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:

RobotInit() – provide for initialization at robot power-on

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

  • TestInit() – called each and every time test is entered from another mode

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

  • RobotPeriodic()

  • DisabledPeriodic()

  • AutonomousPeriodic()

  • TeleopPeriodic()

  • TestPeriodic()

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

  • TestExit() – called each and every time test 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.

enableLiveWindowInTest(testLW: bool) → None

Sets whether LiveWindow operation is enabled during test mode.

Parameters:

testLW – True to enable, false to disable. Defaults to false. @throws if called in test mode.

getPeriod() → wpimath.units.seconds

Gets time period between calls to Periodic() functions.

isLiveWindowEnabledInTest() → bool

Whether LiveWindow operation is enabled during test mode.

printWatchdogEpochs() → None

Prints list of epochs added so far and their times.

robotInit() → None

Robot-wide initialization code should go here.

Users should override this method for default Robot-wide initialization which will be called when the robot is first powered on. It will be called exactly one time.

Note: This method is functionally identical to the class constructor so that should be used instead.

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.

setNetworkTablesFlushEnabled(enabled: bool) → None

Enables or disables flushing NetworkTables every loop iteration. By default, this is enabled.

Deprecated:

Deprecated without replacement.

Parameters:

enabled – True to enable, false to disable

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.

testExit() → None

Exit code for test mode should go here.

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

testInit() → None

Initialization code for test mode should go here.

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

testPeriodic() → None

Periodic code for test 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 test mode.