RobotBase Class Reference

#include <RobotBase.h>

Inheritance diagram for RobotBase:

Public Member Functions
bool	IsEnabled ()
bool	IsDisabled ()
bool	IsAutonomous ()
bool	IsOperatorControl ()
bool	IsTest ()
bool	IsSystemActive ()
bool	IsNewDataAvailable ()
Watchdog &	GetWatchdog ()

Static Public Member Functions
static RobotBase &	getInstance ()
static void	setInstance (RobotBase *robot)
static void	startRobotTask (FUNCPTR factory)
static void	robotTask (FUNCPTR factory, Task *task)

Protected Member Functions
virtual	~RobotBase ()
virtual void	StartCompetition ()=0
	RobotBase ()

Static Protected Member Functions
static void	WriteVersionString ()

Protected Attributes
Task *	m_task
Watchdog	m_watchdog
DriverStation *	m_ds

Friends
class	RobotDeleter

Detailed Description

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.

Constructor & Destructor Documentation

RobotBase::~RobotBase ( )

protectedvirtual

Free the resources for a RobotBase class. This includes deleting all classes that might have been allocated as Singletons to they would never be deleted except here.

RobotBase::RobotBase ( )

protected

Constructor for a generic robot program. User code should be placed in the constuctor 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.

Member Function Documentation

Watchdog & RobotBase::GetWatchdog

(

)

Return the instance of the Watchdog timer. Get the watchdog timer so the user program can either disable it or feed it when necessary.

bool RobotBase::IsAutonomous

(

)

Determine if the robot is currently in Autnomous mode.

Returns

True if the robot is currently operating Autonomously as determined by the field controls.

bool RobotBase::IsDisabled

(

)

Determine if the Robot is currently disabled.

Returns

True if the Robot is currently disabled by the field controls.

bool RobotBase::IsEnabled

(

)

Determine if the Robot is currently enabled.

Returns

True if the Robot is currently enabled by the field controls.

bool RobotBase::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?

bool RobotBase::IsOperatorControl

(

)

Determine if the robot is currently in Operator Control mode.

Returns

True if the robot is currently operating in Tele-Op mode as determined by the field controls.

bool RobotBase::IsSystemActive

(

)

Check on the overall status of the system.

Returns

Is the system active (i.e. PWM motor outputs, etc. enabled)?

bool RobotBase::IsTest

(

)

Determine if the robot is currently in Test mode.

Returns

True if the robot is currently running tests as determined by the field controls.

void RobotBase::robotTask ( FUNCPTR  factory, Task *  task  )

static

Static interface that will start the competition in the new task.

void RobotBase::startRobotTask ( FUNCPTR  factory )

static

Start the robot code. This function starts the robot code running by spawning a task. Currently tasks seemed to be started by LVRT without setting the VX_FP_TASK flag so floating point context is not saved on interrupts. Therefore the program experiences hard to debug and unpredictable results. So the LVRT code starts this function, and it, in turn, starts the actual user program.

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

• RobotBase.h
• RobotBase.cpp