allwpilib/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Robot.cpp

#include "WPILib.h"
#include "Commands/Command.h"
#include "Commands/ExampleCommand.h"
#include "CommandBase.h"

class Robot: public IterativeRobot
{
private:
	Command *autonomousCommand;
	LiveWindow *lw;

	void RobotInit()
	{
		CommandBase::init();
		autonomousCommand = new ExampleCommand();
		lw = LiveWindow::GetInstance();
	}
	
	/**
     * This function is called once each time the robot enters Disabled mode.
     * You can use it to reset any subsystem information you want to clear when
	 * the robot is disabled.
     */
	void DisabledInit()
	{
	}
	
	void DisabledPeriodic()
	{
		Scheduler::GetInstance()->Run();
	}

	void AutonomousInit()
	{
		if (autonomousCommand != NULL)
			autonomousCommand->Start();
	}

	void AutonomousPeriodic()
	{
		Scheduler::GetInstance()->Run();
	}

	void TeleopInit()
	{
		// This makes sure that the autonomous stops running when
		// teleop starts running. If you want the autonomous to 
		// continue until interrupted by another command, remove
		// this line or comment it out.
		if (autonomousCommand != NULL)
			autonomousCommand->Cancel();
	}

	void TeleopPeriodic()
	{
		Scheduler::GetInstance()->Run();
	}

	void TestPeriodic()
	{
		lw->Run();
	}
};

START_ROBOT_CLASS(Robot);