IterativeRobot Class Reference

#include <IterativeRobot.h>

Inheritance diagram for IterativeRobot:

List of all members.

Public Member Functions
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 ()
Static Public Attributes
static const double	kDefaultPeriod = 0.0
Protected Member Functions
virtual	~IterativeRobot ()
	IterativeRobot ()

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Detailed Description

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

Periodic() functions -- each of these functions is called iteratively at the appropriate periodic rate (aka the "slow loop"). The default 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()

Continuous() functions -- each of these functions is called repeatedly as fast as possible. These functions are generally discouraged and if they are used, they should contain a Wait() of some type:

• DisabledContinuous()
• AutonomousContinuous()
• TeleopContinuous()

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Constructor & Destructor Documentation

IterativeRobot::~IterativeRobot

(

)

[protected, virtual]

Free the resources for a RobotIterativeBase class.

IterativeRobot::IterativeRobot

(

)

[protected]

Constructor for RobotIterativeBase

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

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Member Function Documentation

void IterativeRobot::AutonomousContinuous

(

)

[virtual]

Continuous code for autonomous mode should go here.

Users should override this method for code which will be called repeatedly as frequently as possible while the robot is in autonomous mode.

void IterativeRobot::AutonomousInit

(

)

[virtual]

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.

void IterativeRobot::AutonomousPeriodic

(

)

[virtual]

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.

void IterativeRobot::DisabledContinuous

(

)

[virtual]

Continuous code for disabled mode should go here.

Users should override this method for code which will be called repeatedly as frequently as possible while the robot is in disabled mode.

void IterativeRobot::DisabledInit

(

)

[virtual]

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.

void IterativeRobot::DisabledPeriodic

(

)

[virtual]

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.

double IterativeRobot::GetLoopsPerSec

(

)

Get the number of loops per second for the IterativeRobot

Returns:

Frequency of the periodic function calls

double IterativeRobot::GetPeriod

(

)

Get the period for the periodic functions. Returns 0.0 if configured to syncronize with DS control data packets.

Returns:

Period of the periodic function calls

void IterativeRobot::RobotInit

(

)

[virtual]

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 1 time.

void IterativeRobot::SetPeriod

(

double

period

)

Set the period for the periodic functions.

Parameters:

period

The period of the periodic function calls. 0.0 means sync to driver station control data.

void IterativeRobot::StartCompetition

(

)

[virtual]

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

This specific StartCompetition() implements "main loop" behavior like that of the FRC control system in 2008 and earlier, with a primary (slow) loop that is called periodically, and a "fast loop" (a.k.a. "spin loop") that is called as fast as possible with no delay between calls.

Implements RobotBase.

void IterativeRobot::TeleopContinuous

(

)

[virtual]

Continuous code for teleop mode should go here.

Users should override this method for code which will be called repeatedly as frequently as possible while the robot is in teleop mode.

void IterativeRobot::TeleopInit

(

)

[virtual]

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.

void IterativeRobot::TeleopPeriodic

(

)

[virtual]

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.

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The documentation for this class was generated from the following files:

• IterativeRobot.h
• IterativeRobot.cpp