mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
148 lines
4.4 KiB
C++
148 lines
4.4 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "SimpleRobot.h"
|
|
|
|
#include <stdio.h>
|
|
#include <unistd.h>
|
|
#include "Timer.h"
|
|
#include "SmartDashboard/SmartDashboard.h"
|
|
#include "LiveWindow/LiveWindow.h"
|
|
#include "networktables/NetworkTable.h"
|
|
|
|
SimpleRobot::SimpleRobot()
|
|
: m_robotMainOverridden (true)
|
|
{
|
|
}
|
|
|
|
/**
|
|
* Robot-wide initialization code should go here.
|
|
*
|
|
* Programmers should override this method for default Robot-wide initialization which will
|
|
* be called each time the robot enters the disabled state.
|
|
*/
|
|
void SimpleRobot::RobotInit()
|
|
{
|
|
printf("Default %s() method... Override me!\n", __FUNCTION__);
|
|
}
|
|
|
|
/**
|
|
* Disabled should go here.
|
|
* Programmers should override this method to run code that should run while the field is
|
|
* disabled.
|
|
*/
|
|
void SimpleRobot::Disabled()
|
|
{
|
|
printf("Default %s() method... Override me!\n", __FUNCTION__);
|
|
}
|
|
|
|
/**
|
|
* Autonomous should go here.
|
|
* Programmers should override this method to run code that should run while the field is
|
|
* in the autonomous period. This will be called once each time the robot enters the
|
|
* autonomous state.
|
|
*/
|
|
void SimpleRobot::Autonomous()
|
|
{
|
|
printf("Default %s() method... Override me!\n", __FUNCTION__);
|
|
}
|
|
|
|
/**
|
|
* Operator control (tele-operated) code should go here.
|
|
* Programmers should override this method to run code that should run while the field is
|
|
* in the Operator Control (tele-operated) period. This is called once each time the robot
|
|
* enters the teleop state.
|
|
*/
|
|
void SimpleRobot::OperatorControl()
|
|
{
|
|
printf("Default %s() method... Override me!\n", __FUNCTION__);
|
|
}
|
|
|
|
/**
|
|
* Test program should go here.
|
|
* Programmers should override this method to run code that executes while the robot is
|
|
* in test mode. This will be called once whenever the robot enters test mode
|
|
*/
|
|
void SimpleRobot::Test()
|
|
{
|
|
printf("Default %s() method... Override me!\n", __FUNCTION__);
|
|
}
|
|
|
|
/**
|
|
* Robot main program for free-form programs.
|
|
*
|
|
* This should be overridden by user subclasses if the intent is to not use the Autonomous() and
|
|
* OperatorControl() methods. In that case, the program is responsible for sensing when to run
|
|
* the autonomous and operator control functions in their program.
|
|
*
|
|
* This method will be called immediately after the constructor is called. If it has not been
|
|
* overridden by a user subclass (i.e. the default version runs), then the Autonomous() and
|
|
* OperatorControl() methods will be called.
|
|
*/
|
|
void SimpleRobot::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 SimpleRobot::StartCompetition()
|
|
{
|
|
LiveWindow *lw = LiveWindow::GetInstance();
|
|
|
|
SmartDashboard::init();
|
|
NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false);
|
|
|
|
RobotMain();
|
|
|
|
if (!m_robotMainOverridden)
|
|
{
|
|
// first and one-time initialization
|
|
lw->SetEnabled(false);
|
|
RobotInit();
|
|
|
|
while (true)
|
|
{
|
|
if (IsDisabled())
|
|
{
|
|
m_ds->InDisabled(true);
|
|
Disabled();
|
|
m_ds->InDisabled(false);
|
|
while (IsDisabled()) sleep(1); //m_ds->WaitForData();
|
|
}
|
|
else if (IsAutonomous())
|
|
{
|
|
m_ds->InAutonomous(true);
|
|
Autonomous();
|
|
m_ds->InAutonomous(false);
|
|
while (IsAutonomous() && IsEnabled()) sleep(1); //m_ds->WaitForData();
|
|
}
|
|
else if (IsTest())
|
|
{
|
|
lw->SetEnabled(true);
|
|
m_ds->InTest(true);
|
|
Test();
|
|
m_ds->InTest(false);
|
|
while (IsTest() && IsEnabled()) sleep(1); //m_ds->WaitForData();
|
|
lw->SetEnabled(false);
|
|
}
|
|
else
|
|
{
|
|
m_ds->InOperatorControl(true);
|
|
OperatorControl();
|
|
m_ds->InOperatorControl(false);
|
|
while (IsOperatorControl() && IsEnabled()) sleep(1); //m_ds->WaitForData();
|
|
}
|
|
}
|
|
}
|
|
}
|