edu.wpi.first.wpilibj
Class RobotBase

java.lang.Object
  MIDlet
      edu.wpi.first.wpilibj.RobotBase

Direct Known Subclasses:

IterativeRobot, SimpleRobot

public abstract class RobotBase
extends MIDlet

Implement a Robot Program framework. The RobotBase class is intended to be subclassed by a user creating a robot program. Overridden autonomous() and operatorControl() methods are called at the appropriate time as the match proceeds. In the current implementation, the Autonomous code will run to completion before the OperatorControl code could start. In the future the Autonomous code might be spawned as a task, then killed at the end of the Autonomous period.

Field Summary

static java.lang.String	ERRORS_TO_DRIVERSTATION_PROP Boolean System property.
protected static java.lang.String	FILE_NAME name and contents of the version file that is read by the DS to determine the library version
protected DriverStation	m_ds
static int	ROBOT_TASK_PRIORITY The VxWorks priority that robot code should work at (so Java code should run at)
protected static java.lang.String	VERSION_CONTENTS

Constructor Summary

protected

RobotBase() Constructor for a generic robot program.

Method Summary

protected void	destroyApp(boolean unconditional) Called if the MIDlet is terminated by the system.
void	free() Free the resources for a RobotBase class.
static boolean	getBooleanProperty(java.lang.String name, boolean defaultValue)
Watchdog	getWatchdog() Return the instance of the Watchdog timer.
boolean	isAutonomous() Determine if the robot is currently in Autonomous mode.
boolean	isDisabled() Determine if the Robot is currently disabled.
boolean	isEnabled() Determine if the Robot is currently enabled.
boolean	isNewDataAvailable() Indicates if new data is available from the driver station.
boolean	isOperatorControl() Determine if the robot is currently in Operator Control mode.
static boolean	isReal()
static boolean	isSimulation()
boolean	isSystemActive() Check on the overall status of the system.
boolean	isTest() Determine if the robot is currently in Test mode
protected void	pauseApp() Pauses the application
protected void	startApp() Starting point for the applications.
abstract void	startCompetition() Provide an alternate "main loop" via startCompetition().
protected void	writeVersionString() Write the version string to the root directory

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

ROBOT_TASK_PRIORITY

public static final int ROBOT_TASK_PRIORITY

The VxWorks priority that robot code should work at (so Java code should run at)

See Also:

Constant Field Values

ERRORS_TO_DRIVERSTATION_PROP

public static final java.lang.String ERRORS_TO_DRIVERSTATION_PROP

Boolean System property. If true (default), send System.err messages to the driver station.

See Also:

Constant Field Values

FILE_NAME

protected static final java.lang.String FILE_NAME

name and contents of the version file that is read by the DS to determine the library version

See Also:

Constant Field Values

VERSION_CONTENTS

protected static final java.lang.String VERSION_CONTENTS

See Also:

Constant Field Values

m_ds

protected final DriverStation m_ds

Constructor Detail

RobotBase

protected RobotBase()

Constructor for a generic robot program. User code should be placed in the constructor that runs before the Autonomous or Operator Control period starts. The constructor will run to completion before Autonomous is entered. This must be used to ensure that the communications code starts. In the future it would be nice to put this code into it's own task that loads on boot so ensure that it runs.

Method Detail

free

public void free()

Free the resources for a RobotBase class.

isSystemActive

public boolean isSystemActive()

Check on the overall status of the system.

Returns:

Is the system active (i.e. PWM motor outputs, etc. enabled)?

getWatchdog

public Watchdog getWatchdog()

Return the instance of the Watchdog timer. Get the watchdog timer so the user program can either disable it or feed it when necessary.

Returns:

The Watchdog timer.

isSimulation

public static boolean isSimulation()

Returns:

If the robot is running in simulation.

isReal

public static boolean isReal()

Returns:

If the robot is running in the real world.

isDisabled

public boolean isDisabled()

Determine if the Robot is currently disabled.

Returns:

True if the Robot is currently disabled by the field controls.

isEnabled

public boolean isEnabled()

Determine if the Robot is currently enabled.

Returns:

True if the Robot is currently enabled by the field controls.

isAutonomous

public boolean isAutonomous()

Determine if the robot is currently in Autonomous mode.

Returns:

True if the robot is currently operating Autonomously as determined by the field controls.

isTest

public boolean isTest()

Determine if the robot is currently in Test mode

Returns:

True if the robot is currently operating in Test mode as determined by the driver station.

isOperatorControl

public boolean isOperatorControl()

Determine if the robot is currently in Operator Control mode.

Returns:

True if the robot is currently operating in Tele-Op mode as determined by the field controls.

isNewDataAvailable

public boolean isNewDataAvailable()

Indicates if new data is available from the driver station.

Returns:

Has new data arrived over the network since the last time this function was called?

startCompetition

public abstract void startCompetition()

Provide an alternate "main loop" via startCompetition().

getBooleanProperty

public static boolean getBooleanProperty(java.lang.String name,
                                         boolean defaultValue)

writeVersionString

protected void writeVersionString()

Write the version string to the root directory

startApp

protected final void startApp()
                       throws MIDletStateChangeException

Starting point for the applications. Starts the OtaServer and then runs the robot.

Throws:

javax.microedition.midlet.MIDletStateChangeException

MIDletStateChangeException

pauseApp

protected final void pauseApp()

Pauses the application

destroyApp

protected final void destroyApp(boolean unconditional)
                         throws MIDletStateChangeException

Called if the MIDlet is terminated by the system. I.e. if startApp throws any exception other than MIDletStateChangeException, if the isolate running the MIDlet is killed with Isolate.exit(), or if VM.stopVM() is called. It is not called if MIDlet.notifyDestroyed() was called.

Parameters:

unconditional - If true when this method is called, the MIDlet must cleanup and release all resources. If false the MIDlet may throw MIDletStateChangeException to indicate it does not want to be destroyed at this time.

Throws:

MIDletStateChangeException - if there is an exception in terminating the midlet