summaryrefslogtreecommitdiff
path: root/src/org/mckenzierobotics/lib/robot/CommandRobot.java
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();
	}
}