[examples] Add TimesliceRobot templates (wpilibsuite#3683)

styleguide/spotbugs-exclude.xml

@@ -116,6 +116,14 @@
     <Bug pattern="UC_USELESS_VOID_METHOD" />
     <Class name="edu.wpi.first.wpilibj.templates.timed.Robot" />
   </Match>
+  <Match>
+    <Bug pattern="UC_USELESS_VOID_METHOD" />
+    <Class name="edu.wpi.first.wpilibj.templates.timeslice.Robot" />
+  </Match>
+  <Match>
+    <Bug pattern="UC_USELESS_VOID_METHOD" />
+    <Class name="edu.wpi.first.wpilibj.templates.timesliceskeleton.Robot" />
+  </Match>
   <Match>
     <Bug pattern="URF_UNREAD_FIELD" />
     <Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />

wpilibcExamples/src/main/cpp/templates/templates.json

@@ -41,6 +41,27 @@
     "gradlebase": "cpp",
     "commandversion": 2
   },
+  {
+    "name": "Timeslice Robot",
+    "description": "Timeslice style",
+    "tags": [
+      "Timeslice"
+    ],
+    "foldername": "timeslice",
+    "gradlebase": "cpp",
+    "commandversion": 2
+  },
+  {
+    "name": "Timeslice Skeleton (Advanced)",
+    "description": "Skeleton (stub) code for TimesliceRobot",
+    "tags": [
+      "Timeslice",
+      "Skeleton"
+    ],
+    "foldername": "timesliceskeleton",
+    "gradlebase": "cpp",
+    "commandversion": 2
+  },
   {
     "name": "RobotBase Skeleton (Advanced)",
     "description": "Skeleton (stub) code for RobotBase - Not recommended for competition use",

wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp

@@ -0,0 +1,92 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "Robot.h"
+
+#include <fmt/core.h>
+#include <frc/livewindow/LiveWindow.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+
+// Run robot periodic() functions for 5 ms, and run controllers every 10 ms
+Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
+  // LiveWindow causes drastic overruns in robot periodic functions that will
+  // interfere with controllers
+  frc::LiveWindow::DisableAllTelemetry();
+
+  // Runs for 2 ms after robot periodic functions
+  Schedule([=] {}, 2_ms);
+
+  // Runs for 2 ms after first controller function
+  Schedule([=] {}, 2_ms);
+
+  // Total usage:
+  // 5 ms (robot) + 2 ms (controller 1) + 2 ms (controller 2) = 9 ms
+  // 9 ms / 10 ms -> 90% allocated
+}
+
+void Robot::RobotInit() {
+  m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault);
+  m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom);
+  frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
+}
+
+/**
+ * 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.
+ */
+void Robot::RobotPeriodic() {}
+
+/**
+ * This autonomous (along with the chooser code above) shows how to select
+ * between different autonomous modes using the dashboard. The sendable chooser
+ * code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
+ * remove all of the chooser code and uncomment the GetString line to get the
+ * auto name from the text box below the Gyro.
+ *
+ * You can add additional auto modes by adding additional comparisons to the
+ * if-else structure below with additional strings. If using the SendableChooser
+ * make sure to add them to the chooser code above as well.
+ */
+void Robot::AutonomousInit() {
+  m_autoSelected = m_chooser.GetSelected();
+  // m_autoSelected = SmartDashboard::GetString("Auto Selector",
+  //     kAutoNameDefault);
+  fmt::print("Auto selected: {}\n", m_autoSelected);
+
+  if (m_autoSelected == kAutoNameCustom) {
+    // Custom Auto goes here
+  } else {
+    // Default Auto goes here
+  }
+}
+
+void Robot::AutonomousPeriodic() {
+  if (m_autoSelected == kAutoNameCustom) {
+    // Custom Auto goes here
+  } else {
+    // Default Auto goes here
+  }
+}
+
+void Robot::TeleopInit() {}
+
+void Robot::TeleopPeriodic() {}
+
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+void Robot::TestInit() {}
+
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.h

@@ -0,0 +1,32 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string>
+
+#include <frc/TimesliceRobot.h>
+#include <frc/smartdashboard/SendableChooser.h>
+
+class Robot : public frc::TimesliceRobot {
+ public:
+  Robot();
+
+  void RobotInit() override;
+  void RobotPeriodic() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
+  void TestInit() override;
+  void TestPeriodic() override;
+
+ private:
+  frc::SendableChooser<std::string> m_chooser;
+  const std::string kAutoNameDefault = "Default";
+  const std::string kAutoNameCustom = "My Auto";
+  std::string m_autoSelected;
+};

wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp

@@ -0,0 +1,45 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "Robot.h"
+
+#include <frc/livewindow/LiveWindow.h>
+
+// Run robot periodic() functions for 5 ms, and run controllers every 10 ms
+Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
+  // LiveWindow causes drastic overruns in robot periodic functions that will
+  // interfere with controllers
+  frc::LiveWindow::DisableAllTelemetry();
+
+  // Runs for 2 ms after robot periodic functions
+  Schedule([=] {}, 2_ms);
+
+  // Runs for 2 ms after first controller function
+  Schedule([=] {}, 2_ms);
+
+  // Total usage:
+  // 5 ms (robot) + 2 ms (controller 1) + 2 ms (controller 2) = 9 ms
+  // 9 ms / 10 ms -> 90% allocated
+}
+
+void Robot::RobotInit() {}
+void Robot::RobotPeriodic() {}
+
+void Robot::AutonomousInit() {}
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {}
+void Robot::TeleopPeriodic() {}
+
+void Robot::DisabledInit() {}
+void Robot::DisabledPeriodic() {}
+
+void Robot::TestInit() {}
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.h

@@ -0,0 +1,27 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc/TimesliceRobot.h>
+
+class Robot : public frc::TimesliceRobot {
+ public:
+  Robot();
+
+  void RobotInit() override;
+  void RobotPeriodic() override;
+
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
+
+  void TestInit() override;
+  void TestPeriodic() override;
+};

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json

@@ -45,6 +45,29 @@
     "mainclass": "Main",
     "commandversion": 2
   },
+  {
+    "name": "Timesice Robot",
+    "description": "Timeslice style",
+    "tags": [
+      "Timeslice"
+    ],
+    "foldername": "timeslice",
+    "gradlebase": "java",
+    "mainclass": "Main",
+    "commandversion": 2
+  },
+  {
+    "name": "Timeslice Skeleton (Advanced)",
+    "description": "Skeleton (stub) code for TimesliceRobot",
+    "tags": [
+      "Timeslice",
+      "Skeleton"
+    ],
+    "foldername": "timesliceskeleton",
+    "gradlebase": "java",
+    "mainclass": "Main",
+    "commandversion": 2
+  },
   {
     "name": "RobotBase Skeleton (Advanced)",
     "description": "Skeleton (stub) code for RobotBase - Not recommended for competition use",

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timeslice/Main.java

@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.templates.timeslice;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+  private Main() {}
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}