| 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 | #include "RobotBase.h" |
| 9 | |
| 10 | #include "RobotState.h" |
| 11 | #include "SmartDashboard/SmartDashboard.h" |
| 12 | #include "Utility.h" |
| 13 | |
| 14 | using namespace frc; |
| 15 | |
| 16 | /** |
| 17 | * Constructor for a generic robot program. |
| 18 | * |
| 19 | * User code should be placed in the constuctor that runs before the Autonomous |
| 20 | * or Operator Control period starts. The constructor will run to completion |
| 21 | * before Autonomous is entered. |
| 22 | * |
| 23 | * This must be used to ensure that the communications code starts. In the |
| 24 | * future it would be nice to put this code into it's own task that loads on |
| 25 | * boot so ensure that it runs. |
| 26 | */ |
| 27 | RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) { |
| 28 | RobotState::SetImplementation(DriverStation::GetInstance()); |
| 29 | SmartDashboard::init(); |
| 30 | time_sub = MainNode::Subscribe("~/time", &wpilib::internal::time_callback); |
| 31 | } |
| 32 | |
| 33 | /** |
| 34 | * Determine if the Robot is currently enabled. |
| 35 | * |
| 36 | * @return True if the Robot is currently enabled by the field controls. |
| 37 | */ |
| 38 | bool RobotBase::IsEnabled() const { return m_ds.IsEnabled(); } |
| 39 | |
| 40 | /** |
| 41 | * Determine if the Robot is currently disabled. |
| 42 | * |
| 43 | * @return True if the Robot is currently disabled by the field controls. |
| 44 | */ |
| 45 | bool RobotBase::IsDisabled() const { return m_ds.IsDisabled(); } |
| 46 | |
| 47 | /** |
| 48 | * Determine if the robot is currently in Autnomous mode. |
| 49 | * |
| 50 | * @return True if the robot is currently operating Autonomously as determined |
| 51 | * by the field controls. |
| 52 | */ |
| 53 | bool RobotBase::IsAutonomous() const { return m_ds.IsAutonomous(); } |
| 54 | |
| 55 | /** |
| 56 | * Determine if the robot is currently in Operator Control mode. |
| 57 | * |
| 58 | * @return True if the robot is currently operating in Tele-Op mode as |
| 59 | * determined by the field controls. |
| 60 | */ |
| 61 | bool RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); } |
| 62 | |
| 63 | /** |
| 64 | * Determine if the robot is currently in Test mode. |
| 65 | * |
| 66 | * @return True if the robot is currently running tests as determined by the |
| 67 | * field controls. |
| 68 | */ |
| 69 | bool RobotBase::IsTest() const { return m_ds.IsTest(); } |