RobotBuilder创建的代码

RobotBuilder生成的项目的布局

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

A RobotBuilder generated project consists of a package (in Java) or a folder (in C++) for Commands and another for Subsystems. Each command or subsystem object is stored under those containers. At the top level of the project you’ll find the robot main program (RobotContainer.java/C++).

For more information on the organization of a Command Based robot, see 构建基于命令的机器人项目

自动生成代码

// 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);

当修改机器人描述并重新导出代码时,RobotBuilder被设计成不能修改您对文件所做的任何更改的形式,从而保留您的代码。这使得RobotBuilder成为一个全生命周期的工具。为了知道哪些代码可以被RobotBuilder修改,它生成的部分可能要重写,并使用一些特殊注释分隔。上面的例子显示了这些注释。不要在这些注释块中添加任何代码,下次从RobotBuilder导出项目时,它将被重写。

如果必须修改其中一个版块中的代码,则可以删除注释,但这将阻止以后进一步的更新。在上面的示例中,如果删除了//BEGIN和//END注释,那么稍后在RobotBuilder中会添加另一个所需的子系统,它将不会在下一个导出中生成。

主要的机器人程序

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 package frc.robot;

 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;

 /**
  * 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.properties file in
  * the project.
  */
 public class Robot extends TimedRobot { // (1)

     private Command m_autonomousCommand;

     private RobotContainer m_robotContainer;

     /**
      * This function is run when the robot is first started up and should be
      * used for any initialization code.
      */
     @Override
     public void robotInit() {
         // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
         // autonomous chooser on the dashboard.
         m_robotContainer = new RobotContainer();
         HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_RobotBuilder);
     }

     /**
     * 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.
     */
     @Override
     public void robotPeriodic() {
         // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
         // commands, running already-scheduled commands, removing finished or interrupted commands,
         // and running subsystem periodic() methods.  This must be called from the robot's periodic
         // block in order for anything in the Command-based framework to work.
         CommandScheduler.getInstance().run(); // (2)
     }


     /**
     * This function is called once each time the robot enters Disabled mode.
     */
     @Override
     public void disabledInit() {
     }

     @Override
     public void disabledPeriodic() {
     }

     /**
     * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
     */
     @Override
     public void autonomousInit() {
         m_autonomousCommand = m_robotContainer.getAutonomousCommand(); // (3)

         // schedule the autonomous command (example)
         if (m_autonomousCommand != null) {
             m_autonomousCommand.schedule();
         }
     }

     /**
     * This function is called periodically during autonomous.
     */
     @Override
     public void 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) {
             m_autonomousCommand.cancel();
         }
     }

     /**
      * This function is called periodically during operator control.
      */
     @Override
     public void teleopPeriodic() {
     }

     @Override
     public void testInit() {
         // Cancels all running commands at the start of test mode.
         CommandScheduler.getInstance().cancelAll();
     }

     /**
     * This function is called periodically during test mode.
     */
     @Override
     public void testPeriodic() {
     }

 }

这是RobotBuilder生成的主程序。这个计划有几个部分(突出显示的部分):

  1. 这个类扩展了timerobot。TimeRobot会每20毫秒调用你的’ ‘ autonomouPeriodic() ‘ ‘和’ teleopPeriodic() ‘ ‘的方法。

  2. In the robotPeriodic method which is called every 20ms, make one scheduling pass.

  3. The autonomous command provided is scheduled at the start of autonomous in the autonomousInit() method and canceled at the end of the autonomous period in teleopInit().

RobotContainer

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package frc.robot;

import frc.robot.commands.*;
import frc.robot.subsystems.*;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc.robot.subsystems.*;

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS


/**
 * This class is where the bulk of the robot should be declared.  Since Command-based is a
 * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
 * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
 * (including subsystems, commands, and button mappings) should be declared here.
 */
public class RobotContainer {

  private static RobotContainer m_robotContainer = new RobotContainer();

    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
// The robot's subsystems
    private final Wrist m_wrist = new Wrist(); // (1)
    private final Elevator m_elevator = new Elevator();
    private final Claw m_claw = new Claw();
    private final Drivetrain m_drivetrain = new Drivetrain();

// Joysticks
private final Joystick logitechController = new Joystick(0); // (3)

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS


  // A chooser for autonomous commands
  SendableChooser<Command> m_chooser = new SendableChooser<>();

  /**
  * The container for the robot.  Contains subsystems, OI devices, and commands.
  */
  private RobotContainer() {
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
    // Smartdashboard Subsystems
    SmartDashboard.putData(m_wrist);
    SmartDashboard.putData(m_elevator);
    SmartDashboard.putData(m_claw);
    SmartDashboard.putData(m_drivetrain);


    // SmartDashboard Buttons
    SmartDashboard.putData("Close Claw", new CloseClaw( m_claw )); // (6)
    SmartDashboard.putData("Open Claw", new OpenClaw( m_claw ));
    SmartDashboard.putData("Pickup", new Pickup());
    SmartDashboard.putData("Place", new Place());
    SmartDashboard.putData("Prepare To Pickup", new PrepareToPickup());
    SmartDashboard.putData("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
    SmartDashboard.putData("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, m_elevator));
    SmartDashboard.putData("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, m_elevator));
    SmartDashboard.putData("Set Wrist Setpoint: Horizontal", new SetWristSetpoint(0, m_wrist));
    SmartDashboard.putData("Set Wrist Setpoint: Raise Wrist", new SetWristSetpoint(-45, m_wrist));
    SmartDashboard.putData("Drive: Straight3Meters", new Drive(3, 0, m_drivetrain));
    SmartDashboard.putData("Drive: Place", new Drive(Drivetrain.PlaceDistance, Drivetrain.BackAwayDistance, m_drivetrain));

        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
    // Configure the button bindings
    configureButtonBindings();

    // Configure default commands
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
    m_drivetrain.setDefaultCommand(new TankDrive( m_drivetrain ) ); // (5)


        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND

    // Configure autonomous sendable chooser
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

    m_chooser.setDefaultOption("Autonomous", new Autonomous()); // (2)

        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

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

  public static RobotContainer getInstance() {
    return m_robotContainer;
  }

  /**
   * Use this method to define your button->command mappings.  Buttons can be created by
   * instantiating a {@link GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
   * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
   */
  private void configureButtonBindings() {
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
// Create some buttons
final JoystickButton dpadUp = new JoystickButton(logitechController, 5); // (4)
dpadUp.whenPressed(new SetElevatorSetpoint(0.3, m_elevator) ,true);
    SmartDashboard.putData("Dpad Up",new SetElevatorSetpoint(0.3, m_elevator) );

final JoystickButton dpadDown = new JoystickButton(logitechController, 7);
dpadDown.whenPressed(new SetElevatorSetpoint(0, m_elevator) ,true);
    SmartDashboard.putData("Dpad Down",new SetElevatorSetpoint(0, m_elevator) );

final JoystickButton dpadRight = new JoystickButton(logitechController, 6);
dpadRight.whenPressed(new CloseClaw( m_claw ) ,true);
    SmartDashboard.putData("Dpad Right",new CloseClaw( m_claw ) );

final JoystickButton dpadLeft = new JoystickButton(logitechController, 8);
dpadLeft.whenPressed(new OpenClaw( m_claw ) ,true);
    SmartDashboard.putData("Dpad Left",new OpenClaw( m_claw ) );

final JoystickButton l2 = new JoystickButton(logitechController, 9);
l2.whenPressed(new PrepareToPickup() ,true);
    SmartDashboard.putData("L2",new PrepareToPickup() );

final JoystickButton r2 = new JoystickButton(logitechController, 10);
r2.whenPressed(new Pickup() ,true);
    SmartDashboard.putData("R2",new Pickup() );

final JoystickButton l1 = new JoystickButton(logitechController, 11);
l1.whenPressed(new Place() ,true);
    SmartDashboard.putData("L1",new Place() );

final JoystickButton r1 = new JoystickButton(logitechController, 12);
r1.whenPressed(new Autonomous() ,true);
    SmartDashboard.putData("R1",new Autonomous() );



        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
  }

    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
public Joystick getLogitechController() {
        return logitechController;
    }


    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS

  /**
   * Use this to pass the autonomous command to the main {@link Robot} class.
   *
   * @return the command to run in autonomous
  */
  public Command getAutonomousCommand() {
    // The selected command will be run in autonomous
    return m_chooser.getSelected();
  }


}

This is the RobotContainer generated by RobotBuilder which is where the subsystems and operator interface are defined. There are a number of parts to this program (highlighted sections):

  1. Each of the subsystems is declared here. They can be passed as parameters to any commands that require them.

  2. If there is an autonomous command provided in RobotBuilder robot properties, it is added to the Sendable Chooser to be selected on the dashboard.

  3. The code for all the operator interface components is generated here.

  4. In addition the code to link the OI buttons to commands that should run is also generated here.

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

  6. Commands to be run via a dashboard are defined here.