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https://github.com/wpilibsuite/allwpilib
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29d029fa61
verified to work on real robots adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows - Java and C++ simulation robot programs run on windows - simulation eclipse plugin delivers models and gazebo plugins - Java Gazebo now respects GAZEBO_IP variables and can work across networks - hal and network tables win32 hacked to work on windows - smart dashboard broken on windows due to network tables hacks - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake - removed constexpr for cross platform compatibility - msgs generated using .protos as a part of build process - some spare and unused cmake/pom files deleted - simulation ubuntu debians removed entirely - refactored CMake project flags and macros - updated to match non-sim C++ API - fixed and updated documentation - servo added to simulation Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
80 lines
2.8 KiB
C++
80 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "Timer.h"
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#include "RobotBase.h"
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/**
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* IterativeRobot implements a specific type of Robot Program framework, extending the RobotBase class.
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*
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* The IterativeRobot class is intended to be subclassed by a user creating a robot program.
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*
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* This class is intended to implement the "old style" default code, by providing
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* the following functions which are called by the main 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 another mode
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* - TeleopInit() -- called each and every time teleop is entered from another mode
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* - TestInit() -- called each and every time test is entered from another mode
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*
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* Periodic() functions -- each of these functions is called iteratively at the
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* appropriate periodic rate (aka the "slow loop"). The default period of
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* the iterative robot is synced to the driver station control packets,
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* giving a periodic frequency of about 50Hz (50 times per second).
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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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*/
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class IterativeRobot : public RobotBase
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{
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public:
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/*
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* The default period for the periodic function calls (seconds)
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* Setting the period to 0.0 will cause the periodic functions to follow
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* the Driver Station packet rate of about 50Hz.
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*/
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static const double kDefaultPeriod;
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virtual void StartCompetition();
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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 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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void SetPeriod(double period);
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double GetPeriod();
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double GetLoopsPerSec();
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protected:
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virtual ~IterativeRobot() = default;
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IterativeRobot() = default;
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private:
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bool NextPeriodReady();
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bool m_disabledInitialized = false;
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bool m_autonomousInitialized = false;
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bool m_teleopInitialized = false;
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bool m_testInitialized = false;
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double m_period = kDefaultPeriod;
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Timer m_mainLoopTimer;
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};
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