1 files changed, 65 insertions, 0 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/CommandRobot.java b/src/org/usfirst/frc/team4272/robotlib/CommandRobot.java
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+/**
+ * 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.usfirst.frc.team4272.robotlib;
+
+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();
+	}
+}