io.github.thunderbots.lightning.opmode

Class LightningOpMode

java.lang.Object

com.qualcomm.robotcore.eventloop.opmode.OpMode

com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

io.github.thunderbots.lightning.opmode.LightningOpMode

Direct Known Subclasses:

SimpleOpMode

public abstract class LightningOpMode
extends com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

The LightningOpMode is a customized version of LinearOpMode that should be the superclass for all op modes written using Lightning SDK.

Author:

Zach Ohara

Field Summary

Fields

Modifier and Type	Field and Description
private boolean	isInitialized Determines if the op mode has be fully initialized.

Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

gamepad1, gamepad2, hardwareMap, telemetry, time

Constructor Summary

Constructors

Constructor and Description
LightningOpMode()

Method Summary

Modifier and Type	Method and Description
protected void	initializeOpMode() Initializes the robot.
protected abstract void	main() Executes the 'main procedure' of the op mode.
void	runOpMode()

Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

init_loop, init, loop, opModeIsActive, sleep, start, stop, waitForNextHardwareCycle, waitForStart, waitOneFullHardwareCycle

Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

getRuntime, resetStartTime

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

isInitialized

private boolean isInitialized

Determines if the op mode has be fully initialized. The overridden initializeOpMode() method will always be called, but serious problems are caused later if any initialization method does not call the initialization of its superclass. This value is used to determine if the initialization method defined in LightningOpMode has been called, indicating if any method did not call the supertype method.

This value is initialized to false, and only set to true once the version of initializeOpMode() defined in LightningOpMode has been called.

Constructor Detail

LightningOpMode

public LightningOpMode()

Method Detail

initializeOpMode

protected void initializeOpMode()

Initializes the robot. This can be defined however it is seen fit by the specific overriding op mode. Any op mode that overrides this method should also call super.initializeOpMode() on the first line.

See Also:

isInitialized

main

protected abstract void main()

Executes the 'main procedure' of the op mode. This method will run either until interrupted by the system, or until the method returns.

runOpMode

public final void runOpMode()
                     throws java.lang.InterruptedException

Specified by:

runOpMode in class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

Throws:

java.lang.InterruptedException