Package edu.wpi.first.wpilibj
Class RobotBase
- java.lang.Object
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- edu.wpi.first.wpilibj.RobotBase
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- All Implemented Interfaces:
AutoCloseable
- Direct Known Subclasses:
IterativeRobotBase
public abstract class RobotBase extends Object implements AutoCloseable
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.
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Constructor Summary
Constructors Modifier Constructor Description protected
RobotBase()
Constructor for a generic robot program.
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Method Summary
All Methods Static Methods Instance Methods Abstract Methods Concrete Methods Deprecated Methods Modifier and Type Method Description void
close()
abstract void
endCompetition()
Ends the main loop in startCompetition().static boolean
getBooleanProperty(String name, boolean defaultValue)
static long
getMainThreadId()
static RuntimeType
getRuntimeType()
Get the current runtime type.boolean
isAutonomous()
Determine if the robot is currently in Autonomous mode as determined by the field controls.boolean
isAutonomousEnabled()
Determine if the robot is current in Autonomous mode and enabled 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()
Deprecated, for removal: This API element is subject to removal in a future version.Use isTeleop() instead.boolean
isOperatorControlEnabled()
Deprecated, for removal: This API element is subject to removal in a future version.Use isTeleopEnabled() instead.static boolean
isReal()
Get if the robot is real.static boolean
isSimulation()
Get if the robot is a simulation.boolean
isTeleop()
Determine if the robot is currently in Operator Control mode as determined by the field controls.boolean
isTeleopEnabled()
Determine if the robot is current in Operator Control mode and enabled as determined by the field controls.boolean
isTest()
Determine if the robot is currently in Test mode as determined by the driver station.abstract void
startCompetition()
Provide an alternate "main loop" via startCompetition().static <T extends RobotBase>
voidstartRobot(Supplier<T> robotSupplier)
Starting point for the applications.static void
suppressExitWarning(boolean value)
Suppress the "The robot program quit unexpectedly." message.
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Constructor Detail
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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.
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Method Detail
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getMainThreadId
public static long getMainThreadId()
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close
public void close()
- Specified by:
close
in interfaceAutoCloseable
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getRuntimeType
public static RuntimeType getRuntimeType()
Get the current runtime type.- Returns:
- Current runtime type.
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isSimulation
public static boolean isSimulation()
Get if the robot is a simulation.- Returns:
- If the robot is running in simulation.
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isReal
public static boolean isReal()
Get if the robot is real.- Returns:
- If the robot is running in the real world.
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isDisabled
public boolean isDisabled()
Determine if the Robot is currently disabled.- Returns:
- True if the Robot is currently disabled by the field controls.
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isEnabled
public boolean isEnabled()
Determine if the Robot is currently enabled.- Returns:
- True if the Robot is currently enabled by the field controls.
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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.
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isAutonomousEnabled
public boolean isAutonomousEnabled()
Determine if the robot is current in Autonomous mode and enabled as determined by the field controls.- Returns:
- True if the robot is currently operating autonomously while enabled.
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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.
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isOperatorControl
@Deprecated(since="2022", forRemoval=true) public boolean isOperatorControl()
Deprecated, for removal: This API element is subject to removal in a future version.Use isTeleop() instead.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.
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isTeleop
public boolean isTeleop()
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.
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isOperatorControlEnabled
@Deprecated(since="2022", forRemoval=true) public boolean isOperatorControlEnabled()
Deprecated, for removal: This API element is subject to removal in a future version.Use isTeleopEnabled() instead.Determine if the robot is current in Operator Control mode and enabled as determined by the field controls.- Returns:
- True if the robot is currently operating in Tele-Op mode while enabled.
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isTeleopEnabled
public boolean isTeleopEnabled()
Determine if the robot is current in Operator Control mode and enabled as determined by the field controls.- Returns:
- True if the robot is currently operating in Tele-Op mode while enabled.
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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?
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startCompetition
public abstract void startCompetition()
Provide an alternate "main loop" via startCompetition().
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endCompetition
public abstract void endCompetition()
Ends the main loop in startCompetition().
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getBooleanProperty
public static boolean getBooleanProperty(String name, boolean defaultValue)
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suppressExitWarning
public static void suppressExitWarning(boolean value)
Suppress the "The robot program quit unexpectedly." message.- Parameters:
value
- True if exit warning should be suppressed.
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startRobot
public static <T extends RobotBase> void startRobot(Supplier<T> robotSupplier)
Starting point for the applications.- Type Parameters:
T
- Robot subclass.- Parameters:
robotSupplier
- Function that returns an instance of the robot subclass.
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