PeriodicOpMode

class wpilib.PeriodicOpMode

Bases: OpMode

An opmode structure for periodic operation. This base class implements a loop that runs one or more functions periodically (on a set time interval aka loop period). The primary periodic callback function is the abstract Periodic() function. Additional periodic callbacks with different intervals can be added using the AddPeriodic() set of functions.

Lifecycle:

  • Constructed when opmode selected on driver station

  • DisabledPeriodic() called periodically as long as DS is disabled. Note

this is not called on a set time interval (it does not use the same time interval as Periodic())

  • When DS transitions from disabled to enabled, Start() is called once

  • While DS is enabled, Periodic() is called periodically on the time interval

set by the robot framework, and additional periodic callbacks added via AddPeriodic() are called periodically on their set time intervals

  • When DS transitions from enabled to disabled, or a different opmode is

selected on the driver station when the DS is enabled, End() is called, followed by Close(); the object is not reused

  • If a different opmode is selected on the driver station when the DS is

disabled, only Close() is called; the object is not reused

Constructor.

addPeriodic(*args, **kwargs)

Overloaded function.

  1. addPeriodic(self: wpilib._wpilib.PeriodicOpMode, callback: collections.abc.Callable[[], None], period: wpimath.units.seconds) -> None

Add a callback to run at a specific period.

This is scheduled on the same Notifier as Periodic(), so Periodic() and the callback run synchronously. Interactions between them are thread-safe.

Parameters:

  • callback – The callback to run.

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

  1. addPeriodic(self: wpilib._wpilib.PeriodicOpMode, callback: collections.abc.Callable[[], None], period: wpimath.units.seconds, offset: wpimath.units.seconds) -> None

Add a callback to run at a specific period with a starting time offset.

This is scheduled on the same Notifier as Periodic(), so Periodic() and the callback run synchronously. Interactions between them are thread-safe.

Parameters:

  • callback – The callback to run.

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

  • offset – The offset from the common starting time. This is useful for scheduling a callback in a different timeslot relative to TimedRobot.

disabledPeriodic() → None

Called periodically while the opmode is selected on the DS (robot is disabled).

end() → None

Called a single time when the robot transitions from enabled to disabled, or just before Close() is called if a different opmode is selected while the robot is enabled.

getCallbacks() → list[wpilib._wpilib.PeriodicPriorityQueue.Callback]

Returns the set of additional periodic callbacks registered via AddPeriodic(). These are executed by the robot framework while the opmode is enabled, in addition to the primary Periodic() callback.

Returns:

The vector of additional periodic callbacks.

periodic() → None

Called periodically while the robot is enabled. The framework calls this at OpModeRobot’s configured loop period.

start() → None

Called a single time when the robot transitions from disabled to enabled. This is called prior to Periodic() being called.