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59267da72b
Base.h provides a backwards compatibility shim (enabled unless NAMESPACED_WPILIB is defined) that does a "using namespace frc". However, as some header files do not include Base.h, this may be a breaking change in some corner cases (with an easy fix). Fixes #218.
68 lines
2.3 KiB
C++
68 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#include "RobotBase.h"
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#include "RobotState.h"
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#include "Utility.h"
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using namespace frc;
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/**
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* Constructor for a generic robot program.
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*
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* User code should be placed in the constuctor that runs before the Autonomous
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* or Operator Control period starts. The constructor will run to completion
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* before Autonomous is entered.
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*
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* This must be used to ensure that the communications code starts. In the
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* future it would be nice to put this code into it's own task that loads on
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* boot so ensure that it runs.
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*/
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RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
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RobotState::SetImplementation(DriverStation::GetInstance());
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time_sub = MainNode::Subscribe("~/time", &wpilib::internal::time_callback);
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}
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/**
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* Determine if the Robot is currently enabled.
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*
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* @return True if the Robot is currently enabled by the field controls.
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*/
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bool RobotBase::IsEnabled() const { return m_ds.IsEnabled(); }
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/**
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* Determine if the Robot is currently disabled.
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*
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* @return True if the Robot is currently disabled by the field controls.
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*/
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bool RobotBase::IsDisabled() const { return m_ds.IsDisabled(); }
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/**
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* Determine if the robot is currently in Autnomous mode.
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*
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* @return True if the robot is currently operating Autonomously as determined
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* by the field controls.
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*/
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bool RobotBase::IsAutonomous() const { return m_ds.IsAutonomous(); }
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/**
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* Determine if the robot is currently in Operator Control mode.
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*
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* @return True if the robot is currently operating in Tele-Op mode as
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* determined by the field controls.
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*/
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bool RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); }
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/**
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* Determine if the robot is currently in Test mode.
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*
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* @return True if the robot is currently running tests as determined by the
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* field controls.
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*/
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bool RobotBase::IsTest() const { return m_ds.IsTest(); }
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