IterativeRobotBase

class wpilib.IterativeRobotBase(self: wpilib.IterativeRobotBase, period: seconds) → None

Bases: wpilib.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()

Constructor for IterativeRobotBase.

Parameters

period – Period.

autonomousInit(self: wpilib.IterativeRobotBase) → 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(self: wpilib.IterativeRobotBase) → 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.

disabledInit(self: wpilib.IterativeRobotBase) → 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(self: wpilib.IterativeRobotBase) → 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.

robotInit(self: wpilib.IterativeRobotBase) → 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.

Warning: the Driver Station “Robot Code” light and FMS “Robot Ready” indicators will be off until RobotInit() exits. Code in RobotInit() that waits for enable will cause the robot to never indicate that the code is ready, causing the robot to be bypassed in a match.

robotPeriodic(self: wpilib.IterativeRobotBase) → 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(self: wpilib.IterativeRobotBase, enabled: bool) → None

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

Parameters

enabled – True to enable, false to disable

teleopInit(self: wpilib.IterativeRobotBase) → 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(self: wpilib.IterativeRobotBase) → 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.

testInit(self: wpilib.IterativeRobotBase) → 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(self: wpilib.IterativeRobotBase) → 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.