RobotBase¶
- class wpilib.RobotBase[source]¶
Bases: builtins.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.
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.
Warning
If you override __init__ in your robot class, you must call the base class constructor. This must be used to ensure that the communications code starts.
- isAutonomous()[source]¶
Determine if the robot is currently in Autonomous mode.
Returns: True if the robot is currently operating Autonomously as determined by the field controls. Return type: bool
- isDisabled()[source]¶
Determine if the Robot is currently disabled.
Returns: True if the Robot is currently disabled by the field controls. Return type: bool
- isEnabled()[source]¶
Determine if the Robot is currently enabled.
Returns: True if the Robot is currently enabled by the field controls. Return type: bool
- isNewDataAvailable()[source]¶
Indicates if new data is available from the driver station.
Returns: Has new data arrived over the network since the last time this function was called? Return type: bool
- isOperatorControl()[source]¶
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 field controls. Return type: bool
- isTest()[source]¶
Determine if the robot is currently in Test mode.
Returns: True if the robot is currently operating in Test mode as determined by the driver station. Return type: bool
- prestart()[source]¶
This hook is called right before startCompetition(). By default, tell the DS that the robot is now ready to be enabled. If you don’t want the robot to be enabled yet, you can override this method to do nothing. If you do so, you will need to call hal.HALNetworkCommunicationObserveUserProgramStarting() from your code when you are ready for the robot to be enabled.