RobotBase

class wpilib.RobotBase

Bases: pybind11_object

Implement a Robot Program framework. The RobotBase class is intended to be subclassed to create a robot program. The user must implement StartCompetition() which will be called once and is not expected to exit. The user must also implement EndCompetition(), which signals to the code in StartCompetition() that it should exit.

It is not recommended to subclass this class directly - instead subclass IterativeRobotBase or TimedRobot.

Constructor for a generic robot program.

User code can be placed in the constructor that runs before the Autonomous or Operator Control period starts. The constructor will run to completion before Autonomous is entered.

This must be used to ensure that the communications code starts. In the future it would be nice to put this code into it’s own task that loads on boot so ensure that it runs.

endCompetition() → None

Ends the main loop in StartCompetition().

getControlState() → tuple[bool, bool, bool]

More efficient way to determine what state the robot is in.

Returns:

booleans representing enabled, isautonomous, istest

Added in version 2019.2.1.

Note

This function only exists in RobotPy

static getRuntimeType() → wpilib._wpilib.RuntimeType

Get the current runtime type.

Returns:

Current runtime type.

isAutonomous() → bool

Determine if the robot is currently in Autonomous mode.

Returns:

True if the robot is currently operating Autonomously as determined by the Driver Station.

isAutonomousEnabled() → bool

Determine if the robot is currently in Autonomous mode and enabled.

Returns:

True if the robot us currently operating Autonomously while enabled as determined by the Driver Station.

isDisabled() → bool

Determine if the Robot is currently disabled.

Returns:

True if the Robot is currently disabled by the Driver Station.

isEnabled() → bool

Determine if the Robot is currently enabled.

Returns:

True if the Robot is currently enabled by the Driver Station.

static isReal() → bool

Get if the robot is real.

Returns:

If the robot is running in the real world.

static isSimulation() → bool

Get if the robot is a simulation.

Returns:

If the robot is running in simulation.

isTeleop() → bool

Determine if the robot is currently in Operator Control mode.

Returns:

True if the robot is currently operating in Tele-Op mode as determined by the Driver Station.

isTeleopEnabled() → bool

Determine if the robot is current in Operator Control mode and enabled.

Returns:

True if the robot is currently operating in Tele-Op mode while enabled as determined by the Driver Station.

isTest() → bool

Determine if the robot is currently in Test mode.

Returns:

True if the robot is currently running in Test mode as determined by the Driver Station.

isTestEnabled() → bool

Determine if the robot is current in Test mode and enabled.

Returns:

True if the robot is currently operating in Test mode while enabled as determined by the Driver Station.

logger = <Logger robot (WARNING)>

static main(robot_cls: object) → object

Starting point for the application

startCompetition() → None

Start the main robot code. This function will be called once and should not exit until signalled by EndCompetition()