Note that this will be called before the AdvantageKit logging system is initialized. - */ - @Override - public void robotInit() { - // START: Setup AdvantageKit - - // Record build metadata generated by Gversion - Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); - Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); - Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); - Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE); - Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH); - switch (BuildConstants.DIRTY) { - case 0 -> Logger.recordMetadata("GitDirty", "All changes committed"); - case 1 -> Logger.recordMetadata("GitDirty", "Uncommitted changes"); - default -> Logger.recordMetadata("GitDirty", "Unknown"); - } - - // Set up data receivers & replay source - - // We will add support for replay mode later + private Command autonomousCommand; + + private RobotContainer robotContainer; + + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + * + *
Note that this will be called before the AdvantageKit logging system is initialized. + */ + @Override + public void robotInit() { + // START: Setup AdvantageKit + + // Record build metadata generated by Gversion + Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); + Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); + Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); + Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE); + Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH); + switch (BuildConstants.DIRTY) { + case 0 -> Logger.recordMetadata("GitDirty", "All changes committed"); + case 1 -> Logger.recordMetadata("GitDirty", "Uncommitted changes"); + default -> Logger.recordMetadata("GitDirty", "Unknown"); + } + + // Set up data receivers & replay source + + // We will add support for replay mode later /*if (Constants.AdvantageKit.REPLAY_MODE) { // Running in replay mode setUseTiming(false); // Run as fast as possible @@ -61,127 +61,99 @@ public void robotInit() { new WPILOGWriter( LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log } else {*/ - if (isReal()) { - // Running on real robot - Logger.addDataReceiver(new WPILOGWriter("/media/sda1/")); // Log to a USB stick - Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables - } else { - // Running in simulation - Logger.addDataReceiver(new WPILOGWriter("")); // Log to a file in the current directory - Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables - } - // } - - // Start logging! No more data receivers, replay sources, or metadata values maybe added. - Logger.start(); - - // END: Setup AdvantageKit - robotContainer = new RobotContainer(); - } - - /** - * 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. - */ - @Override - public void robotPeriodic() { - CommandScheduler.getInstance().run(); - } - - /** - * This function is called once each time the robot enters Disabled mode. - */ - @Override - public void disabledInit() { - } - - /** - * This function is called periodically when disabled. - */ - @Override - public void disabledPeriodic() { - } - - /** - * This function is called once each time the robot enters any mode except Disabled after leaving - * Disabled mode. - */ - @Override - public void disabledExit() { - } - - - /** - * This autonomous runs the autonomous command selected by your {@link RobotContainer} class. - */ - @Override - public void autonomousInit() { - autonomousCommand = robotContainer.getAutonomousCommand(); - - if (autonomousCommand != null) { - autonomousCommand.schedule(); - } + if (isReal()) { + // Running on real robot + Logger.addDataReceiver(new WPILOGWriter("/media/sda1/")); // Log to a USB stick + Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables + } else { + // Running in simulation + Logger.addDataReceiver(new WPILOGWriter("")); // Log to a file in the current directory + Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables } - - /** - * This function is called periodically during autonomous. - */ - @Override - public void autonomousPeriodic() { + // } + + // Start logging! No more data receivers, replay sources, or metadata values maybe added. + Logger.start(); + + // END: Setup AdvantageKit + robotContainer = new RobotContainer(); + } + + /** + * 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. + */ + @Override + public void robotPeriodic() { + CommandScheduler.getInstance().run(); + } + + /** This function is called once each time the robot enters Disabled mode. */ + @Override + public void disabledInit() {} + + /** This function is called periodically when disabled. */ + @Override + public void disabledPeriodic() {} + + /** + * This function is called once each time the robot enters any mode except Disabled after leaving + * Disabled mode. + */ + @Override + public void disabledExit() {} + + /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ + @Override + public void autonomousInit() { + autonomousCommand = robotContainer.getAutonomousCommand(); + + if (autonomousCommand != null) { + autonomousCommand.schedule(); } + } - /** - * This function is called once each time the robot exists Autonomous - */ - @Override - public void autonomousExit() { - } + /** This function is called periodically during autonomous. */ + @Override + public void autonomousPeriodic() {} - /** - * This function is called once each time the robot enters Teleop mode. - */ - @Override - public void teleopInit() { - if (autonomousCommand != null) { - autonomousCommand.cancel(); - } - } - - /** - * This function is called periodically during operator control. - */ - @Override - public void teleopPeriodic() { - } - - /** - * This function is called once each time the robot enters any mode except Disabled after leaving - * Teleop mode. - */ - @Override - public void teleopExit() { - } - - /** - * This function is called once each time the robot enters Test mode. - */ - @Override - public void testInit() { - CommandScheduler.getInstance().cancelAll(); - } - - /** - * This function is called periodically during test mode. - */ - @Override - public void testPeriodic() { - } + /** This function is called once each time the robot exists Autonomous */ + @Override + public void autonomousExit() {} - /** - * This function is called once each time the robot enters any mode except Disabled after leaving - * Test mode. - */ - @Override - public void testExit() { + /** This function is called once each time the robot enters Teleop mode. */ + @Override + public void teleopInit() { + if (autonomousCommand != null) { + autonomousCommand.cancel(); } + } + + /** This function is called periodically during operator control. */ + @Override + public void teleopPeriodic() {} + + /** + * This function is called once each time the robot enters any mode except Disabled after leaving + * Teleop mode. + */ + @Override + public void teleopExit() {} + + /** This function is called once each time the robot enters Test mode. */ + @Override + public void testInit() { + CommandScheduler.getInstance().cancelAll(); + } + + /** This function is called periodically during test mode. */ + @Override + public void testPeriodic() {} + + /** + * This function is called once each time the robot enters any mode except Disabled after leaving + * Test mode. + */ + @Override + public void testExit() {} } diff --git a/src/main/java/bhs/devilbotz/RobotContainer.java b/src/main/java/bhs/devilbotz/RobotContainer.java index 3fd1ed3e..da476eb8 100644 --- a/src/main/java/bhs/devilbotz/RobotContainer.java +++ b/src/main/java/bhs/devilbotz/RobotContainer.java @@ -17,29 +17,26 @@ * @see Command */ public class RobotContainer { - /** - * The container for the robot. Contains subsystems, OI devices, and commands. - */ - public RobotContainer() { - configureBindings(); - } + /** The container for the robot. Contains subsystems, OI devices, and commands. */ + public RobotContainer() { + configureBindings(); + } - /** - * Use this method to define your button->command mappings. Buttons can be created by instantiating - * a {@link edu.wpi.first.wpilibj.GenericHID GenericHID} or one of its subclasses ({@link - * edu.wpi.first.wpilibj.Joystick Joystick} or {@link edu.wpi.first.wpilibj.XboxController - * XboxController}), and then passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton - * JoystickButton}. - */ - private void configureBindings() { - } + /** + * Use this method to define your button->command mappings. Buttons can be created by + * instantiating a {@link edu.wpi.first.wpilibj.GenericHID GenericHID} or one of its subclasses + * ({@link edu.wpi.first.wpilibj.Joystick Joystick} or {@link edu.wpi.first.wpilibj.XboxController + * XboxController}), and then passing it to a {@link + * edu.wpi.first.wpilibj2.command.button.JoystickButton JoystickButton}. + */ + private void configureBindings() {} - /** - * Use this to pass the autonomous command to the main {@link Robot} class. - * - * @return the command to run in autonomous - */ - public Command getAutonomousCommand() { - return Commands.print("No autonomous command configured"); - } + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + return Commands.print("No autonomous command configured"); + } }