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[examples] Add TimesliceRobot templates (wpilibsuite#3683)
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‎styleguide/spotbugs-exclude.xml‎

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<Bug pattern="UC_USELESS_VOID_METHOD" />
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<Class name="edu.wpi.first.wpilibj.templates.timed.Robot" />
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</Match>
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<Match>
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<Bug pattern="UC_USELESS_VOID_METHOD" />
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<Class name="edu.wpi.first.wpilibj.templates.timeslice.Robot" />
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</Match>
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<Match>
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<Bug pattern="UC_USELESS_VOID_METHOD" />
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<Class name="edu.wpi.first.wpilibj.templates.timesliceskeleton.Robot" />
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</Match>
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<Match>
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<Bug pattern="URF_UNREAD_FIELD" />
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<Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />

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

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

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

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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "Robot.h"
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#include <fmt/core.h>
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#include <frc/livewindow/LiveWindow.h>
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#include <frc/smartdashboard/SmartDashboard.h>
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// Run robot periodic() functions for 5 ms, and run controllers every 10 ms
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Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
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// LiveWindow causes drastic overruns in robot periodic functions that will
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// interfere with controllers
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frc::LiveWindow::DisableAllTelemetry();
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// Runs for 2 ms after robot periodic functions
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Schedule([=] {}, 2_ms);
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// Runs for 2 ms after first controller function
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Schedule([=] {}, 2_ms);
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// Total usage:
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// 5 ms (robot) + 2 ms (controller 1) + 2 ms (controller 2) = 9 ms
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// 9 ms / 10 ms -> 90% allocated
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}
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void Robot::RobotInit() {
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m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault);
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m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom);
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frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
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}
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/**
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* This function is called every robot packet, no matter the mode. Use
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* this for items like diagnostics that you want ran during disabled,
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* autonomous, teleoperated and test.
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*
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* <p> This runs after the mode specific periodic functions, but before
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* LiveWindow and SmartDashboard integrated updating.
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*/
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void Robot::RobotPeriodic() {}
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/**
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* This autonomous (along with the chooser code above) shows how to select
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* between different autonomous modes using the dashboard. The sendable chooser
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* code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
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* remove all of the chooser code and uncomment the GetString line to get the
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* auto name from the text box below the Gyro.
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*
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* You can add additional auto modes by adding additional comparisons to the
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* if-else structure below with additional strings. If using the SendableChooser
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* make sure to add them to the chooser code above as well.
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*/
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void Robot::AutonomousInit() {
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m_autoSelected = m_chooser.GetSelected();
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// m_autoSelected = SmartDashboard::GetString("Auto Selector",
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// kAutoNameDefault);
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fmt::print("Auto selected: {}\n", m_autoSelected);
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if (m_autoSelected == kAutoNameCustom) {
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// Custom Auto goes here
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} else {
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// Default Auto goes here
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}
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}
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void Robot::AutonomousPeriodic() {
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if (m_autoSelected == kAutoNameCustom) {
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// Custom Auto goes here
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} else {
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// Default Auto goes here
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}
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}
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void Robot::TeleopInit() {}
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void Robot::TeleopPeriodic() {}
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void Robot::DisabledInit() {}
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void Robot::DisabledPeriodic() {}
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void Robot::TestInit() {}
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void Robot::TestPeriodic() {}
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#ifndef RUNNING_FRC_TESTS
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int main() {
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return frc::StartRobot<Robot>();
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}
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#endif

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

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

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

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

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

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

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

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

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

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

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