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/**
* Copyright (c) 2010-2017 Luke Shumaker.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the FIRST nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.usfirst.frc.team4272.robot2017;
import edu.wpi.first.wpilibj.IterativeRobot;
/**
* 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.
*/
public class Robot extends IterativeRobot {
private final HwRobot robot = new HwRobot();
private final HwOI oi = new HwOI();
private final Control control = new Control();
private Autonomous auto;
private Teleop teleop;
private boolean networkInitialized = false;
private void networkInit() {
Autonomous.networkInit();
}
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotInit() {
}
public void autonomousInit() {
try {
if (!networkInitialized) {
networkInit();
networkInitialized = true;
}
auto = new Autonomous(robot);
} catch (Exception e) {
e.printStackTrace();
}
}
public void autonomousPeriodic() {
try {
robot.run(auto.run(control));
} catch (Exception e) {
e.printStackTrace();
}
}
public void teleopInit() {
try {
if (!networkInitialized) {
networkInit();
networkInitialized = true;
}
teleop = new Teleop(robot);
} catch (Exception e) {}
}
public void teleopPeriodic() {
try {
robot.run(teleop.run(control, oi));
} catch (Exception e) {
e.printStackTrace();
}
}
public void disabledInit() {
try {
if (!networkInitialized) {
networkInit();
networkInitialized = true;
}
} catch (Exception e) {
e.printStackTrace();
}
}
public void disabledPeriodic() {
}
public void testInit() {
try {
if (!networkInitialized) {
networkInit();
networkInitialized = true;
}
} catch (Exception e) {
e.printStackTrace();
}
}
public void testPeriodic() {
}
}
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