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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
84 lines
2.8 KiB
C++
84 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef ROBOT_ITERATIVE_H_
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#define ROBOT_ITERATIVE_H_
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#include "Timer.h"
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#include "RobotBase.h"
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/**
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* IterativeRobot implements a specific type of Robot Program framework, extending the RobotBase class.
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*
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* The IterativeRobot class is intended to be subclassed by a user creating a robot program.
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*
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* This class is intended to implement the "old style" default code, by providing
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* the following functions which are called by the main loop, StartCompetition(), at the appropriate times:
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*
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* RobotInit() -- provide for initialization at robot power-on
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*
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* Init() functions -- each of the following functions is called once when the
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* appropriate mode is entered:
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* - DisabledInit() -- called only when first disabled
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* - AutonomousInit() -- called each and every time autonomous is entered from another mode
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* - TeleopInit() -- called each and every time teleop is entered from another mode
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* - TestInit() -- called each and every time test is entered from another mode
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*
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* Periodic() functions -- each of these functions is called iteratively at the
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* appropriate periodic rate (aka the "slow loop"). The default period of
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* the iterative robot is synced to the driver station control packets,
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* giving a periodic frequency of about 50Hz (50 times per second).
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* - DisabledPeriodic()
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* - AutonomousPeriodic()
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* - TeleopPeriodic()
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* - TestPeriodic()
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*
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*/
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class IterativeRobot : public RobotBase {
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public:
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/*
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* The default period for the periodic function calls (seconds)
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* Setting the period to 0.0 will cause the periodic functions to follow
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* the Driver Station packet rate of about 50Hz.
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*/
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static constexpr double kDefaultPeriod = 0.0;
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virtual void StartCompetition();
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virtual void RobotInit();
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virtual void DisabledInit();
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virtual void AutonomousInit();
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virtual void TeleopInit();
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virtual void TestInit();
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virtual void DisabledPeriodic();
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virtual void AutonomousPeriodic();
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virtual void TeleopPeriodic();
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virtual void TestPeriodic();
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void SetPeriod(double period);
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double GetPeriod();
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double GetLoopsPerSec();
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protected:
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virtual ~IterativeRobot();
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IterativeRobot();
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private:
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bool NextPeriodReady();
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bool m_disabledInitialized;
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bool m_autonomousInitialized;
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bool m_teleopInitialized;
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bool m_testInitialized;
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double m_period;
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Timer m_mainLoopTimer;
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};
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#endif
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