Class OpModeRobot

java.lang.Object

org.wpilib.framework.RobotBase

org.wpilib.framework.OpModeRobot

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

Robot

public abstract class OpModeRobot
extends RobotBase

OpModeRobot implements the opmode-based robot program framework.

The OpModeRobot class is intended to be subclassed by a user creating a robot program.

Classes annotated with Autonomous, Teleop, and Utility in the same package or subpackages as the user's subclass are automatically registered as autonomous, teleop, and utility opmodes respectively.

Opmodes are constructed when selected on the driver station. While selected and disabled, OpMode.disabledPeriodic() is called. When enabled, OpMode.start() is called once and OpMode.periodic() runs at the rate from getPeriod(). On disable or mode switch while enabled, OpMode.end() is called asynchronously and the opmode is then closed and discarded. When no opmode is selected, nonePeriodic() is called. driverStationConnected() is called once when the DS first connects.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_PERIOD	Default loop period.

Constructor Summary

Constructors

Constructor	Description
OpModeRobot()	Constructor with default period.
OpModeRobot(double period)	Constructor with specified period.

Method Summary

Modifier and Type	Method	Description
void	addAnnotatedOpMode(Class<? extends OpMode> cls)	Adds an opmode for an opmode class annotated with Autonomous, Teleop, or Utility.
void	addAnnotatedOpModeClasses(Package pkg)	Scans for classes in the specified package and all nested packages that are annotated with Autonomous, Teleop, or Utility and registers them.
void	addOpMode(RobotMode mode, String name, Class<? extends OpMode> cls)	Adds an opmode for an opmode class.
void	addOpMode(RobotMode mode, String name, String group, Class<? extends OpMode> cls)	Adds an opmode for an opmode class.
void	addOpMode(RobotMode mode, String name, String group, String description, Class<? extends OpMode> cls)	Adds an opmode for an opmode class.
void	addOpMode(RobotMode mode, String name, String group, String description, Supplier<OpMode> factory)	Adds an opmode using a factory function that creates the opmode.
void	addOpMode(RobotMode mode, String name, String group, String description, Color textColor, Color backgroundColor, Class<? extends OpMode> cls)	Adds an opmode for an opmode class.
void	addOpMode(RobotMode mode, String name, String group, String description, Color textColor, Color backgroundColor, Supplier<OpMode> factory)	Adds an opmode using a factory function that creates the opmode.
void	addOpMode(RobotMode mode, String name, String group, Supplier<OpMode> factory)	Adds an opmode using a factory function that creates the opmode.
void	addOpMode(RobotMode mode, String name, Supplier<OpMode> factory)	Adds an opmode using a factory function that creates the opmode.
void	addPeriodic(Runnable callback, double period)	Add a callback to run at a specific period.
void	clearOpModes()	Clears all operating mode options and publishes an empty list to the driver station.
void	close()
void	disabledExit()	Function called once when the robot exits disabled state.
void	disabledInit()	Function called once when the robot becomes disabled.
void	disabledPeriodic()	Function called periodically while the robot is disabled.
void	driverStationConnected()	Code that needs to know the DS state should go here.
final void	endCompetition()	Ends the main loop in startCompetition().
long	getLoopStartTime()	Return the system clock time in nanoseconds for the start of the current periodic loop.
double	getPeriod()	Get the period at which robot and opmode periodic callbacks are run.
void	nonePeriodic()	Function called periodically anytime when no opmode is selected, including when the Driver Station is disconnected.
void	printWatchdogEpochs()	Prints list of epochs added so far and their times.
void	publishOpModes()	Publishes the operating mode options to the driver station.
void	removeOpMode(RobotMode mode, String name)	Removes an operating mode option.
void	robotPeriodic()	Function called periodically every loop, regardless of enabled state or OpMode selection.
void	simulationInit()	Function called once during robot initialization in simulation.
void	simulationPeriodic()	Function called periodically in simulation.
final void	startCompetition()	Provide an alternate "main loop" via startCompetition().

Methods inherited from class RobotBase

getMainThreadId, getOpMode, getOpModeId, getRobotName, getRuntimeType, isAutonomous, isAutonomousEnabled, isDisabled, isEnabled, isReal, isSimulation, isTeleop, isTeleopEnabled, isUtility, isUtilityEnabled, startRobot, suppressExitWarning

Methods inherited from class Object

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

Field Details

DEFAULT_PERIOD

public static final double DEFAULT_PERIOD

Default loop period.

See Also:

• Constant Field Values

Constructor Details

OpModeRobot

public OpModeRobot()

Constructor with default period.

OpModeRobot

public OpModeRobot(double period)

Constructor with specified period.

Parameters:

period - the period at which to run the robot and opmode periodic callbacks.

Method Details

addOpMode

public void addOpMode(RobotMode mode,
 String name,
 String group,
 String description,
 Color textColor,
 Color backgroundColor,
 Supplier<OpMode> factory)

Adds an opmode using a factory function that creates the opmode. It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

mode - robot mode

name - name of the operating mode

group - group of the operating mode

description - description of the operating mode

textColor - text color, or null for default

backgroundColor - background color, or null for default

factory - factory function to create the opmode

Throws:

IllegalArgumentException - if class does not meet criteria

addOpMode

public void addOpMode(RobotMode mode,
 String name,
 String group,
 String description,
 Supplier<OpMode> factory)

Adds an opmode using a factory function that creates the opmode. It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

mode - robot mode

name - name of the operating mode

group - group of the operating mode

description - description of the operating mode

factory - factory function to create the opmode

Throws:

IllegalArgumentException - if class does not meet criteria

addOpMode

public void addOpMode(RobotMode mode,
 String name,
 String group,
 Supplier<OpMode> factory)

Adds an opmode using a factory function that creates the opmode. It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

mode - robot mode

name - name of the operating mode

group - group of the operating mode

factory - factory function to create the opmode

Throws:

IllegalArgumentException - if class does not meet criteria

addOpMode

public void addOpMode(RobotMode mode,
 String name,
 Supplier<OpMode> factory)

Adds an opmode using a factory function that creates the opmode. It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

mode - robot mode

name - name of the operating mode

factory - factory function to create the opmode

Throws:

IllegalArgumentException - if class does not meet criteria

addOpMode

public void addOpMode(RobotMode mode,
 String name,
 String group,
 String description,
 Color textColor,
 Color backgroundColor,
 Class<? extends OpMode> cls)

Adds an opmode for an opmode class. The class must be a public, non-abstract subclass of OpMode with a public constructor that either takes no arguments or accepts a single argument assignable from this robot class type (the latter is preferred; if multiple match, the most specific parameter type is used). It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

mode - robot mode

name - name of the operating mode

group - group of the operating mode

description - description of the operating mode

textColor - text color, or null for default

backgroundColor - background color, or null for default

cls - class to add

Throws:

IllegalArgumentException - if class does not meet criteria

addOpMode

public void addOpMode(RobotMode mode,
 String name,
 String group,
 String description,
 Class<? extends OpMode> cls)

Adds an opmode for an opmode class. The class must be a public, non-abstract subclass of OpMode with a public constructor that either takes no arguments or accepts a single argument assignable from this robot class type (the latter is preferred; if multiple match, the most specific parameter type is used). It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

mode - robot mode

name - name of the operating mode

group - group of the operating mode

description - description of the operating mode

cls - class to add

Throws:

IllegalArgumentException - if class does not meet criteria

addOpMode

public void addOpMode(RobotMode mode,
 String name,
 String group,
 Class<? extends OpMode> cls)

Adds an opmode for an opmode class. The class must be a public, non-abstract subclass of OpMode with a public constructor that either takes no arguments or accepts a single argument assignable from this robot class type (the latter is preferred; if multiple match, the most specific parameter type is used). It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

mode - robot mode

name - name of the operating mode

group - group of the operating mode

cls - class to add

Throws:

IllegalArgumentException - if class does not meet criteria

addOpMode

public void addOpMode(RobotMode mode,
 String name,
 Class<? extends OpMode> cls)

Adds an opmode for an opmode class. The class must be a public, non-abstract subclass of OpMode with a public constructor that either takes no arguments or accepts a single argument assignable from this robot class type (the latter is preferred; if multiple match, the most specific parameter type is used). It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

mode - robot mode

name - name of the operating mode

cls - class to add

Throws:

IllegalArgumentException - if class does not meet criteria

addAnnotatedOpMode

public void addAnnotatedOpMode(Class<? extends OpMode> cls)

Adds an opmode for an opmode class annotated with Autonomous, Teleop, or Utility. The class must be a public, non-abstract subclass of OpMode with a public constructor that either takes no arguments or accepts a single argument assignable from this robot class type (if multiple match, the most specific parameter type is used). It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

cls - class to add

Throws:

IllegalArgumentException - if class does not meet criteria

addAnnotatedOpModeClasses

public void addAnnotatedOpModeClasses(Package pkg)

Scans for classes in the specified package and all nested packages that are annotated with Autonomous, Teleop, or Utility and registers them. It's necessary to call publishOpModes() to make the added modes visible to the driver station.

Parameters:

pkg - package to scan

removeOpMode

public void removeOpMode(RobotMode mode,
 String name)

Removes an operating mode option. It's necessary to call publishOpModes() to make the removed mode no longer visible to the driver station.

Parameters:

mode - robot mode

name - name of the operating mode

publishOpModes

public void publishOpModes()

Publishes the operating mode options to the driver station.

clearOpModes

public void clearOpModes()

Clears all operating mode options and publishes an empty list to the driver station.

addPeriodic

public void addPeriodic(Runnable callback,
 double period)

Add a callback to run at a specific period.

This callback will be registered with the framework immediately when this method is called and will begin executing as soon as it is registered.

Parameters:

callback - The callback to run.

period - The period at which to run the callback.

getPeriod

public double getPeriod()

Get the period at which robot and opmode periodic callbacks are run.

Returns:

The period at which robot and opmode periodic callbacks are run.

driverStationConnected

public void driverStationConnected()

Code that needs to know the DS state should go here.

Users should override this method for initialization that needs to occur after the DS is connected, such as needing the alliance information.

robotPeriodic

public void robotPeriodic()

Function called periodically every loop, regardless of enabled state or OpMode selection.

simulationInit

public void simulationInit()

Function called once during robot initialization in simulation.

simulationPeriodic

public void simulationPeriodic()

Function called periodically in simulation.

disabledInit

public void disabledInit()

Function called once when the robot becomes disabled.

disabledPeriodic

public void disabledPeriodic()

Function called periodically while the robot is disabled.

disabledExit

public void disabledExit()

Function called once when the robot exits disabled state.

nonePeriodic

public void nonePeriodic()

Function called periodically anytime when no opmode is selected, including when the Driver Station is disconnected.

getLoopStartTime

public long getLoopStartTime()

Return the system clock time in nanoseconds for the start of the current periodic loop. This is in the same time base as Timer.getMonotonicTimestamp(), but is stable through a loop. It is updated at the beginning of every periodic callback (including the normal periodic loop).

Returns:

Robot running time in nanoseconds, as of the start of the current periodic function.

startCompetition

public final void startCompetition()

Provide an alternate "main loop" via startCompetition().

Specified by:

startCompetition in class RobotBase

close

public void close()

Specified by:

close in interface AutoCloseable

Overrides:

close in class RobotBase

endCompetition

public final void endCompetition()

Ends the main loop in startCompetition().

Specified by:

endCompetition in class RobotBase

printWatchdogEpochs

public void printWatchdogEpochs()

Prints list of epochs added so far and their times.