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RobotBase.java
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RobotBase.java
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc.team670.mustanglib;
import java.util.Objects;
import org.littletonrobotics.junction.LogFileUtil;
import org.littletonrobotics.junction.LoggedRobot;
import org.littletonrobotics.junction.Logger;
import org.littletonrobotics.junction.networktables.NT4Publisher;
import org.littletonrobotics.junction.wpilog.WPILOGReader;
import org.littletonrobotics.junction.wpilog.WPILOGWriter;
// import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import frc.team670.mustanglib.commands.MustangCommand;
import frc.team670.mustanglib.commands.MustangScheduler;
import frc.team670.mustanglib.utils.ConsoleLogger;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the TimedRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the build.gradle file in the
* project.
*/
public class RobotBase extends LoggedRobot {
private MustangCommand m_autonomousCommand;
private Timer timer;
private double SYSTEM_CHECK_PERIOD = 5;
private static final double startTimeMillis = System.currentTimeMillis();
private static String timeSinceStartupAsString = "00:00:00.000";
private static RobotBase instance;
public static boolean overrideAtCompetition = true;
RobotContainerBase robotContainer;
public RobotBase(RobotContainerBase robotContainer) {
this.robotContainer = robotContainer;
RobotBase.instance = this;
}
public RobotContainerBase getRobotContainer() {
return robotContainer;
}
/**
* This function is run when the robot is first started up and should be used
* for any initialization code.
*/
@Override
public void robotInit() {
Logger.recordMetadata("ProjectName", "670-Robot"); // Set a metadata value
if (isReal()) {
Logger.addDataReceiver(new WPILOGWriter("/U/logs")); // Log to a USB stick
Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
} else {
setUseTiming(false); // Run as fast as possible
String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
}
// Logger.disableDeterministicTimestamps() // See "Deterministic Timestamps" in the "Understanding Data Flow" page
Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may be added
// Instantiate our RobotContainer. This will perform all our button bindings
RobotContainerBase.checkSubsystemsHealth();
timer = new Timer();
timer.start();
robotContainer.robotInit();
MustangScheduler.getInstance();
}
/**
* This function is called every robot packet, no matter the mode. Use this for
* items like diagnostics that you want ran during disabled, autonomous,
* teleoperated and test.
*
* <p>
* This runs after the mode specific periodic functions, but before LiveWindow
* and SmartDashboard integrated updating.
*
* Re-calculates the health of all subsystems on the robot at specified
* intervals.
*/
@Override
public void robotPeriodic() {
MustangScheduler.getInstance().run();
robotContainer.periodic();
updateTimeSinceStartupAsString();
if (timer.hasElapsed(SYSTEM_CHECK_PERIOD)) {
RobotContainerBase.checkSubsystemsHealth();
}
}
private void updateTimeSinceStartupAsString() {
int millisSinceStartup = (int) (System.currentTimeMillis() - startTimeMillis);
int secondsSinceStartup = (int) (millisSinceStartup / 1000);
int sec = secondsSinceStartup % 60;
int min = (secondsSinceStartup / 60) % 60;
int hours = (secondsSinceStartup / 60) / 60;
int milliseconds = millisSinceStartup - ((millisSinceStartup / 1000) * 1000);
String strSec = (sec < 10) ? "0" + Integer.toString(sec) : Integer.toString(sec);
String strmin = (min < 10) ? "0" + Integer.toString(min) : Integer.toString(min);
String strHours = (hours < 10) ? "0" + Integer.toString(hours) : Integer.toString(hours);
String strMillis = (milliseconds < 100)
? "0" + ((milliseconds < 10) ? "0" + milliseconds : Integer.toString(milliseconds))
: Integer.toString(milliseconds);
timeSinceStartupAsString = strHours + ":" + strmin + ":" + strSec + "." + strMillis;
}
public static String getTimeSinceStartup() {
return timeSinceStartupAsString;
}
public static synchronized RobotBase getInstance() {
return Objects.requireNonNull(instance);
}
/**
* This function is called once each time the robot enters Disabled mode.
*/
@Override
public void disabledInit() {
robotContainer.disabled();
}
@Override
public void disabledPeriodic() {
robotContainer.disabledPeriodic();
}
/**
* This autonomous runs the selected Autonomous Command
*/
@Override
public void autonomousInit() {
ConsoleLogger.consoleLog("Autonomous Init");
robotContainer.autonomousInit();
m_autonomousCommand = robotContainer.getAutonomousCommand();
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
MustangScheduler.getInstance().schedule(m_autonomousCommand);
}
}
@Override
public void autonomousExit() {
robotContainer.autonomousExit();
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
MustangScheduler.getInstance().run();
robotContainer.autonomousPeriodic();
}
@Override
public void teleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != null) {
MustangScheduler.getInstance().cancel((MustangCommand) (m_autonomousCommand));
}
ConsoleLogger.consoleLog("Teleop Init");
robotContainer.teleopInit();
}
/**
* This function is called periodically during operator control.
*/
@Override
public void teleopPeriodic() {
MustangScheduler.getInstance().run();
robotContainer.teleopPeriodic();
}
@Override
public void testInit() {
// Cancels all running commands at the start of test mode.
MustangScheduler.getInstance().cancelAll();
ConsoleLogger.consoleLog("Test Init");
LiveWindow.setEnabled(false);
robotContainer.testInit();
}
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
MustangScheduler.getInstance().run();
}
}