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https://github.com/wpilibsuite/allwpilib
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70 lines
2.3 KiB
C++
70 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2017. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "RobotBase.h"
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namespace frc {
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/**
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* IterativeRobotBase implements a specific type of robot program framework,
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* extending the RobotBase class.
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*
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* The IterativeRobotBase class does not implement StartCompetition(), so it
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* should not be used by teams directly.
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*
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* This class provides the following functions which are called by the main
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* 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
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* another mode
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* - TeleopInit() -- called each and every time teleop is entered from
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* another mode
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* - TestInit() -- called each and every time test is entered from
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* another mode
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*
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* Periodic() functions -- each of these functions is called on an interval:
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* - RobotPeriodic()
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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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class IterativeRobotBase : public RobotBase {
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public:
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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 RobotPeriodic();
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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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protected:
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IterativeRobotBase();
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virtual ~IterativeRobotBase() = default;
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void LoopFunc();
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private:
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enum class Mode { kNone, kDisabled, kAutonomous, kTeleop, kTest };
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Mode m_lastMode = Mode::kNone;
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};
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} // namespace frc
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