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15
src/main/java/frc/robot/Main.java
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15
src/main/java/frc/robot/Main.java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot;
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import edu.wpi.first.wpilibj.RobotBase;
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public final class Main {
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private Main() {}
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public static void main(String... args) {
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RobotBase.startRobot(Robot::new);
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}
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}
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72
src/main/java/frc/robot/Robot.java
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72
src/main/java/frc/robot/Robot.java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot;
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import edu.wpi.first.wpilibj.TimedRobot;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.CommandScheduler;
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public class Robot extends TimedRobot {
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private Command m_autonomousCommand;
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private final RobotContainer m_robotContainer;
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public Robot() {
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m_robotContainer = new RobotContainer();
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}
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@Override
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public void robotPeriodic() {
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CommandScheduler.getInstance().run();
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}
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@Override
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public void disabledInit() {}
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@Override
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public void disabledPeriodic() {}
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@Override
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public void disabledExit() {}
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@Override
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public void autonomousInit() {
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m_autonomousCommand = m_robotContainer.getAutonomousCommand();
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if (m_autonomousCommand != null) {
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m_autonomousCommand.schedule();
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}
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}
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@Override
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public void autonomousPeriodic() {}
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@Override
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public void autonomousExit() {}
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@Override
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public void teleopInit() {
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if (m_autonomousCommand != null) {
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m_autonomousCommand.cancel();
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}
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}
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@Override
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public void teleopPeriodic() {}
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@Override
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public void teleopExit() {}
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@Override
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public void testInit() {
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CommandScheduler.getInstance().cancelAll();
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}
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@Override
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public void testPeriodic() {}
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@Override
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public void testExit() {}
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}
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20
src/main/java/frc/robot/RobotContainer.java
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20
src/main/java/frc/robot/RobotContainer.java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Commands;
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public class RobotContainer {
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public RobotContainer() {
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configureBindings();
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}
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private void configureBindings() {}
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public Command getAutonomousCommand() {
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return Commands.print("No autonomous command configured");
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}
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}
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