IterativeRobotBase

class wpilib.IterativeRobotBase(period: wpimath.units.seconds)

Bases: RobotBase

IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase class.

The IterativeRobotBase class does not implement StartCompetition(), so it should not be used by teams directly.

This class provides the following functions which are called by the main loop, StartCompetition(), at the appropriate times:

DriverStationConnected() – provide for initialization the first time the DS is connected

Init() functions – each of the following functions is called once when the appropriate mode is entered:

  • DisabledInit() – called each and every time disabled is entered from another mode

  • AutonomousInit() – called each and every time autonomous is entered from another mode

  • TeleopInit() – called each and every time teleop is entered from another mode

  • UtilityInit() – called each and every time utility is entered from another mode

Periodic() functions – each of these functions is called on an interval:

  • RobotPeriodic()

  • DisabledPeriodic()

  • AutonomousPeriodic()

  • TeleopPeriodic()

  • UtilityPeriodic()

Exit() functions – each of the following functions is called once when the appropriate mode is exited:

  • DisabledExit() – called each and every time disabled is exited

  • AutonomousExit() – called each and every time autonomous is exited

  • TeleopExit() – called each and every time teleop is exited

  • UtilityExit() – called each and every time utility is exited

Constructor for IterativeRobotBase.

Parameters:

period – Period.

autonomousExit() → None

Exit code for autonomous mode should go here.

Users should override this method for code which will be called each time the robot exits autonomous mode.

autonomousInit() → None

Initialization code for autonomous mode should go here.

Users should override this method for initialization code which will be called each time the robot enters autonomous mode.

autonomousPeriodic() → None

Periodic code for autonomous mode should go here.

Users should override this method for code which will be called each time a new packet is received from the driver station and the robot is in autonomous mode.

disabledExit() → None

Exit code for disabled mode should go here.

Users should override this method for code which will be called each time the robot exits disabled mode.

disabledInit() → None

Initialization code for disabled mode should go here.

Users should override this method for initialization code which will be called each time the robot enters disabled mode.

disabledPeriodic() → None

Periodic code for disabled mode should go here.

Users should override this method for code which will be called each time a new packet is received from the driver station and the robot is in disabled mode.

driverStationConnected() → None

Code that needs to know the DS state should go here.

Users should override this method for initialization that needs to occur after the DS is connected, such as needing the alliance information.

getPeriod() → wpimath.units.seconds

Gets time period between calls to Periodic() functions.

printWatchdogEpochs() → None

Prints list of epochs added so far and their times.

robotPeriodic() → None

Periodic code for all modes should go here.

This function is called each time a new packet is received from the driver station.

simulationInit() → None

Robot-wide simulation initialization code should go here.

Users should override this method for default Robot-wide simulation related initialization which will be called when the robot is first started. It will be called exactly one time after the robot class constructor is called only when the robot is in simulation.

simulationPeriodic() → None

Periodic simulation code should go here.

This function is called in a simulated robot after user code executes.

teleopExit() → None

Exit code for teleop mode should go here.

Users should override this method for code which will be called each time the robot exits teleop mode.

teleopInit() → None

Initialization code for teleop mode should go here.

Users should override this method for initialization code which will be called each time the robot enters teleop mode.

teleopPeriodic() → None

Periodic code for teleop mode should go here.

Users should override this method for code which will be called each time a new packet is received from the driver station and the robot is in teleop mode.

utilityExit() → None

Exit code for utility mode should go here.

Users should override this method for code which will be called each time the robot exits utility mode.

utilityInit() → None

Initialization code for utility mode should go here.

Users should override this method for initialization code which will be called each time the robot enters utility mode.

utilityPeriodic() → None

Periodic code for utility mode should go here.

Users should override this method for code which will be called each time a new packet is received from the driver station and the robot is in utility mode.