Robot.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc.robot;

import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;

/**
 * This is where everything in the robot is run.
 * 
 * You should really try not to create anything here as 
 * it should all be done through commands and subsystems.
 */
public class Robot extends TimedRobot {
    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() {
        m_robotContainer = new RobotContainer();
    }

    /**
     * This command is run 50 times a second by the robot.
     * 
     * Most code should be put in functions and subsystems.
     */
    @Override
    public void robotPeriodic() {
        // Checks to see if any commands should be run
        CommandScheduler.getInstance().run();
    }

    @Override
    public void disabledInit() {
    }

    @Override
    public void disabledPeriodic() {
    }

    /**
     * This autonomous runs the autonomous command selected by the robot container.
     */
    @Override
    public void autonomousInit() {
        m_autonomousCommand = m_robotContainer.getAutonomousCommand();

        // 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() {
        if (m_autonomousCommand != null) {
            m_autonomousCommand.cancel();
        }
    }

    @Override
    public void teleopPeriodic() {
    }

    @Override
    public void testInit() {
        CommandScheduler.getInstance().cancelAll();
    }

    @Override
    public void testPeriodic() {
    }
}