IterativeRobot.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef ROBOT_ITERATIVE_H_
#define ROBOT_ITERATIVE_H_

#include "Timer.h"
#include "RobotBase.h"

class IterativeRobot : public RobotBase {
public:
        /*
         * The default period for the periodic function calls (seconds)
         * Setting the period to 0.0 will cause the periodic functions to follow
         * the Driver Station packet rate of about 50Hz.
         */
        static const double kDefaultPeriod = 0.0;

        virtual void StartCompetition();

        virtual void RobotInit();
        virtual void DisabledInit();
        virtual void AutonomousInit();
        virtual void TeleopInit();

        virtual void DisabledPeriodic();
        virtual void AutonomousPeriodic();
        virtual void TeleopPeriodic();

        virtual void DisabledContinuous();
        virtual void AutonomousContinuous();
        virtual void TeleopContinuous();

        void SetPeriod(double period);
        double GetPeriod();
        double GetLoopsPerSec();

protected:
        virtual ~IterativeRobot();
        IterativeRobot();

private:
        bool NextPeriodReady();

        bool m_disabledInitialized;
        bool m_autonomousInitialized;
        bool m_teleopInitialized;
        double m_period;
        Timer m_mainLoopTimer;
};

#endif