodic code for all robot modes should go here.
*
* <p>Users should override this method for code which will be called periodically at a regular
* rate while the robot is in any mode.
*/
public void robotPeriodic() {
if (m_rpFirstRun) {
System.out.println("Default IterativeRobot.robotPeriodic() method... Overload me!");
m_rpFirstRun = false;
}
Timer.delay(0.001);
}
private boolean m_dpFirstRun = true;