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 constexpr double kDefaultPeriod = 0.0;

    virtual void StartCompetition();

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

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

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

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

private:
    bool NextPeriodReady();

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

#endif