Package lib

Class CommandRobotBase

java.lang.Object
edu.wpi.first.wpilibj.RobotBase
edu.wpi.first.wpilibj.IterativeRobotBase
org.littletonrobotics.junction.LoggedRobot
lib.CommandRobotBase
All Implemented Interfaces:
AutoCloseable
Direct Known Subclasses:
Robot
public abstract class CommandRobotBase extends org.littletonrobotics.junction.LoggedRobot
IterativeRobot is normally the base class for command based code, but we think certain features will almost always be needed, so we created the CommandRobotBase class. Robot should extend this instead of iterative robot.

  • Field Details

    • autonChooser

      protected CommandSendableChooser autonChooser

    • driverChooser

      protected edu.wpi.first.wpilibj.smartdashboard.SendableChooser<Driver> driverChooser

    • operatorChooser

      protected edu.wpi.first.wpilibj.smartdashboard.SendableChooser<Operator> operatorChooser

  • Constructor Details

    • CommandRobotBase

      public CommandRobotBase()

  • Method Details

    • isRedAlliance

      public static boolean isRedAlliance()

    • isBlueAlliance

      public static boolean isBlueAlliance()

    • addClearBindingCallback

      public static void addClearBindingCallback(Runnable callback)
      Add a callback that will be called to unbind commands from a joystick/controller

    • robotInit

      public final void robotInit()
      Use initialize() for year-specific code.
      Overrides:
      robotInit in class edu.wpi.first.wpilibj.IterativeRobotBase

    • robotPeriodic

      public void robotPeriodic()
      Use alwaysExecute() for year-specific code.
      Overrides:
      robotPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase

    • teleopInit

      public final void teleopInit()
      Use teleopInitialize() for year-specific code.
      Overrides:
      teleopInit in class edu.wpi.first.wpilibj.IterativeRobotBase

    • teleopPeriodic

      public final void teleopPeriodic()
      Use teleopExecute() for year-specific code.
      Overrides:
      teleopPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase

    • teleopExit

      public final void teleopExit()
      Use teleopCleanup() for year-specific code.
      Overrides:
      teleopExit in class edu.wpi.first.wpilibj.IterativeRobotBase

    • autonomousInit

      public final void autonomousInit()
      Use autonomousInitialize() for year-specific code.
      Overrides:
      autonomousInit in class edu.wpi.first.wpilibj.IterativeRobotBase

    • autonomousPeriodic

      public final void autonomousPeriodic()
      Use autonomousExecute() for year-specific code.
      Overrides:
      autonomousPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase

    • autonomousExit

      public final void autonomousExit()
      Use autonomousCleanup() for year-specific code.
      Overrides:
      autonomousExit in class edu.wpi.first.wpilibj.IterativeRobotBase

    • disabledInit

      public final void disabledInit()
      Use disabledInitialize() for year-specific code.
      Overrides:
      disabledInit in class edu.wpi.first.wpilibj.IterativeRobotBase

    • disabledPeriodic

      public final void disabledPeriodic()
      Use disabledExecute() for year-specific code.
      Overrides:
      disabledPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase

    • disabledExit

      public final void disabledExit()
      Use disabledCleanup() for year-specific code.
      Overrides:
      disabledExit in class edu.wpi.first.wpilibj.IterativeRobotBase

    • testInit

      public final void testInit()
      Use testInitialize() for year-specific code.
      Overrides:
      testInit in class edu.wpi.first.wpilibj.IterativeRobotBase

    • testPeriodic

      public final void testPeriodic()
      Use testExecute() for year-specific code.
      Overrides:
      testPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase

    • testExit

      public final void testExit()
      Use testCleanup() for year-specific code.
      Overrides:
      testExit in class edu.wpi.first.wpilibj.IterativeRobotBase

    • simulationInit

      public void simulationInit()
      Use simulationInitialize() for year-specific code.
      Overrides:
      simulationInit in class edu.wpi.first.wpilibj.IterativeRobotBase

    • simulationPeriodic

      public void simulationPeriodic()
      Use simulationExecute() for year-specific code.
      Overrides:
      simulationPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase

    • initialize

      public abstract void initialize()
      Function for year-specific code to be run on robot code launch, after RobotMap initialization. Driver/operator/auton chooser options should be added here.

    • alwaysExecute

      public abstract void alwaysExecute()
      Function for year-specific code to be run in every robot mode. This function runs after the mode-specific execute function.

    • teleopInitialize

      public abstract void teleopInitialize()
      Function for year-specific code to be run on teleoperated initialize.

    • teleopExecute

      public abstract void teleopExecute()
      Function for year-specific code to be run during teleoperated time.

    • teleopCleanup

      public abstract void teleopCleanup()
      Function for year-specific code to be run when teleoperated mode ends.

    • autonomousInitialize

      public abstract void autonomousInitialize()
      Function for year-specific code to be run on autonomous initialize.

    • autonomousExecute

      public abstract void autonomousExecute()
      Function for year-specific code to be run during autonomous.

    • autonomousCleanup

      public abstract void autonomousCleanup()
      Function for year-specific code to be run when autonomous mode ends.

    • disabledInitialize

      public abstract void disabledInitialize()
      Function for year-specific code to be run on disabled initialize.

    • disabledExecute

      public abstract void disabledExecute()
      Function for year-specific code to be run while disabled.

    • disabledCleanup

      public abstract void disabledCleanup()
      Function for year-specific code to be run when disabled mode ends.

    • testInitialize

      public abstract void testInitialize()
      Function for year-specific code to be run on test initialize.

    • testExecute

      public abstract void testExecute()
      Function for year-specific code to be run while in test mode.

    • testCleanup

      public abstract void testCleanup()
      Function for year-specific code to be run when test mode ends.

    • simulationInitialize

      public abstract void simulationInitialize()
      Function for year-specific code to be run on simulation initialize.

    • simulationExecute

      public abstract void simulationExecute()
      Function for year-specific code to be run while in simulation mode.