103 lines
3.5 KiB
Java
103 lines
3.5 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot;
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import edu.wpi.first.wpilibj.TimedRobot;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.CommandScheduler;
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/**
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* The VM is configured to automatically run this class, and to call the functions corresponding to
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* each mode, as described in the TimedRobot documentation. If you change the name of this class or
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* the package after creating this project, you must also update the build.gradle file in the
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* project.
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*/
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public class Robot extends TimedRobot {
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private Command m_autonomousCommand;
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private RobotContainer m_robotContainer;
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/**
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* This function is run when the robot is first started up and should be used for any
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* initialization code.
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*/
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@Override
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public void robotInit() {
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// Instantiate our RobotContainer. This will perform all our button bindings, and put our
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// autonomous chooser on the dashboard.
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m_robotContainer = new RobotContainer();
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}
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/**
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* This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
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* that you want ran during disabled, autonomous, teleoperated and test.
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*
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* <p>This runs after the mode specific periodic functions, but before LiveWindow and
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* SmartDashboard integrated updating.
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*/
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@Override
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public void robotPeriodic() {
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// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
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// commands, running already-scheduled commands, removing finished or interrupted commands,
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// and running subsystem periodic() methods. This must be called from the robot's periodic
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// block in order for anything in the Command-based framework to work.
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CommandScheduler.getInstance().run();
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}
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/** This function is called once each time the robot enters Disabled mode. */
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@Override
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public void disabledInit() {}
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@Override
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public void disabledPeriodic() {}
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/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
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@Override
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public void autonomousInit() {
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m_autonomousCommand = m_robotContainer.getAutonomousCommand();
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/*
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* String autoSelected = SmartDashboard.getString("Auto Selector",
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* "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
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* = new MyAutoCommand(); break; case "Default Auto": default:
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* autonomousCommand = new ExampleCommand(); break; }
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*/
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// schedule the autonomous command (example)
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if (m_autonomousCommand != null) {
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m_autonomousCommand.schedule();
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}
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}
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/** This function is called periodically during autonomous. */
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@Override
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public void autonomousPeriodic() {}
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@Override
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public void teleopInit() {
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// This makes sure that the autonomous stops running when
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// teleop starts running. If you want the autonomous to
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// continue until interrupted by another command, remove
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// this line or comment it out.
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if (m_autonomousCommand != null) {
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m_autonomousCommand.cancel();
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}
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}
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/** This function is called periodically during operator control. */
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@Override
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public void teleopPeriodic() {}
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@Override
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public void testInit() {
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// Cancels all running commands at the start of test mode.
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CommandScheduler.getInstance().cancelAll();
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}
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/** This function is called periodically during test mode. */
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@Override
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public void testPeriodic() {}
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}
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