edu.wpi.first.wpilibj

Class RobotBase

java.lang.Object

edu.wpi.first.wpilibj.RobotBase

Direct Known Subclasses:

IterativeRobot, SampleRobot

public abstract class RobotBase
extends java.lang.Object

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

Fields

Modifier and Type	Field and Description
protected DriverStation	m_ds
static long	MAIN_THREAD_ID The ID of the main Java thread.
static int	ROBOT_TASK_PRIORITY The VxWorks priority that robot code should work at (so Java code should run at).

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	RobotBase() Constructor for a generic robot program.

Method Summary

Modifier and Type	Method and Description
void	free() Free the resources for a RobotBase class.
static boolean	getBooleanProperty(java.lang.String name, boolean defaultValue)
static void	initializeHardwareConfiguration() Common initialization for all robot programs.
boolean	isAutonomous() Determine if the robot is currently in Autonomous mode as determined by the field controls.
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 as determined by the field controls.
static boolean	isReal()
static boolean	isSimulation()
boolean	isTest() Determine if the robot is currently in Test mode as determined by the driver station.
static void	main(java.lang.String... args) Starting point for the applications.
abstract void	startCompetition() Provide an alternate "main loop" via startCompetition().

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

MAIN_THREAD_ID

public static final long MAIN_THREAD_ID

The ID of the main Java thread.

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.

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 as determined by the field controls.

Returns:

True if the robot is currently operating Autonomously.

isTest

public boolean isTest()

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

Returns:

True if the robot is currently operating in Test mode.

isOperatorControl

public boolean isOperatorControl()

Determine if the robot is currently in Operator Control mode as determined by the field controls.

Returns:

True if the robot is currently operating in Tele-Op mode.

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)

initializeHardwareConfiguration

public static void initializeHardwareConfiguration()

Common initialization for all robot programs.

main

public static void main(java.lang.String... args)

Starting point for the applications.