mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
50 lines
1.3 KiB
C++
50 lines
1.3 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2017-2018 FIRST. 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 the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <atomic>
|
|
#include <memory>
|
|
|
|
#include "IterativeRobotBase.h"
|
|
#include "Notifier.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* TimedRobot implements the IterativeRobotBase robot program framework.
|
|
*
|
|
* The TimedRobot class is intended to be subclassed by a user creating a
|
|
* robot program.
|
|
*
|
|
* Periodic() functions from the base class are called on an interval by a
|
|
* Notifier instance.
|
|
*/
|
|
class TimedRobot : public IterativeRobotBase {
|
|
public:
|
|
static constexpr double kDefaultPeriod = 0.02;
|
|
|
|
void StartCompetition() override;
|
|
|
|
void SetPeriod(double seconds);
|
|
double GetPeriod() const;
|
|
|
|
protected:
|
|
TimedRobot();
|
|
virtual ~TimedRobot();
|
|
|
|
private:
|
|
std::atomic<double> m_period{kDefaultPeriod};
|
|
|
|
// Prevents loop from starting if user calls SetPeriod() in RobotInit()
|
|
bool m_startLoop = false;
|
|
|
|
std::unique_ptr<Notifier> m_loop;
|
|
};
|
|
|
|
} // namespace frc
|