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CommandBasedRobot.cpp
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CommandBasedRobot.cpp
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#include "WPILib.h"
#include "Commands/Command.h"
#include "Commands/ExampleCommand.h"
#include "Commands/ServoReset.h"
#include "CommandBase.h"
class CommandBasedRobot : public IterativeRobot {
private:
Command *autonomousCommand, *resetCommand;
LiveWindow *lw;
virtual void RobotInit() {
CommandBase::init();
autonomousCommand = new ExampleCommand();
resetCommand = new ServoReset();
lw = LiveWindow::GetInstance();
CommandBase::elevator->updateStatus();
CommandBase::delivery->updateStatus();
}
virtual void AutonomousInit() {
autonomousCommand->Start();
}
virtual void AutonomousPeriodic() {
Scheduler::GetInstance()->Run();
}
virtual 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.
autonomousCommand->Cancel();
//reset servos
//uncomment later
//resetCommand->Start();
CommandBase::elevator->updateStatus();
CommandBase::delivery->updateStatus();
CommandBase::intake->updateStatus();
}
virtual void TeleopPeriodic() {
Scheduler::GetInstance()->Run();
CommandBase::elevator->updateStatus();
CommandBase::delivery->updateStatus();
CommandBase::intake->updateStatus();
}
virtual void TestPeriodic() {
lw->Run();
lw->AddActuator("Intake", "ramplifter", CommandBase::intake->getServo());
}
};
START_ROBOT_CLASS(CommandBasedRobot);