OpModeRobotBase

class wpilib.OpModeRobotBase(*args, **kwargs)

Bases: RobotBase

OpModeRobotBase is the non-templated base class for OpModeRobot. Users should generally prefer using OpModeRobot instead of this class.

Opmodes are constructed when selected on the driver station, and destroyed when the robot is disabled after being enabled or a different opmode is selected. When no opmode is selected, NonePeriodic() is called. The DriverStationConnected() function is called the first time the driver station connects to the robot.

Overloaded function.

  1. __init__(self: wpilib._wpilib.OpModeRobotBase, period: wpimath.units.seconds) -> None

Constructor.

Parameters:

period – The period of the robot loop function.

  1. __init__(self: wpilib._wpilib.OpModeRobotBase) -> None

Constructor for an OpModeRobot with a default loop time of 0.02 seconds.

DEFAULT_PERIOD = 20.0
addOpModeFactory(*args, **kwargs)

Overloaded function.

  1. addOpModeFactory(self: wpilib._wpilib.OpModeRobotBase, factory: collections.abc.Callable[[], wpilib._wpilib.OpMode], mode: hal._wpiHal.RobotMode, name: str, group: str, description: str, textColor: wpiutil._wpiutil.Color, backgroundColor: wpiutil._wpiutil.Color) -> None

Adds an operating mode option using a factory function that creates the opmode. It’s necessary to call PublishOpModes() to make the added modes visible to the driver station.

Parameters:

  • factory – factory function

  • mode – robot mode

  • name – name of the operating mode

  • group – group of the operating mode

  • description – description of the operating mode

  • textColor – text color

  • backgroundColor – background color

  1. addOpModeFactory(self: wpilib._wpilib.OpModeRobotBase, factory: collections.abc.Callable[[], wpilib._wpilib.OpMode], mode: hal._wpiHal.RobotMode, name: str, group: str = ‘’, description: str = ‘’) -> None

Adds an operating mode option using a factory function that creates the opmode. It’s necessary to call PublishOpModes() to make the added modes visible to the driver station.

Parameters:

  • factory – factory function

  • mode – robot mode

  • name – name of the operating mode

  • group – group of the operating mode

  • description – description of the operating mode

addPeriodic(callback: collections.abc.Callable[[], None], period: wpimath.units.seconds) → None

Add a callback to run at a specific period.

Parameters:

  • callback – The callback to run.

  • period – The period at which to run the callback.

clearOpModes() → None

Clears all operating mode options and publishes an empty list to the driver station.

disabledExit() → None

Function called once when the robot exits disabled state.

disabledInit() → None

Function called once when the robot becomes disabled.

disabledPeriodic() → None

Function called periodically while the robot is disabled.

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.

endCompetition() → None

Ends the main loop in StartCompetition().

getLoopStartTime() → wpimath.units.microseconds

Return the system clock time in microseconds for the start of the current periodic loop. This is in the same time base as Timer.getMonotonicTimeStamp(), but is stable through a loop. It is updated at the beginning of every periodic callback (including the normal periodic loop).

Returns:

Robot running time in microseconds, as of the start of the current periodic function.

nonePeriodic() → None

Function called periodically anytime when no opmode is selected, including when the Driver Station is disconnected.

publishOpModes() → None

Publishes the operating mode options to the driver station.

removeOpMode(mode: hal._wpiHal.RobotMode, name: str) → None

Removes an operating mode option. It’s necessary to call PublishOpModes() to make the removed mode no longer visible to the driver station.

Parameters:

  • mode – robot mode

  • name – name of the operating mode

robotPeriodic() → None

Function called periodically every loop, regardless of enabled state or OpMode selection.

simulationInit() → None

Function called once during robot initialization in simulation.

simulationPeriodic() → None

Function called periodically in simulation.

startCompetition() → None

Provide an alternate “main loop” via StartCompetition().