Code créé par RobotBuilder

La disposition d’un projet généré par RobotBuilder

../../../../../_images/robotbuilder-created-code-java.png ../../../../../_images/robotbuilder-created-code-cpp.png

Un projet généré par RobotBuilder se compose d’un package (en Java) ou d’un dossier (en C++) pour les commandes et un autre pour les sous-systèmes. Chaque objet Command ou de Subsystem est stocké sous ces conteneurs. Au niveau supérieur du projet, vous trouverez le programme principal du robot (RobotContainer.java/C++).

Pour plus d’informations sur l’organisation d’un robot orienté commande, voir Structurer un projet de robot orienté commande

Code généré automatiquement

// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
m_chooser.setDefaultOption("Autonomous", new Autonomous());
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

SmartDashboard.putData("Auto Mode", m_chooser);

// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
m_chooser.SetDefaultOption("Autonomous", new Autonomous());
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

frc::SmartDashboard::PutData("Auto Mode", &m_chooser);

Lorsque la description du robot est modifiée et que le code est réexporté, RobotBuilder est conçu pour ne pas modifier les modifications que vous avez apportées au fichier, préservant ainsi votre code. Cela fait de RobotBuilder un outil de cycle de vie complet. RobotBuilder indique les sections qui devront potentiellement être réécrites en les délimitant avec quelques commentaires spéciaux. Ces commentaires sont illustrés dans l’exemple ci-dessus. N’ajoutez aucun code dans ces blocs de commentaires, il sera réécrit la prochaine fois que le projet sera exporté de RobotBuilder.

Si le code à l’intérieur d’un de ces blocs doit être modifié, les commentaires peuvent être supprimés, mais cela empêchera d’autres mises à jour de se produire plus tard. Dans l’exemple ci-dessus, si les commentaires //BEGIN et //END étaient supprimés, puis un autre sous-système requis était ajouté dans RobotBuilder, il ne serait pas généré lors du prochain Export.

// ROBOTBUILDER TYPE: Robot.

// ROBOTBUILDER TYPE: Robot.

En outre, chaque fichier comporte un commentaire définissant le type de fichier. Si ce commentaire est modifié ou supprimé, RobotBuilder régénérera complètement le fichier en supprimant tout code ajouté à l’intérieur et à l’extérieur des blocs AUTOGENERATED CODE.

Programme de robot principal

 11// ROBOTBUILDER TYPE: Robot.
 12
 13package frc.robot;
 14
 15import edu.wpi.first.hal.FRCNetComm.tInstances;
 16import edu.wpi.first.hal.FRCNetComm.tResourceType;
 17import edu.wpi.first.hal.HAL;
 18import edu.wpi.first.wpilibj.TimedRobot;
 19import edu.wpi.first.wpilibj2.command.Command;
 20import edu.wpi.first.wpilibj2.command.CommandScheduler;
 21
 22/**
 23 * The VM is configured to automatically run this class, and to call the
 24 * functions corresponding to each mode, as described in the TimedRobot
 25 * documentation. If you change the name of this class or the package after
 26 * creating this project, you must also update the build.properties file in
 27 * the project.
 28 */
 29public class Robot extends TimedRobot { // (1)
 30
 31    private Command m_autonomousCommand;
 32
 33    private RobotContainer m_robotContainer;
 34
 35    /**
 36     * This function is run when the robot is first started up and should be
 37     * used for any initialization code.
 38     */
 39    @Override
 40    public void robotInit() {
 41        // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
 42        // autonomous chooser on the dashboard.
 43        m_robotContainer = RobotContainer.getInstance();
 44        HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_RobotBuilder);
 45    }
 46
 47    /**
 48    * This function is called every robot packet, no matter the mode. Use this for items like
 49    * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
 50    *
 51    * <p>This runs after the mode specific periodic functions, but before
 52    * LiveWindow and SmartDashboard integrated updating.
 53    */
 54    @Override
 55    public void robotPeriodic() {
 56        // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
 57        // commands, running already-scheduled commands, removing finished or interrupted commands,
 58        // and running subsystem periodic() methods.  This must be called from the robot's periodic
 59        // block in order for anything in the Command-based framework to work.
 60        CommandScheduler.getInstance().run();  // (2)
 61    }
 62
 63
 64    /**
 65    * This function is called once each time the robot enters Disabled mode.
 66    */
 67    @Override
 68    public void disabledInit() {
 69    }
 70
 71    @Override
 72    public void disabledPeriodic() {
 73    }
 74
 75    /**
 76    * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
 77    */
 78    @Override
 79    public void autonomousInit() {
 80        m_autonomousCommand = m_robotContainer.getAutonomousCommand();  // (3)
 81
 82        // schedule the autonomous command (example)
 83        if (m_autonomousCommand != null) {
 84            m_autonomousCommand.schedule();
 85        }
 86    }
 87
 88    /**
 89    * This function is called periodically during autonomous.
 90    */
 91    @Override
 92    public void autonomousPeriodic() {
 93    }
 94
 95    @Override
 96    public void teleopInit() {
 97        // This makes sure that the autonomous stops running when
 98        // teleop starts running. If you want the autonomous to
 99        // continue until interrupted by another command, remove
100        // this line or comment it out.
101        if (m_autonomousCommand != null) {
102            m_autonomousCommand.cancel();
103        }
104    }
105
106    /**
107     * This function is called periodically during operator control.
108     */
109    @Override
110    public void teleopPeriodic() {
111    }
112
113    @Override
114    public void testInit() {
115        // Cancels all running commands at the start of test mode.
116        CommandScheduler.getInstance().cancelAll();
117    }
118
119    /**
120    * This function is called periodically during test mode.
121    */
122    @Override
123    public void testPeriodic() {
124    }
125
126}

11// ROBOTBUILDER TYPE: Robot.
12#pragma once
13
14#include <frc/TimedRobot.h>
15#include <frc2/command/Command.h>
16
17#include "RobotContainer.h"
18
19class Robot : public frc::TimedRobot { // {1}
20 public:
21  void RobotInit() override;
22  void RobotPeriodic() override;
23  void DisabledInit() override;
24  void DisabledPeriodic() override;
25  void AutonomousInit() override;
26  void AutonomousPeriodic() override;
27  void TeleopInit() override;
28  void TeleopPeriodic() override;
29  void TestPeriodic() override;
30
31 private:
32  // Have it null by default so that if testing teleop it
33  // doesn't have undefined behavior and potentially crash.
34  frc2::Command* m_autonomousCommand = nullptr;
35
36  RobotContainer* m_container = RobotContainer::GetInstance();
37};

11// ROBOTBUILDER TYPE: Robot.
12
13#include "Robot.h"
14
15#include <frc/smartdashboard/SmartDashboard.h>
16#include <frc2/command/CommandScheduler.h>
17
18void Robot::RobotInit() {}
19
20/**
21 * This function is called every robot packet, no matter the mode. Use
22 * this for items like diagnostics that you want to run during disabled,
23 * autonomous, teleoperated and test.
24 *
25 * <p> This runs after the mode specific periodic functions, but before
26 * LiveWindow and SmartDashboard integrated updating.
27 */
28void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); } // (2)
29
30/**
31 * This function is called once each time the robot enters Disabled mode. You
32 * can use it to reset any subsystem information you want to clear when the
33 * robot is disabled.
34 */
35void Robot::DisabledInit() {}
36
37void Robot::DisabledPeriodic() {}
38
39/**
40 * This autonomous runs the autonomous command selected by your {@link
41 * RobotContainer} class.
42 */
43void Robot::AutonomousInit() {
44  m_autonomousCommand = m_container->GetAutonomousCommand(); // {3}
45
46  if (m_autonomousCommand != nullptr) {
47    m_autonomousCommand->Schedule();
48  }
49}
50
51void Robot::AutonomousPeriodic() {}
52
53void Robot::TeleopInit() {
54  // This makes sure that the autonomous stops running when
55  // teleop starts running. If you want the autonomous to
56  // continue until interrupted by another command, remove
57  // this line or comment it out.
58  if (m_autonomousCommand != nullptr) {
59    m_autonomousCommand->Cancel();
60    m_autonomousCommand = nullptr;
61  }
62}
63
64/**
65 * This function is called periodically during operator control.
66 */
67void Robot::TeleopPeriodic() {}
68
69/**
70 * This function is called periodically during test mode.
71 */
72void Robot::TestPeriodic() {}
73
74#ifndef RUNNING_FRC_TESTS
75int main() { return frc::StartRobot<Robot>(); }
76#endif

Il s’agit du programme principal généré par RobotBuilder. Ce programme comprend plusieurs parties (sections mises en évidence):

  1. Cette classe étend TimedRobot. TimedRobot appellera toutes les 20 mSec vos méthodes autonomousPeriodic() et teleopPeriodic().

  2. Dans la méthode teleopPeriodic qui est appelée toutes les 20 ms, effectuez une seule passe de planification.

  3. La commande autonome fournie est planifiée pour être exécutée au début du mode autonome dans la méthode autonomousInit() et annulée à la fin de la période autonome dans teleopInit().

RobotContainer

 11// ROBOTBUILDER TYPE: RobotContainer.
 12
 13package frc.robot;
 14
 15import frc.robot.commands.*;
 16import frc.robot.subsystems.*;
 17import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 18import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 19import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
 20
 21// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
 22import edu.wpi.first.wpilibj2.command.Command;
 23import edu.wpi.first.wpilibj2.command.InstantCommand;
 24import edu.wpi.first.wpilibj.Joystick;
 25import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 26import frc.robot.subsystems.*;
 27
 28    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
 29
 30
 31/**
 32 * This class is where the bulk of the robot should be declared.  Since Command-based is a
 33 * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
 34 * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
 35 * (including subsystems, commands, and button mappings) should be declared here.
 36 */
 37public class RobotContainer {
 38
 39  private static RobotContainer m_robotContainer = new RobotContainer();
 40
 41    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
 42// The robot's subsystems
 43    public final Wrist m_wrist = new Wrist(); // (1)
 44    public final Elevator m_elevator = new Elevator();
 45    public final Claw m_claw = new Claw();
 46    public final Drivetrain m_drivetrain = new Drivetrain();
 47
 48// Joysticks
 49private final Joystick joystick2 = new Joystick(2); // (3)
 50private final Joystick joystick1 = new Joystick(1);
 51private final Joystick logitechController = new Joystick(0);
 52
 53    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
 54
 55
 56  // A chooser for autonomous commands
 57  SendableChooser<Command> m_chooser = new SendableChooser<>();
 58
 59  /**
 60  * The container for the robot.  Contains subsystems, OI devices, and commands.
 61  */
 62  private RobotContainer() {
 63        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
 64    // Smartdashboard Subsystems
 65    SmartDashboard.putData(m_wrist); // (6)
 66    SmartDashboard.putData(m_elevator);
 67    SmartDashboard.putData(m_claw);
 68    SmartDashboard.putData(m_drivetrain);
 69
 70
 71    // SmartDashboard Buttons
 72    SmartDashboard.putData("Close Claw", new CloseClaw( m_claw )); // (6)
 73    SmartDashboard.putData("Open Claw: OpenTime", new OpenClaw(1.0, m_claw));
 74    SmartDashboard.putData("Pickup", new Pickup());
 75    SmartDashboard.putData("Place", new Place());
 76    SmartDashboard.putData("Prepare To Pickup", new PrepareToPickup());
 77    SmartDashboard.putData("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
 78    SmartDashboard.putData("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, m_elevator));
 79    SmartDashboard.putData("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, m_elevator));
 80    SmartDashboard.putData("Set Wrist Setpoint: Horizontal", new SetWristSetpoint(0, m_wrist));
 81    SmartDashboard.putData("Set Wrist Setpoint: Raise Wrist", new SetWristSetpoint(-45, m_wrist));
 82    SmartDashboard.putData("Drive: Straight3Meters", new Drive(3, 0, m_drivetrain));
 83    SmartDashboard.putData("Drive: Place", new Drive(Drivetrain.PlaceDistance, Drivetrain.BackAwayDistance, m_drivetrain));
 84
 85    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
 86    // Configure the button bindings
 87    configureButtonBindings();
 88
 89    // Configure default commands
 90        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
 91    m_drivetrain.setDefaultCommand(new TankDrive(() -> getJoystick1().getY(), () -> getJoystick2().getY(), m_drivetrain)); // (5)
 92
 93
 94    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
 95
 96    // Configure autonomous sendable chooser
 97        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
 98
 99    m_chooser.addOption("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
100    m_chooser.addOption("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, m_elevator));
101    m_chooser.addOption("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, m_elevator));
102    m_chooser.setDefaultOption("Autonomous", new Autonomous()); // (2)
103
104    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
105
106    SmartDashboard.putData("Auto Mode", m_chooser);
107  }
108
109  public static RobotContainer getInstance() {
110    return m_robotContainer;
111  }
112
113  /**
114   * Use this method to define your button->command mappings.  Buttons can be created by
115   * instantiating a {@link GenericHID} or one of its subclasses ({@link
116   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
117   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
118   */
119  private void configureButtonBindings() {
120        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
121// Create some buttons
122final JoystickButton r1 = new JoystickButton(logitechController, 12);        // (4)
123r1.onTrue(new Autonomous().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
124
125final JoystickButton l1 = new JoystickButton(logitechController, 11);
126l1.onTrue(new Place().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
127
128final JoystickButton r2 = new JoystickButton(logitechController, 10);
129r2.onTrue(new Pickup().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
130
131final JoystickButton l2 = new JoystickButton(logitechController, 9);
132l2.onTrue(new PrepareToPickup().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
133
134final JoystickButton dpadLeft = new JoystickButton(logitechController, 8);
135dpadLeft.onTrue(new OpenClaw(1.0, m_claw).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
136
137final JoystickButton dpadRight = new JoystickButton(logitechController, 6);
138dpadRight.onTrue(new CloseClaw( m_claw ).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
139
140final JoystickButton dpadDown = new JoystickButton(logitechController, 7);
141dpadDown.onTrue(new SetElevatorSetpoint(0, m_elevator).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
142
143final JoystickButton dpadUp = new JoystickButton(logitechController, 5);
144dpadUp.onTrue(new SetElevatorSetpoint(0.3, m_elevator).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
145
146
147
148    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
149  }
150
151    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
152public Joystick getLogitechController() {
153        return logitechController;
154    }
155
156public Joystick getJoystick1() {
157        return joystick1;
158    }
159
160public Joystick getJoystick2() {
161        return joystick2;
162    }
163
164
165    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
166
167  /**
168   * Use this to pass the autonomous command to the main {@link Robot} class.
169   *
170   * @return the command to run in autonomous
171  */
172  public Command getAutonomousCommand() {
173    // The selected command will be run in autonomous
174    return m_chooser.getSelected();
175  }
176
177
178}

11// ROBOTBUILDER TYPE: RobotContainer.
12
13#pragma once
14
15// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
16#include <frc/smartdashboard/SendableChooser.h>
17#include <frc2/command/Command.h>
18
19#include "subsystems/Claw.h"
20#include "subsystems/Drivetrain.h"
21#include "subsystems/Elevator.h"
22#include "subsystems/Wrist.h"
23
24#include "commands/Autonomous.h"
25#include "commands/CloseClaw.h"
26#include "commands/Drive.h"
27#include "commands/OpenClaw.h"
28#include "commands/Pickup.h"
29#include "commands/Place.h"
30#include "commands/PrepareToPickup.h"
31#include "commands/SetElevatorSetpoint.h"
32#include "commands/SetWristSetpoint.h"
33#include "commands/TankDrive.h"
34#include <frc/Joystick.h>
35#include <frc2/command/button/JoystickButton.h>
36
37    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
38
39class RobotContainer {
40
41public:
42
43    frc2::Command* GetAutonomousCommand();
44    static RobotContainer* GetInstance();
45
46    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PROTOTYPES
47// The robot's subsystems
48Drivetrain m_drivetrain; // (1)
49Claw m_claw;
50Elevator m_elevator;
51Wrist m_wrist;
52
53
54frc::Joystick* getJoystick2();
55frc::Joystick* getJoystick1();
56frc::Joystick* getLogitechController();
57
58    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PROTOTYPES
59
60private:
61
62    RobotContainer();
63
64    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
65// Joysticks
66frc::Joystick m_logitechController{0}; // (3)
67frc::Joystick m_joystick1{1};
68frc::Joystick m_joystick2{2};
69
70frc::SendableChooser<frc2::Command*> m_chooser;
71
72    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
73
74Autonomous m_autonomousCommand;
75    static RobotContainer* m_robotContainer;
76
77    void ConfigureButtonBindings();
78};

 11// ROBOTBUILDER TYPE: RobotContainer.
 12
 13#include "RobotContainer.h"
 14#include <frc2/command/ParallelRaceGroup.h>
 15#include <frc/smartdashboard/SmartDashboard.h>
 16
 17
 18
 19RobotContainer* RobotContainer::m_robotContainer = NULL;
 20
 21RobotContainer::RobotContainer() : m_autonomousCommand(
 22    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
 23){
 24
 25
 26
 27    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
 28
 29    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
 30    // Smartdashboard Subsystems
 31    frc::SmartDashboard::PutData(&m_drivetrain);
 32    frc::SmartDashboard::PutData(&m_claw);
 33    frc::SmartDashboard::PutData(&m_elevator);
 34    frc::SmartDashboard::PutData(&m_wrist);
 35
 36
 37    // SmartDashboard Buttons
 38    frc::SmartDashboard::PutData("Drive: Straight3Meters", new Drive(3, 0, &m_drivetrain)); // (6)
 39    frc::SmartDashboard::PutData("Drive: Place", new Drive(Drivetrain::PlaceDistance, Drivetrain::BackAwayDistance, &m_drivetrain));
 40    frc::SmartDashboard::PutData("Set Wrist Setpoint: Horizontal", new SetWristSetpoint(0, &m_wrist));
 41    frc::SmartDashboard::PutData("Set Wrist Setpoint: Raise Wrist", new SetWristSetpoint(-45, &m_wrist));
 42    frc::SmartDashboard::PutData("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, &m_elevator));
 43    frc::SmartDashboard::PutData("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, &m_elevator));
 44    frc::SmartDashboard::PutData("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, &m_elevator));
 45    frc::SmartDashboard::PutData("Prepare To Pickup", new PrepareToPickup());
 46    frc::SmartDashboard::PutData("Place", new Place());
 47    frc::SmartDashboard::PutData("Pickup", new Pickup());
 48    frc::SmartDashboard::PutData("Open Claw: OpenTime", new OpenClaw(1.0_s, &m_claw));
 49    frc::SmartDashboard::PutData("Close Claw", new CloseClaw( &m_claw ));
 50
 51    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
 52
 53    ConfigureButtonBindings();
 54
 55    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT-COMMANDS
 56m_drivetrain.SetDefaultCommand(TankDrive([this] {return getJoystick1()->GetY();}, [this] {return getJoystick2()->GetY();}, &m_drivetrain)); // (5)
 57
 58    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT-COMMANDS
 59
 60    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
 61
 62    m_chooser.AddOption("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, &m_elevator));
 63    m_chooser.AddOption("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, &m_elevator));
 64    m_chooser.AddOption("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, &m_elevator));
 65
 66    m_chooser.SetDefaultOption("Autonomous", new Autonomous()); // (2)
 67
 68    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
 69
 70    frc::SmartDashboard::PutData("Auto Mode", &m_chooser);
 71
 72}
 73
 74RobotContainer* RobotContainer::GetInstance() {
 75    if (m_robotContainer == NULL) {
 76        m_robotContainer = new RobotContainer();
 77    }
 78    return(m_robotContainer);
 79}
 80
 81void RobotContainer::ConfigureButtonBindings() {
 82    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
 83
 84frc2::JoystickButton m_dpadUp{&m_logitechController, 5}; // (4)
 85frc2::JoystickButton m_dpadDown{&m_logitechController, 7};
 86frc2::JoystickButton m_dpadRight{&m_logitechController, 6};
 87frc2::JoystickButton m_dpadLeft{&m_logitechController, 8};
 88frc2::JoystickButton m_l2{&m_logitechController, 9};
 89frc2::JoystickButton m_r2{&m_logitechController, 10};
 90frc2::JoystickButton m_l1{&m_logitechController, 11};
 91frc2::JoystickButton m_r1{&m_logitechController, 12};
 92
 93m_dpadUp.OnTrue(SetElevatorSetpoint(0.3, &m_elevator).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
 94
 95m_dpadDown.OnTrue(SetElevatorSetpoint(0, &m_elevator).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
 96
 97m_dpadRight.OnTrue(CloseClaw( &m_claw ).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
 98
 99m_dpadLeft.OnTrue(OpenClaw(1.0_s, &m_claw).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
100
101m_l2.OnTrue(PrepareToPickup().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
102
103m_r2.OnTrue(Pickup().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
104
105m_l1.OnTrue(Place().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
106
107m_r1.OnTrue(Autonomous().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
108
109
110    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
111}
112
113// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
114
115frc::Joystick* RobotContainer::getLogitechController() {
116   return &m_logitechController;
117}
118frc::Joystick* RobotContainer::getJoystick1() {
119   return &m_joystick1;
120}
121frc::Joystick* RobotContainer::getJoystick2() {
122   return &m_joystick2;
123}
124
125    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
126
127
128frc2::Command* RobotContainer::GetAutonomousCommand() {
129  // The selected command will be run in autonomous
130  return m_chooser.GetSelected();
131}

Il s’agit du RobotContainer généré par RobotBuilder qui est l’endroit où les sous-systèmes et l’interface de l’opérateur sont définis. Ce programme comprend plusieurs parties (sections mises en évidence):

  1. Chacun des sous-systèmes est déclaré ici. Ils peuvent être transmis comme paramètres à toutes les commandes qui en ont besoin.

  2. S’il existe une commande autonome fournie dans les propriétés du fichier RobotBuilder du robot, elle est ajoutée à l’objet Sendable Chooser et selectionnable à partir du dashboard.

  3. Le code pour tous les composants de l’interface opérateur est généré ici.

  4. De plus, le code pour lier les boutons OI aux commandes qui devraient s’exécuter est également généré ici.

  5. Commands to be run on a subsystem when no other commands are running are defined here.

  6. Les commandes à exécuter via le dashboard sont définies ici.