| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2008-2017. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #pragma once |
| 9 | |
| 10 | #include "RobotBase.h" |
| 11 | |
| 12 | namespace frc { |
| 13 | |
| 14 | /** |
| 15 | * IterativeRobot implements a specific type of Robot Program framework, |
| 16 | * extending the RobotBase class. |
| 17 | * |
| 18 | * The IterativeRobot class is intended to be subclassed by a user creating a |
| 19 | * robot program. |
| 20 | * |
| 21 | * This class is intended to implement the "old style" default code, by |
| 22 | * providing the following functions which are called by the main loop, |
| 23 | * StartCompetition(), at the appropriate times: |
| 24 | * |
| 25 | * RobotInit() -- provide for initialization at robot power-on |
| 26 | * |
| 27 | * Init() functions -- each of the following functions is called once when the |
| 28 | * appropriate mode is entered: |
| 29 | * - DisabledInit() -- called only when first disabled |
| 30 | * - AutonomousInit() -- called each and every time autonomous is entered from |
| 31 | * another mode |
| 32 | * - TeleopInit() -- called each and every time teleop is entered from |
| 33 | * another mode |
| 34 | * - TestInit() -- called each and every time test is entered from |
| 35 | * another mode |
| 36 | * |
| 37 | * Periodic() functions -- each of these functions is called each time a |
| 38 | * new packet is received from the driver station: |
| 39 | * - RobotPeriodic() |
| 40 | * - DisabledPeriodic() |
| 41 | * - AutonomousPeriodic() |
| 42 | * - TeleopPeriodic() |
| 43 | * - TestPeriodic() |
| 44 | * |
| 45 | */ |
| 46 | |
| 47 | class IterativeRobot : public RobotBase { |
| 48 | public: |
| 49 | virtual void StartCompetition(); |
| 50 | |
| 51 | virtual void RobotInit(); |
| 52 | virtual void DisabledInit(); |
| 53 | virtual void AutonomousInit(); |
| 54 | virtual void TeleopInit(); |
| 55 | virtual void TestInit(); |
| 56 | |
| 57 | virtual void RobotPeriodic(); |
| 58 | virtual void DisabledPeriodic(); |
| 59 | virtual void AutonomousPeriodic(); |
| 60 | virtual void TeleopPeriodic(); |
| 61 | virtual void TestPeriodic(); |
| 62 | |
| 63 | protected: |
| 64 | virtual ~IterativeRobot() = default; |
| 65 | IterativeRobot() = default; |
| 66 | |
| 67 | private: |
| 68 | bool m_disabledInitialized = false; |
| 69 | bool m_autonomousInitialized = false; |
| 70 | bool m_teleopInitialized = false; |
| 71 | bool m_testInitialized = false; |
| 72 | }; |
| 73 | |
| 74 | } // namespace frc |