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26771e38fb
It's only syntactic sugar over the CommandScheduler's schedule method and creates a footgun because it’s too obvious to try to use in incorrect places. Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>
73 lines
1.9 KiB
C++
73 lines
1.9 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.h"
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#include <frc/smartdashboard/SmartDashboard.h>
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#include <frc2/command/CommandScheduler.h>
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Robot::Robot() {}
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/**
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* This function is called every 20 ms, no matter the mode. Use
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* this for items like diagnostics that you want to run during disabled,
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* autonomous, teleoperated and test.
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*
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* <p> This runs after the mode specific periodic functions, but before
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* LiveWindow and SmartDashboard integrated updating.
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*/
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void Robot::RobotPeriodic() {
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frc2::CommandScheduler::GetInstance().Run();
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}
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/**
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* This function is called once each time the robot enters Disabled mode. You
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* can use it to reset any subsystem information you want to clear when the
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* robot is disabled.
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*/
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void Robot::DisabledInit() {}
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void Robot::DisabledPeriodic() {}
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/**
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* This autonomous runs the autonomous command selected by your {@link
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* RobotContainer} class.
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*/
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void Robot::AutonomousInit() {
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m_autonomousCommand = m_container.GetAutonomousCommand();
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if (m_autonomousCommand) {
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frc2::CommandScheduler::GetInstance().Schedule(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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m_autonomousCommand.reset();
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}
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}
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/**
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* This function is called periodically during operator control.
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*/
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void Robot::TeleopPeriodic() {}
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/**
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* This function is called periodically during test mode.
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*/
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void Robot::TestPeriodic() {}
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#ifndef RUNNING_FRC_TESTS
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int main() {
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return frc::StartRobot<Robot>();
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}
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#endif
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