/**
* Provide an alternate "main loop" via StartCompetition().
*
* This specific StartCompetition() implements "main loop" behavior like that of the FRC
* control system in 2008 and earlier, with a primary (slow) loop that is
* called periodically, and a "fast loop" (a.k.a. "spin loop") that is
* called as fast as possible with no delay between calls.
*/
void IterativeRobot::StartCompetition()
{
LiveWindow *lw = LiveWindow::GetInstance();
// first and one-time initialization
SmartDashboard::init();
NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false);
RobotInit();
// loop forever, calling the appropriate mode-dependent function
lw->SetEnabled(false);
while (true)
{
// Call the appropriate function depending upon the current robot mode
if (IsDisabled())
{
// call DisabledInit() if we are now just entering disabled mode from
// either a different mode or from power-on
if(!m_disabledInitialized)
{
lw->SetEnabled(false);
DisabledInit();
m_disabledInitialized = true;
// reset the initialization flags for the other modes
m_autonomousInitialized = false;
m_teleopInitialized = false;
m_testInitialized = false;
}
if (NextPeriodReady())
{
// TODO: HALNetworkCommunicationObserveUserProgramDisabled();
DisabledPeriodic();
}
}
else if (IsAutonomous())
{
// call AutonomousInit() if we are now just entering autonomous mode from
// either a different mode or from power-on
if(!m_autonomousInitialized)
{
lw->SetEnabled(false);
AutonomousInit();
m_autonomousInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_teleopInitialized = false;
m_testInitialized = false;
}
if (NextPeriodReady())
{
// TODO: HALNetworkCommunicationObserveUserProgramAutonomous();
AutonomousPeriodic();
}
}
else if (IsTest())
{
// call TestInit() if we are now just entering test mode from
// either a different mode or from power-on
if(!m_testInitialized)
{
lw->SetEnabled(true);
TestInit();
m_testInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_autonomousInitialized = false;
m_teleopInitialized = false;
}
if (NextPeriodReady())
{
// TODO: HALNetworkCommunicationObserveUserProgramTest();
TestPeriodic();
}
}
else
{
// call TeleopInit() if we are now just entering teleop mode from
// either a different mode or from power-on
if(!m_teleopInitialized)
{
lw->SetEnabled(false);
TeleopInit();
m_teleopInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_autonomousInitialized = false;
m_testInitialized = false;
Scheduler::GetInstance()->SetEnabled(true);
}
if (NextPeriodReady())
{
// TODO: HALNetworkCommunicationObserveUserProgramTeleop();
TeleopPeriodic();
}
}
// wait for driver station data so the loop doesn't hog the CPU
m_ds.WaitForData();
}
}
/**
* Provide an alternate "main loop" via StartCompetition().
*
* This specific StartCompetition() implements "main loop" behavior like
* that of the FRC control system in 2008 and earlier, with a primary
* (slow) loop that is called periodically, and a "fast loop"
* (a.k.a. "spin loop") that is called as fast as possible with no delay
* between calls.
*/
void IterativeRobot::StartCompetition()
{
printf("RobotIterativeBase StartCompetition() Commenced\n");
// first and one-time initialization
RobotInit();
// loop forever, calling the appropriate mode-dependent function
while (TRUE)
{
// Call the appropriate function depending upon the current robot mode
if (IsDisabled())
{
// call DisabledInit() if we are now just entering disabled
// mode from either a different mode or from power-on
if (!m_disabledInitialized)
{
DisabledInit();
m_disabledInitialized = true;
// reset the initialization flags for the other modes
m_autonomousInitialized = false;
m_teleopInitialized = false;
printf("Disabled_Init() completed\n");
}
if (NextPeriodReady())
{
DisabledPeriodic();
}
DisabledContinuous();
}
else if (IsAutonomous())
{
// call AutonomousInit() if we are now just entering autonomous mode from
// either a different mode or from power-on
if (!m_autonomousInitialized)
{
// KBS NOTE: old code reset all PWMs and relays to "safe values"
// whenever entering autonomous mode, before calling
// "Autonomous_Init()"
AutonomousInit();
m_autonomousInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_teleopInitialized = false;
printf("Autonomous_Init() completed\n");
}
if (NextPeriodReady())
{
AutonomousPeriodic();
}
AutonomousContinuous();
}
else
{
// call TeleopInit() if we are now just entering teleop mode from
// either a different mode or from power-on
if (!m_teleopInitialized)
{
TeleopInit();
m_teleopInitialized = true;
// reset the initialization flags for the other modes
m_disabledInitialized = false;
m_autonomousInitialized = false;
printf("Teleop_Init() completed\n");
}
if (NextPeriodReady())
{
TeleopPeriodic();
}
TeleopContinuous();
}
}
printf("RobotIterativeBase StartCompetition() Ended\n");
}
