wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/RobotBase.html
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<div class="subTitle">edu.wpi.first.wpilibj</div>
<h2 title="Class RobotBase" class="title">Class RobotBase</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
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<li>edu.wpi.first.wpilibj.RobotBase</li>
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<dt>Direct Known Subclasses:</dt>
<dd><a href="../../../../edu/wpi/first/wpilibj/IterativeRobotBase.html" title="class in edu.wpi.first.wpilibj">IterativeRobotBase</a>, <a href="../../../../edu/wpi/first/wpilibj/SampleRobot.html" title="class in edu.wpi.first.wpilibj">SampleRobot</a></dd>
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<pre>public abstract class <span class="typeNameLabel">RobotBase</span>
extends java.lang.Object</pre>
<div class="block">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.</div>
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<h3>Field Summary</h3>
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Field and Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>protected <a href="../../../../edu/wpi/first/wpilibj/DriverStation.html" title="class in edu.wpi.first.wpilibj">DriverStation</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#m_ds">m_ds</a></span></code> </td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>static long</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#MAIN_THREAD_ID">MAIN_THREAD_ID</a></span></code>
<div class="block">The ID of the main Java thread.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#ROBOT_TASK_PRIORITY">ROBOT_TASK_PRIORITY</a></span></code>
<div class="block">The VxWorks priority that robot code should work at (so Java code should run at).</div>
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
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<th class="colLast" scope="col">Constructor and Description</th>
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<td class="colFirst"><code>protected </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#RobotBase--">RobotBase</a></span>()</code>
<div class="block">Constructor for a generic robot program.</div>
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<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
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<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#free--">free</a></span>()</code>
<div class="block">Free the resources for a RobotBase class.</div>
</td>
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<tr id="i1" class="rowColor">
<td class="colFirst"><code>static boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#getBooleanProperty-java.lang.String-boolean-">getBooleanProperty</a></span>(java.lang.String name,
boolean defaultValue)</code> </td>
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<tr id="i2" class="altColor">
<td class="colFirst"><code>static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#initializeHardwareConfiguration--">initializeHardwareConfiguration</a></span>()</code>
<div class="block">Common initialization for all robot programs.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#isAutonomous--">isAutonomous</a></span>()</code>
<div class="block">Determine if the robot is currently in Autonomous mode as determined by the field
controls.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#isDisabled--">isDisabled</a></span>()</code>
<div class="block">Determine if the Robot is currently disabled.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#isEnabled--">isEnabled</a></span>()</code>
<div class="block">Determine if the Robot is currently enabled.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#isNewDataAvailable--">isNewDataAvailable</a></span>()</code>
<div class="block">Indicates if new data is available from the driver station.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#isOperatorControl--">isOperatorControl</a></span>()</code>
<div class="block">Determine if the robot is currently in Operator Control mode as determined by the field
controls.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>static boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#isReal--">isReal</a></span>()</code>
<div class="block">Get if the robot is real.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>static boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#isSimulation--">isSimulation</a></span>()</code>
<div class="block">Get if the robot is a simulation.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#isTest--">isTest</a></span>()</code>
<div class="block">Determine if the robot is currently in Test mode as determined by the driver
station.</div>
</td>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><code>static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#main-java.lang.String...-">main</a></span>(java.lang.String... args)</code>
<div class="block">Starting point for the applications.</div>
</td>
</tr>
<tr id="i12" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotBase.html#startCompetition--">startCompetition</a></span>()</code>
<div class="block">Provide an alternate "main loop" via startCompetition().</div>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h4>ROBOT_TASK_PRIORITY</h4>
<pre>public static final int ROBOT_TASK_PRIORITY</pre>
<div class="block">The VxWorks priority that robot code should work at (so Java code should run at).</div>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../constant-values.html#edu.wpi.first.wpilibj.RobotBase.ROBOT_TASK_PRIORITY">Constant Field Values</a></dd>
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<h4>MAIN_THREAD_ID</h4>
<pre>public static final long MAIN_THREAD_ID</pre>
<div class="block">The ID of the main Java thread.</div>
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<h4>m_ds</h4>
<pre>protected final <a href="../../../../edu/wpi/first/wpilibj/DriverStation.html" title="class in edu.wpi.first.wpilibj">DriverStation</a> m_ds</pre>
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<h4>RobotBase</h4>
<pre>protected RobotBase()</pre>
<div class="block">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.
<p>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.</div>
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<h4>free</h4>
<pre>public void free()</pre>
<div class="block">Free the resources for a RobotBase class.</div>
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<h4>isSimulation</h4>
<pre>public static boolean isSimulation()</pre>
<div class="block">Get if the robot is a simulation.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>If the robot is running in simulation.</dd>
</dl>
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<h4>isReal</h4>
<pre>public static boolean isReal()</pre>
<div class="block">Get if the robot is real.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>If the robot is running in the real world.</dd>
</dl>
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<h4>isDisabled</h4>
<pre>public boolean isDisabled()</pre>
<div class="block">Determine if the Robot is currently disabled.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>True if the Robot is currently disabled by the field controls.</dd>
</dl>
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<h4>isEnabled</h4>
<pre>public boolean isEnabled()</pre>
<div class="block">Determine if the Robot is currently enabled.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>True if the Robot is currently enabled by the field controls.</dd>
</dl>
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<h4>isAutonomous</h4>
<pre>public boolean isAutonomous()</pre>
<div class="block">Determine if the robot is currently in Autonomous mode as determined by the field
controls.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>True if the robot is currently operating Autonomously.</dd>
</dl>
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<pre>public boolean isTest()</pre>
<div class="block">Determine if the robot is currently in Test mode as determined by the driver
station.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>True if the robot is currently operating in Test mode.</dd>
</dl>
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<h4>isOperatorControl</h4>
<pre>public boolean isOperatorControl()</pre>
<div class="block">Determine if the robot is currently in Operator Control mode as determined by the field
controls.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>True if the robot is currently operating in Tele-Op mode.</dd>
</dl>
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<pre>public boolean isNewDataAvailable()</pre>
<div class="block">Indicates if new data is available from the driver station.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Has new data arrived over the network since the last time this function was called?</dd>
</dl>
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<pre>public abstract void startCompetition()</pre>
<div class="block">Provide an alternate "main loop" via startCompetition().</div>
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<pre>public static boolean getBooleanProperty(java.lang.String name,
boolean defaultValue)</pre>
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<pre>public static void initializeHardwareConfiguration()</pre>
<div class="block">Common initialization for all robot programs.</div>
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<h4>main</h4>
<pre>public static void main(java.lang.String... args)</pre>
<div class="block">Starting point for the applications.</div>
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