blob: 35534c2eddc078a0b89d3d58ba77d9de76a1042f (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
|
/**
* CommandFramework base class for FRC 1024.
*
* Copyright (c) 2012 Precise Path Robotics, Inc
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
package org.mckenzierobotics.lib.robot;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
public abstract class CommandRobot extends IterativeRobot {
protected Command autonomousCommand;
protected Command teleopCommand;
public abstract void robotInit();
public void autonomousInit() {
autonomousCommand.start();
}
public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
public void teleopInit() {
autonomousCommand.cancel();
teleopCommand.start();
}
public void teleopPeriodic() {
Scheduler.getInstance().run();
}
public void disabledInit() {
autonomousCommand.cancel();
teleopCommand.cancel();
}
}
|
