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35e8abedeb
People generally have expressed a dislike for the Hungarian notation used in member variables, especially in examples/templates, and our styleguide shouldn't be forced on downstream consumers, so this removes all Hungarian notation from the examples/templates. There are _some_ benefits to Hungarian for private member variables (like knowing what's a member vs. local in a PR review) so we'll keep private member variables the same for now, but public variables should no longer use Hungarian notation, since it looks much worse. A new PMD XPath rule has been added to accomplish this goal. Some other non-compliant variables were fixed for the new rule.
82 lines
2.2 KiB
C++
82 lines
2.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "Robot.hpp"
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#include "wpi/commands2/CommandScheduler.hpp"
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#include "wpi/driverstation/DriverStation.hpp"
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#include "wpi/smartdashboard/SmartDashboard.hpp"
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#include "wpi/system/DataLogManager.hpp"
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Robot::Robot() {
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// Start recording to data log
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wpi::DataLogManager::Start();
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// Record DS control and joystick data.
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// Change to `false` to not record joystick data.
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wpi::DriverStation::StartDataLog(wpi::DataLogManager::GetLog(), true);
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}
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/**
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* This function is called every 20 ms, no matter the mode. Use
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* this for items like diagnostics that you want to run during disabled,
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* autonomous, teleoperated and utility.
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*
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* <p> This runs after the mode specific periodic functions, but before
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* LiveWindow and SmartDashboard integrated updating.
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*/
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void Robot::RobotPeriodic() {
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wpi::cmd::CommandScheduler::GetInstance().Run();
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}
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/**
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* This function is called once each time the robot enters Disabled mode. You
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* can use it to reset any subsystem information you want to clear when the
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* robot is disabled.
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*/
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void Robot::DisabledInit() {}
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void Robot::DisabledPeriodic() {}
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/**
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* This autonomous runs the autonomous command selected by your {@link
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* RobotContainer} class.
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*/
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void Robot::AutonomousInit() {
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autonomousCommand = container.GetAutonomousCommand();
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if (autonomousCommand != nullptr) {
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wpi::cmd::CommandScheduler::GetInstance().Schedule(autonomousCommand);
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}
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}
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void Robot::AutonomousPeriodic() {}
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void Robot::TeleopInit() {
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// This makes sure that the autonomous stops running when
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// teleop starts running. If you want the autonomous to
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// continue until interrupted by another command, remove
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// this line or comment it out.
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if (autonomousCommand != nullptr) {
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autonomousCommand->Cancel();
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autonomousCommand = nullptr;
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}
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}
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/**
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* This function is called periodically during operator control.
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*/
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void Robot::TeleopPeriodic() {}
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/**
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* This function is called periodically during utility mode.
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*/
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void Robot::UtilityPeriodic() {}
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#ifndef RUNNING_WPILIB_TESTS
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int main() {
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return wpi::StartRobot<Robot>();
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}
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#endif
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