Package xbot.common.command

Class BaseRobot

java.lang.Object

edu.wpi.first.wpilibj.RobotBase

edu.wpi.first.wpilibj.IterativeRobotBase

org.littletonrobotics.junction.LoggedRobot

xbot.common.command.BaseRobot

All Implemented Interfaces:

AutoCloseable

public abstract class BaseRobot
extends org.littletonrobotics.junction.LoggedRobot

Core Robot class which configures logging, properties, scheduling, and the injector. Required for a fair amount of CommonLib functionality.

Field Summary

Fields

Modifier and Type	Field	Description
protected Command	autonomousCommand
protected AutonomousCommandSelector	autonomousCommandSelector
protected List<DataFrameRefreshable>	dataFrameRefreshables
protected DevicePolice	devicePolice
Throwable	initException
protected XPropertyManager	propertyManager
protected SimulationPayloadDistributor	simulationPayloadDistributor
protected WebotsClient	webots
protected XScheduler	xScheduler

Fields inherited from class org.littletonrobotics.junction.LoggedRobot

defaultPeriodSecs

Constructor Summary

Constructors

Constructor	Description
BaseRobot()
BaseRobot(double loopInterval)

Method Summary

Modifier and Type	Method	Description
void	autonomousInit()
void	autonomousPeriodic()	This function is called periodically during autonomous
protected abstract BaseComponent	createDaggerComponent()	Returns the BaseComponent instance used for dependency injection
void	disabledInit()
void	disabledPeriodic()
protected String	getEnableTypeString()
protected BaseComponent	getInjectorComponent()	Get the dependency injection component
protected String	getMatchContextString()
protected double	getPerformanceTimestampInMs()
protected void	initializeSystems()
void	robotInit()	This function is run when the robot is first started up and should be used for any initialization code.
protected void	setupInjectionModule()	Override if you need a different module
protected void	sharedPeriodic()
void	simulationInit()
void	simulationPeriodic()
void	teleopInit()
void	teleopPeriodic()	This function is called periodically during operator control
void	testPeriodic()	This function is called periodically during test mode
protected void	updateLoggingContext()

Methods inherited from class org.littletonrobotics.junction.LoggedRobot

endCompetition, finalize, setUseTiming, startCompetition

Methods inherited from class edu.wpi.first.wpilibj.IterativeRobotBase

autonomousExit, disabledExit, driverStationConnected, enableLiveWindowInTest, getPeriod, isLiveWindowEnabledInTest, loopFunc, printWatchdogEpochs, robotPeriodic, setNetworkTablesFlushEnabled, teleopExit, testExit, testInit

Methods inherited from class edu.wpi.first.wpilibj.RobotBase

close, getMainThreadId, getRuntimeType, isAutonomous, isAutonomousEnabled, isDisabled, isEnabled, isReal, isSimulation, isTeleop, isTeleopEnabled, isTest, isTestEnabled, startRobot, suppressExitWarning

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

propertyManager

protected XPropertyManager propertyManager

xScheduler

protected XScheduler xScheduler

autonomousCommand

protected Command autonomousCommand

autonomousCommandSelector

protected AutonomousCommandSelector autonomousCommandSelector

webots

protected WebotsClient webots

devicePolice

protected DevicePolice devicePolice

simulationPayloadDistributor

protected SimulationPayloadDistributor simulationPayloadDistributor

dataFrameRefreshables

protected List<DataFrameRefreshable> dataFrameRefreshables

initException

public Throwable initException

Constructor Details

BaseRobot

public BaseRobot()

BaseRobot

public BaseRobot(double loopInterval)

Method Details

setupInjectionModule

protected void setupInjectionModule()

Override if you need a different module

createDaggerComponent

protected abstract BaseComponent createDaggerComponent()

Returns the BaseComponent instance used for dependency injection

getInjectorComponent

protected BaseComponent getInjectorComponent()

Get the dependency injection component

Returns:

an implementation of BaseComponent that will be used throughout the robot.

robotInit

public void robotInit()

This function is run when the robot is first started up and should be used for any initialization code.

Overrides:

robotInit in class IterativeRobotBase

getEnableTypeString

protected String getEnableTypeString()

updateLoggingContext

protected void updateLoggingContext()

initializeSystems

protected void initializeSystems()

disabledInit

public void disabledInit()

Overrides:

disabledInit in class IterativeRobotBase

disabledPeriodic

public void disabledPeriodic()

Overrides:

disabledPeriodic in class IterativeRobotBase

getMatchContextString

protected String getMatchContextString()

autonomousInit

public void autonomousInit()

Overrides:

autonomousInit in class IterativeRobotBase

autonomousPeriodic

public void autonomousPeriodic()

This function is called periodically during autonomous

Overrides:

autonomousPeriodic in class IterativeRobotBase

teleopInit

public void teleopInit()

Overrides:

teleopInit in class IterativeRobotBase

teleopPeriodic

public void teleopPeriodic()

This function is called periodically during operator control

Overrides:

teleopPeriodic in class IterativeRobotBase

testPeriodic

public void testPeriodic()

This function is called periodically during test mode

Overrides:

testPeriodic in class IterativeRobotBase

sharedPeriodic

protected void sharedPeriodic()

simulationInit

public void simulationInit()

Overrides:

simulationInit in class IterativeRobotBase

simulationPeriodic

public void simulationPeriodic()

Overrides:

simulationPeriodic in class IterativeRobotBase

getPerformanceTimestampInMs

protected double getPerformanceTimestampInMs()