Class TimedRobot

java.lang.Object

org.wpilib.framework.RobotBase

org.wpilib.framework.IterativeRobotBase

org.wpilib.framework.TimedRobot

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

TimesliceRobot

public class TimedRobot
extends IterativeRobotBase

TimedRobot implements the IterativeRobotBase robot program framework.

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

periodic() functions from the base class are called on an interval by a Notifier instance.

Field Summary

Fields

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

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	TimedRobot()	Constructor for TimedRobot.
protected	TimedRobot(double period)	Constructor for TimedRobot.
protected	TimedRobot(Frequency frequency)	Constructor for TimedRobot.
protected	TimedRobot(Time period)	Constructor for TimedRobot.

Method Summary

Modifier and Type	Method	Description
final void	addPeriodic(Runnable callback, double period)	Add a callback to run at a specific period.
final void	addPeriodic(Runnable callback, double period, double offset)	Add a callback to run at a specific period with a starting time offset.
void	close()
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.
void	startCompetition()	Provide an alternate "main loop" via startCompetition().

Methods inherited from class IterativeRobotBase

autonomousExit, autonomousInit, autonomousPeriodic, disabledExit, disabledInit, disabledPeriodic, driverStationConnected, getPeriod, loopFunc, printWatchdogEpochs, robotPeriodic, simulationInit, simulationPeriodic, teleopExit, teleopInit, teleopPeriodic, utilityExit, utilityInit, utilityPeriodic

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

TimedRobot

protected TimedRobot()

Constructor for TimedRobot.

TimedRobot

protected TimedRobot(double period)

Constructor for TimedRobot.

Parameters:

period - The period of the robot loop function.

TimedRobot

protected TimedRobot(Time period)

Constructor for TimedRobot.

Parameters:

period - The period of the robot loop function.

TimedRobot

protected TimedRobot(Frequency frequency)

Constructor for TimedRobot.

Parameters:

frequency - The frequency of the robot loop function.

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

Overrides:

close in class RobotBase

startCompetition

public void startCompetition()

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

Specified by:

startCompetition in class IterativeRobotBase

endCompetition

public void endCompetition()

Ends the main loop in startCompetition().

Specified by:

endCompetition in class RobotBase

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.

addPeriodic

public final void addPeriodic(Runnable callback,
 double period)

Add a callback to run at a specific period.

This is scheduled on TimedRobot's Notifier, so TimedRobot and the callback run synchronously. Interactions between them are thread-safe.

Parameters:

callback - The callback to run.

period - The period at which to run the callback in seconds.

addPeriodic

public final void addPeriodic(Runnable callback,
 double period,
 double offset)

Add a callback to run at a specific period with a starting time offset.

This is scheduled on TimedRobot's Notifier, so TimedRobot and the callback run synchronously. Interactions between them are thread-safe.

Parameters:

callback - The callback to run.

period - The period at which to run the callback in seconds.

offset - The offset from the common starting time in seconds. This is useful for scheduling a callback in a different timeslot relative to TimedRobot.