| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef ROBOT_ITERATIVE_H_
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| 8 | #define ROBOT_ITERATIVE_H_
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| 9 |
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| 10 | #include "Timer.h"
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| 11 | #include "RobotBase.h"
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| 12 |
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| 13 | /**
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| 14 | * IterativeRobot implements a specific type of Robot Program framework, extending the RobotBase class.
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| 15 | *
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| 16 | * The IterativeRobot class is intended to be subclassed by a user creating a robot program.
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| 17 | *
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| 18 | * This class is intended to implement the "old style" default code, by providing
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| 19 | * the following functions which are called by the main loop, StartCompetition(), at the appropriate times:
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| 20 | *
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| 21 | * RobotInit() -- provide for initialization at robot power-on
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| 22 | *
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| 23 | * Init() functions -- each of the following functions is called once when the
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| 24 | * appropriate mode is entered:
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| 25 | * - DisabledInit() -- called only when first disabled
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| 26 | * - AutonomousInit() -- called each and every time autonomous is entered from another mode
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| 27 | * - TeleopInit() -- called each and every time teleop is entered from another mode
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| 28 | * - TestInit() -- called each and every time test is entered from another mode
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| 29 | *
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| 30 | * Periodic() functions -- each of these functions is called iteratively at the
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| 31 | * appropriate periodic rate (aka the "slow loop"). The default period of
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| 32 | * the iterative robot is synced to the driver station control packets,
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| 33 | * giving a periodic frequency of about 50Hz (50 times per second).
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| 34 | * - DisabledPeriodic()
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| 35 | * - AutonomousPeriodic()
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| 36 | * - TeleopPeriodic()
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| 37 | * - TestPeriodic()
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| 38 | *
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| 39 | */
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| 40 |
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| 41 | class IterativeRobot : public RobotBase {
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| 42 | public:
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| 43 | /*
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| 44 | * The default period for the periodic function calls (seconds)
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| 45 | * Setting the period to 0.0 will cause the periodic functions to follow
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| 46 | * the Driver Station packet rate of about 50Hz.
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| 47 | */
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| 48 | static const double kDefaultPeriod = 0.0;
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| 49 |
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| 50 | virtual void StartCompetition();
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| 51 |
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| 52 | virtual void RobotInit();
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| 53 | virtual void DisabledInit();
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| 54 | virtual void AutonomousInit();
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| 55 | virtual void TeleopInit();
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| 56 | virtual void TestInit();
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| 57 |
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| 58 | virtual void DisabledPeriodic();
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| 59 | virtual void AutonomousPeriodic();
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| 60 | virtual void TeleopPeriodic();
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| 61 | virtual void TestPeriodic();
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| 62 |
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| 63 | void SetPeriod(double period);
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| 64 | double GetPeriod();
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| 65 | double GetLoopsPerSec();
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| 66 |
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| 67 | protected:
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| 68 | virtual ~IterativeRobot();
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| 69 | IterativeRobot();
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| 70 |
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| 71 | private:
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| 72 | bool NextPeriodReady();
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| 73 |
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| 74 | bool m_disabledInitialized;
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| 75 | bool m_autonomousInitialized;
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| 76 | bool m_teleopInitialized;
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| 77 | bool m_testInitialized;
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| 78 | double m_period;
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| 79 | Timer m_mainLoopTimer;
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| 80 | };
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| 81 |
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| 82 | #endif
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| 83 |
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