mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
f0b0965f9b
Now only includes the types in the wpilib headers. Should immensely clean up intellisense. Closes #1383
65 lines
1.6 KiB
C++
65 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 FIRST. 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 <hal/Types.h>
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#include "frc/ErrorBase.h"
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#include "frc/IterativeRobotBase.h"
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namespace frc {
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/**
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* TimedRobot implements the IterativeRobotBase robot program framework.
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*
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* The TimedRobot class is intended to be subclassed by a user creating a
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* robot program.
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*
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* Periodic() functions from the base class are called on an interval by a
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* Notifier instance.
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*/
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class TimedRobot : public IterativeRobotBase, public ErrorBase {
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public:
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static constexpr double kDefaultPeriod = 0.02;
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/**
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* Provide an alternate "main loop" via StartCompetition().
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*/
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void StartCompetition() override;
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/**
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* Get the time period between calls to Periodic() functions.
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*/
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double GetPeriod() const;
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/**
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* Constructor for TimedRobot.
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*
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* @param period Period in seconds.
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*/
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explicit TimedRobot(double period = kDefaultPeriod);
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~TimedRobot() override;
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TimedRobot(TimedRobot&& rhs);
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TimedRobot& operator=(TimedRobot&& rhs);
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private:
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HAL_NotifierHandle m_notifier{0};
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// The absolute expiration time
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double m_expirationTime = 0;
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/**
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* Update the HAL alarm time.
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*/
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void UpdateAlarm();
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};
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} // namespace frc
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