edu.wpi.first.wpilibj

Class IterativeRobot

java.lang.Object

edu.wpi.first.wpilibj.RobotBase

edu.wpi.first.wpilibj.IterativeRobot

public class IterativeRobot
extends RobotBase

IterativeRobot implements a specific type of Robot Program framework, extending the RobotBase class. The IterativeRobot class is intended to be subclassed by a user creating a robot program. This class is intended to implement the "old style" default code, by providing the following functions which are called by the main loop, startCompetition(), at the appropriate times: robotInit() -- provide for initialization at robot power-on init() functions -- each of the following functions is called once when the appropriate mode is entered: - DisabledInit() -- called only when first disabled - AutonomousInit() -- called each and every time autonomous is entered from another mode - TeleopInit() -- called each and every time teleop is entered from another mode - TestInit() -- called each and every time test mode is entered from anothermode Periodic() functions -- each of these functions is called iteratively at the appropriate periodic rate (aka the "slow loop"). The period of the iterative robot is synced to the driver station control packets, giving a periodic frequency of about 50Hz (50 times per second). - disabledPeriodic() - autonomousPeriodic() - teleopPeriodic() - testPeriodoc()

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.RobotBase

m_ds, ROBOT_TASK_PRIORITY

Constructor Summary

Constructors

Constructor and Description
IterativeRobot() Constructor for RobotIterativeBase The constructor initializes the instance variables for the robot to indicate the status of initialization for disabled, autonomous, and teleop code.

Method Summary

Modifier and Type	Method and Description
void	autonomousInit() Initialization code for autonomous mode should go here.
void	autonomousPeriodic() Periodic code for autonomous mode should go here.
void	disabledInit() Initialization code for disabled mode should go here.
void	disabledPeriodic() Periodic code for disabled mode should go here.
void	robotInit() Robot-wide initialization code should go here.
void	startCompetition() Provide an alternate "main loop" via startCompetition().
void	teleopInit() Initialization code for teleop mode should go here.
void	teleopPeriodic() Periodic code for teleop mode should go here.
void	testInit() Initialization code for test mode should go here.
void	testPeriodic() Periodic code for test mode should go here Users should override this method for code which will be called periodically at a regular rate while the robot is in test mode.

Methods inherited from class edu.wpi.first.wpilibj.RobotBase

free, getBooleanProperty, initializeHardwareConfiguration, isAutonomous, isDisabled, isEnabled, isNewDataAvailable, isOperatorControl, isReal, isSimulation, isTest, main

Methods inherited from class java.lang.Object

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

Constructor Detail

IterativeRobot

public IterativeRobot()

Constructor for RobotIterativeBase The constructor initializes the instance variables for the robot to indicate the status of initialization for disabled, autonomous, and teleop code.

Method Detail

startCompetition

public void startCompetition()

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

Specified by:

startCompetition in class RobotBase

robotInit

public void robotInit()

Robot-wide initialization code should go here. Users should override this method for default Robot-wide initialization which will be called when the robot is first powered on. It will be called exactly one time. Warning: the Driver Station "Robot Code" light and FMS "Robot Ready" indicators will be off until RobotInit() exits. Code in RobotInit() that waits for enable will cause the robot to never indicate that the code is ready, causing the robot to be bypassed in a match.

disabledInit

public void disabledInit()

Initialization code for disabled mode should go here. Users should override this method for initialization code which will be called each time the robot enters disabled mode.

autonomousInit

public void autonomousInit()

Initialization code for autonomous mode should go here. Users should override this method for initialization code which will be called each time the robot enters autonomous mode.

teleopInit

public void teleopInit()

Initialization code for teleop mode should go here. Users should override this method for initialization code which will be called each time the robot enters teleop mode.

testInit

public void testInit()

Initialization code for test mode should go here. Users should override this method for initialization code which will be called each time the robot enters test mode.

disabledPeriodic

public void disabledPeriodic()

Periodic code for disabled mode should go here. Users should override this method for code which will be called periodically at a regular rate while the robot is in disabled mode.

autonomousPeriodic

public void autonomousPeriodic()

Periodic code for autonomous mode should go here. Users should override this method for code which will be called periodically at a regular rate while the robot is in autonomous mode.

teleopPeriodic

public void teleopPeriodic()

Periodic code for teleop mode should go here. Users should override this method for code which will be called periodically at a regular rate while the robot is in teleop mode.

testPeriodic

public void testPeriodic()

Periodic code for test mode should go here Users should override this method for code which will be called periodically at a regular rate while the robot is in test mode.