RobotBase

class wpilib.RobotBase

Bases: pybind11_object

Implement a Robot Program framework.

The RobotBase class is intended to be subclassed by a user creating a robot program. Overridden Autonomous() and OperatorControl() methods are called at the appropriate time as the match proceeds. In the current implementation, the Autonomous code will run to completion before the OperatorControl code could start. In the future the Autonomous code might be spawned as a task, then killed at the end of the Autonomous period.

Constructor for a generic robot program.

User code should 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

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

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

Returns:

booleans representing enabled, isautonomous, istest

New 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