Package frclib.robotcore

Class FrcRobotBase

java.lang.Object
edu.wpi.first.wpilibj.RobotBase
frclib.robotcore.FrcRobotBase
All Implemented Interfaces:
AutoCloseable
public abstract class FrcRobotBase extends edu.wpi.first.wpilibj.RobotBase
This class defines and implements the FrcRobotBase object. The FrcRobotBase object implements a cooperative multitasking robot. Different subsystems register themselves as CoopTasks. FrcRobotBase uses the TaskMgr to task switch between different subsystem tasks at various points in the robot loop. This basically simulates a cooperative multitasking scheduler that task switches between them in different modes.

  • Constructor Details

    • FrcRobotBase

      public FrcRobotBase(String robotName)
      Constructor: Create an instance of the object.
      Parameters:
      robotName - specifies the robot name.

  • Method Details

    • robotInit

      public abstract void robotInit()
      This method is called to initialize the robot.

    • robotStartMode

      public abstract void robotStartMode(TrcRobot.RunMode runMode, TrcRobot.RunMode prevMode)
      This method is called to prepare the robot before a robot mode is about to start.
      Parameters:
      runMode - specifies the current run mode.
      prevMode - specifies the previous run mode.

    • robotStopMode

      public abstract void robotStopMode(TrcRobot.RunMode runMode, TrcRobot.RunMode nextMode)
      This method is called to prepare the robot right after a robot mode has been stopped.
      Parameters:
      runMode - specifies the current run mode.
      nextMode - specifies the next run mode.

    • robotPeriodic

      public abstract void robotPeriodic(TrcRobot.RunMode runMode, boolean slowPeriodicLoop)
      This method is called periodically in the specified run mode. This is typically used to execute periodic tasks that's common to all run modes.
      Parameters:
      runMode - specifies the current run mode.
      slowPeriodicLoop - specifies true if it is running the slow periodic loop on the main robot thread, false otherwise.

    • getInstance

      public static FrcRobotBase getInstance()
      This method returns the saved instance. This is a static method. So other class can get to this class instance by calling getInstance(). This is very useful for other classes that need to access the public fields and methods.
      Returns:
      save instance of this class.

    • toString

      public String toString()
      This method returns the robot name.
      Overrides:
      toString in class Object
      Returns:
      robot name.

    • getDashboard

      public FrcDashboard getDashboard()
      This method returns the dashboard object.
      Returns:
      dashboard object.

    • getLoopCounter

      public static long getLoopCounter()
      This method returns the loop counter. This is very useful for code to determine if it is called multiple times in the same loop. For example, it can be used to optimize sensor access so that if the sensor is accessed in the same loop, there is no reason to create a new bus transaction to get "fresh" data from the sensor.
      Returns:
      loop counter value.

    • getSlowLoopCounter

      public static long getSlowLoopCounter()
      This method returns the slow loop counter. This is very useful for code to determine if it is called multiple times in the same slow loop. For example, it can be used to optimize sensor access so that if the sensor is accessed in the same loop, there is no reason to create a new bus transaction to get "fresh" data from the sensor.
      Returns:
      slow loop counter value.

    • getCurrentRunMode

      public TrcRobot.RunMode getCurrentRunMode()
      This method returns the current run mode.
      Returns:
      current run mode.

    • setupRobotModes

      public void setupRobotModes(TrcRobot.RobotMode teleOpMode, TrcRobot.RobotMode autoMode, TrcRobot.RobotMode testMode, TrcRobot.RobotMode disabledMode)
      This method is called by the subclass to set up various robot mode objects.
      Parameters:
      teleOpMode - specifies the TeleOp mode object.
      autoMode - specifies the Autonomous mode object.
      testMode - specifies the Test mode object.
      disabledMode - specifies the Disabled mode object.

    • getTeleOpMode

      public TrcRobot.RobotMode getTeleOpMode()
      This method returns the TeleOp robot mode object.
      Returns:
      TeleOp robot mode object or null if not yet set.

    • getAutoMode

      public TrcRobot.RobotMode getAutoMode()
      This method returns the Autonomous robot mode object.
      Returns:
      Autonomous robot mode object or null if not yet set.

    • getTestMode

      public TrcRobot.RobotMode getTestMode()
      This method returns the Test robot mode object.
      Returns:
      Test robot mode object or null if not yet set.

    • getDisabledMode

      public TrcRobot.RobotMode getDisabledMode()
      This method returns the Disabled robot mode object.
      Returns:
      Disabled robot mode object or null if not yet set.

    • sendWatchdogHeartBeat

      public void sendWatchdogHeartBeat()
      This method sends a heart beat to the main robot thread watchdog. This is important if during robot init time that the user code decided to synchronously busy wait for something, it must periodically call this method to prevent the watchdog from complaining.

    • getCommStatus

      public boolean getCommStatus()
      This method returns the Comm Status.
      Returns:
      true if comm is still active, false if we lost comm.

    • setCommStatusMonitorEnabled

      public void setCommStatusMonitorEnabled(TrcEvent.Callback callback)
      This method enables/disables Comm Status monitoring. This is very useful for detecting comm lost or comm reconnect.
      Parameters:
      callback - specifies the callback handler to enable Comm Status monitoring, null to disable.

    • getCommStatusEvent

      public TrcEvent getCommStatusEvent()
      This method returns the commStatusEvent object if Comm Status Monitor is enabled.
      Returns:
      commStatusEvent object, null if Comm Status Monitor is not enabled.

    • startCompetition

      public void startCompetition()
      Start the competition match. This specific startCompetition() implements "main loop" behavior like that of the FRC TimedRobot, with a primary "fast loop" running at a fast periodic rate (default 50 Hz). In addition, it also runs a "slow loop" running at a slow periodic rate (default to 20 Hz). This code needs to track the order of the modes starting to ensure that everything happens in the right order. Repeatedly run the correct method, either Autonomous or TeleOp when the robot is enabled. After running the correct method, wait for some state to change, either the other mode starts or the robot is disabled. Then go back and wait for the robot to be enabled again.
      Specified by:
      startCompetition in class edu.wpi.first.wpilibj.RobotBase

    • endCompetition

      public void endCompetition()
      Called to end the competition loop.
      Specified by:
      endCompetition in class edu.wpi.first.wpilibj.RobotBase

    • printPerformanceMetrics

      public void printPerformanceMetrics(TrcDbgTrace tracer)
      This method prints the performance metrics of all loops and taska.
      Parameters:
      tracer - specifies the tracer to be used for printing the performance metrics.