Package edu.wpi.first.wpilibj

Class RobotBase

java.lang.Object
edu.wpi.first.wpilibj.RobotBase
Direct Known Subclasses:
IterativeRobotBase
public abstract class RobotBase
extends java.lang.Object
Implement a Robot Program framework. The RobotBase class is intended to be subclassed by a user creating a robot program. Overridden autonomous() and operatorControl() methods are called at the appropriate time as the match proceeds. In the current implementation, the Autonomous code will run to completion before the OperatorControl code could start. In the future the Autonomous code might be spawned as a task, then killed at the end of the Autonomous period.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    static long MAIN_THREAD_ID
    The ID of the main Java thread.

  • Method Summary

    Modifier and Type Method Description
    void free()
    Deprecated.
    static boolean getBooleanProperty​(java.lang.String name, boolean defaultValue)  
    boolean isDisabled()
    Determine if the Robot is currently disabled.
    boolean isEnabled()
    Determine if the Robot is currently enabled.
    abstract void startCompetition()
    Provide an alternate "main loop" via startCompetition().
    static <T extends RobotBase>
    void    		 startRobot​(java.util.function.Supplier<T> robotSupplier)
    Starting point for the applications.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • MAIN_THREAD_ID

      public static final long MAIN_THREAD_ID
      The ID of the main Java thread.

  • Method Details

    • free

      @Deprecated public void free()
      Deprecated.

    • isDisabled

      public boolean isDisabled()
      Determine if the Robot is currently disabled.
      Returns:
      True if the Robot is currently disabled by the field controls.

    • isEnabled

      public boolean isEnabled()
      Determine if the Robot is currently enabled.
      Returns:
      True if the Robot is currently enabled by the field controls.

    • startCompetition

      public abstract void startCompetition() throws java.lang.Exception
      Provide an alternate "main loop" via startCompetition().
      Throws:
      java.lang.Exception

    • getBooleanProperty

      public static boolean getBooleanProperty​(java.lang.String name, boolean defaultValue)

    • startRobot

      public static <T extends RobotBase> void startRobot​(java.util.function.Supplier<T> robotSupplier)
      Starting point for the applications.