Package ca.team3161.lib.robot

Class TitanBot

  • All Implemented Interfaces:
    LifecycleListener, java.lang.AutoCloseable
    public abstract class TitanBot
extends edu.wpi.first.wpilibj.TimedRobot
implements LifecycleListener
    A subclass of TimedRobot. Autonomous is run in a new Thread, leaving the main robot thread responsible (generally) solely for handling FMS events, Watchdog, etc. This allows autonomous scripts to use convenient semantics such as Thread sleeping rather than periodically checking Timer objects.

    • Field Summary

      • Fields inherited from class edu.wpi.first.wpilibj.TimedRobot

        kDefaultPeriod

    • Constructor Summary

      Constructors 
      Constructor Description
      TitanBot()  

    • Method Summary

      All Methods Instance Methods Abstract Methods Concrete Methods 
      Modifier and Type Method Description
      void autonomousInit()
      DO NOT CALL THIS MANUALLY! At the start of the autonomous period, start a new background task using the behaviour described in the concrete subclass implementation's autonomousRoutine() method.
      void autonomousPeriodic()  
      abstract void autonomousRoutine​(TitanBot.AutonomousPeriodTimer timer)
      The one-shot autonomous "script" to be run in a new Thread.
      abstract void autonomousSetup()
      Called once each time before autonomousRoutine(AutonomousPeriodTimer timer) is called.
      void disabledInit()
      DO NOT CALL THIS MANUALLY!
      void disabledPeriodic()  
      abstract void disabledRoutine()  
      abstract void disabledSetup()
      Called once when the robot enters the disabled state.
      abstract int getAutonomousPeriodLengthSeconds()
      Define the length of the Autonomous period, in seconds.
      void onLifecycleChange​(LifecycleEvent event)  
      <T extends LifecycleListener>
      void      		 registerLifecycleComponent​(T lifecycleListener)  
      void robotInit()
      DO NOT CALL THIS MANUALLY!
      abstract void robotSetup()
      Called once each time the robot is turned on.
      void teleopInit()
      DO NOT CALL THIS MANUALLY!
      void teleopPeriodic()
      DO NOT CALL THIS MANUALLY! Handles running teleopRoutine periodically.
      abstract void teleopRoutine()
      Periodically called during robot teleop mode to enable operator control.
      abstract void teleopSetup()
      Called once when the robot enters the teleop mode.
      void testInit()  
      void testPeriodic()  
      abstract void testRoutine()  
      abstract void testSetup()  

      • Methods inherited from class edu.wpi.first.wpilibj.TimedRobot

        addPeriodic, addPeriodic, endCompetition, finalize, startCompetition

      • Methods inherited from class edu.wpi.first.wpilibj.IterativeRobotBase

        autonomousExit, disabledExit, getPeriod, loopFunc, robotPeriodic, setNetworkTablesFlushEnabled, simulationInit, simulationPeriodic, teleopExit, testExit

      • Methods inherited from class edu.wpi.first.wpilibj.RobotBase

        close, getBooleanProperty, getMainThreadId, getRuntimeType, isAutonomous, isAutonomousEnabled, isDisabled, isEnabled, isNewDataAvailable, isOperatorControl, isOperatorControlEnabled, isReal, isSimulation, isTeleop, isTeleopEnabled, isTest, startRobot, suppressExitWarning

      • Methods inherited from class java.lang.Object

        clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Constructor Detail

      • TitanBot

        public TitanBot()

    • Method Detail

      • robotInit

        public final void robotInit()
        DO NOT CALL THIS MANUALLY!
        Overrides:
        robotInit in class edu.wpi.first.wpilibj.IterativeRobotBase

      • robotSetup

        public abstract void robotSetup()
        Called once each time the robot is turned on.

      • autonomousInit

        public final void autonomousInit()
        DO NOT CALL THIS MANUALLY! At the start of the autonomous period, start a new background task using the behaviour described in the concrete subclass implementation's autonomousRoutine() method. This new background task allows us to use Thread.sleep rather than a timer, while also not disrupting normal background functions of the robot such as feeding the Watchdog or responding to FMS events. modeLock is used to ensure that the robot is never simultaneously executing both autonomous and teleop routines at the same time.
        Overrides:
        autonomousInit in class edu.wpi.first.wpilibj.IterativeRobotBase

      • autonomousPeriodic

        public final void autonomousPeriodic()
        Overrides:
        autonomousPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase

      • autonomousRoutine

        public abstract void autonomousRoutine​(TitanBot.AutonomousPeriodTimer timer)
                                throws java.lang.Exception
        The one-shot autonomous "script" to be run in a new Thread.
        Parameters:
        timer - an TitanBot.AutonomousPeriodTimer instance to be used for causing the autonomous routine thread to sleep/wait. This should always be used over "bare" Thread.sleep() or Timer.delay().
        Throws:
        java.lang.Exception - this method failing should never catch the caller unaware - may lead to unpredictable behaviour if so

      • teleopInit

        public final void teleopInit()
        DO NOT CALL THIS MANUALLY!
        Overrides:
        teleopInit in class edu.wpi.first.wpilibj.IterativeRobotBase

      • teleopSetup

        public abstract void teleopSetup()
        Called once when the robot enters the teleop mode.

      • teleopPeriodic

        public final void teleopPeriodic()
        DO NOT CALL THIS MANUALLY! Handles running teleopRoutine periodically. Do not override this in subclasses, or else there may be no guarantee that the autonomous thread and the main robot thread, executing teleop code, will not attempt to run concurrently.
        Overrides:
        teleopPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase

      • teleopRoutine

        public abstract void teleopRoutine()
        Periodically called during robot teleop mode to enable operator control. This is the only way teleop mode should be handled - do not directly call teleopPeriodic from within this method or unbounded recursion will occur, resulting in a stack overflow and crashed robot code. teleopContinuous is likewise unsupported.

      • disabledInit

        public final void disabledInit()
        DO NOT CALL THIS MANUALLY!
        Overrides:
        disabledInit in class edu.wpi.first.wpilibj.IterativeRobotBase

      • disabledSetup

        public abstract void disabledSetup()
        Called once when the robot enters the disabled state.

      • disabledPeriodic

        public final void disabledPeriodic()
        Overrides:
        disabledPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase

      • disabledRoutine

        public abstract void disabledRoutine()

      • testInit

        public final void testInit()
        Overrides:
        testInit in class edu.wpi.first.wpilibj.IterativeRobotBase

      • testSetup

        public abstract void testSetup()

      • testPeriodic

        public final void testPeriodic()
        Overrides:
        testPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase

      • testRoutine

        public abstract void testRoutine()

      • getAutonomousPeriodLengthSeconds

        public abstract int getAutonomousPeriodLengthSeconds()
        Define the length of the Autonomous period, in seconds.
        Returns:
        the length of the Autonomous period, in seconds.

      • registerLifecycleComponent

        public <T extends LifecycleListener> void registerLifecycleComponent​(T lifecycleListener)