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ab00aac960
The "Utility" name better matches its intended generic use case and avoids overloaded terminology with unit testing (e.g. the need to name the opmode annotation `@TestOpMode`). The driver station will also be updated to reflect this change.
60 lines
1.7 KiB
C++
60 lines
1.7 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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Robot::Robot() {
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// Configure default commands and condition bindings on robot startup
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m_robot.ConfigureBindings();
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}
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void Robot::RobotPeriodic() {
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// Runs the Scheduler. This is responsible for polling buttons, adding
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// newly-scheduled commands, running already-scheduled commands, removing
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// finished or interrupted commands, and running subsystem Periodic() methods.
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// This must be called from the robot's periodic block in order for anything
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// in the Command-based framework to work.
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wpi::cmd::CommandScheduler::GetInstance().Run();
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}
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void Robot::DisabledInit() {}
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void Robot::DisabledPeriodic() {}
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void Robot::AutonomousInit() {
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m_autonomousCommand = m_robot.GetAutonomousCommand();
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if (m_autonomousCommand) {
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wpi::cmd::CommandScheduler::GetInstance().Schedule(
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m_autonomousCommand.value());
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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 (m_autonomousCommand) {
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m_autonomousCommand->Cancel();
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}
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}
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void Robot::TeleopPeriodic() {}
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void Robot::UtilityInit() {
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// Cancels all running commands at the start of utility mode.
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wpi::cmd::CommandScheduler::GetInstance().CancelAll();
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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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