[examples] Prepare for RobotInit deprecation by updating examples (#6623

) Co-authored-by: Tyler Veness <[email protected]>
wpilibsuite · Jul 17, 2024 · 57fa388 · 57fa388
1 parent f62a055
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Showing 156 changed files with 260 additions and 355 deletions.
diff --git a/cameraserver/src/main/java/edu/wpi/first/vision/package-info.java b/cameraserver/src/main/java/edu/wpi/first/vision/package-info.java
@@ -30,6 +30,12 @@
  *      private double angleToTote = 0;
  *      private double distanceToTote = 0;
  *
+ *      public Robot() {
+ *          usbCamera = CameraServer.startAutomaticCapture(0);
+ *          findTotePipeline = new MyFindTotePipeline();
+ *          findToteThread = new VisionThread(usbCamera, findTotePipeline, this);
+ *      }
+ *
  *     {@literal @}Override
  *      public void {@link edu.wpi.first.vision.VisionRunner.Listener#copyPipelineOutputs
  *          copyPipelineOutputs(MyFindTotePipeline pipeline)} {
@@ -43,13 +49,6 @@
  *      }
  *
  *     {@literal @}Override
- *      public void robotInit() {
- *          usbCamera = CameraServer.startAutomaticCapture(0);
- *          findTotePipeline = new MyFindTotePipeline();
- *          findToteThread = new VisionThread(usbCamera, findTotePipeline, this);
- *      }
- *
- *     {@literal @}Override
  *      public void autonomousInit() {
  *          findToteThread.start();
  *      }

diff --git a/developerRobot/src/main/java/frc/robot/Robot.java b/developerRobot/src/main/java/frc/robot/Robot.java
@@ -11,8 +11,7 @@ public class Robot extends TimedRobot {
    * This function is run when the robot is first started up and should be used for any
    * initialization code.
    */
-  @Override
-  public void robotInit() {}
+  public Robot() {}
 
   /** This function is run once each time the robot enters autonomous mode. */
   @Override

diff --git a/developerRobot/src/main/native/cpp/Robot.cpp b/developerRobot/src/main/native/cpp/Robot.cpp
@@ -5,11 +5,12 @@
 #include <frc/TimedRobot.h>
 
 class Robot : public frc::TimedRobot {
+ public:
   /**
    * This function is run when the robot is first started up and should be
    * used for any initialization code.
    */
-  void RobotInit() override {}
+  Robot() {}
 
   /**
    * This function is run once each time the robot enters autonomous mode

diff --git a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
@@ -63,10 +63,8 @@ class IterativeRobotBase : public RobotBase {
    * which will be called when the robot is first powered on. It will be called
    * exactly one time.
    *
-   * Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
-   * indicators will be off until RobotInit() exits. Code in RobotInit() that
-   * waits for enable will cause the robot to never indicate that the code is
-   * ready, causing the robot to be bypassed in a match.
+   * Note: This method is functionally identical to the class constructor so
+   * that should be used instead.
    */
   virtual void RobotInit();
 

diff --git a/wpilibc/src/test/native/cpp/TimedRobotTest.cpp b/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
@@ -48,9 +48,7 @@ class MockRobot : public TimedRobot {
   std::atomic<uint32_t> m_teleopPeriodicCount{0};
   std::atomic<uint32_t> m_testPeriodicCount{0};
 
-  MockRobot() : TimedRobot{kPeriod} {}
-
-  void RobotInit() override { m_robotInitCount++; }
+  MockRobot() : TimedRobot{kPeriod} { m_robotInitCount++; }
 
   void SimulationInit() override { m_simulationInitCount++; }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
@@ -4,7 +4,7 @@
 
 #include "Robot.h"
 
-void Robot::RobotInit() {
+Robot::Robot() {
   // Default to a length of 60, start empty output
   // Length is expensive to set, so only set it once, then just update data
   m_led.SetLength(kLength);

diff --git a/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h
@@ -12,7 +12,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
  private:

diff --git a/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
@@ -32,6 +32,19 @@
  * solution!
  */
 class Robot : public frc::TimedRobot {
+ public:
+  Robot() {
+    // We need to run our vision program in a separate thread. If not, our robot
+    // program will not run.
+#if defined(__linux__) || defined(_WIN32)
+    std::thread visionThread(VisionThread);
+    visionThread.detach();
+#else
+    std::fputs("Vision only available on Linux or Windows.\n", stderr);
+    std::fflush(stderr);
+#endif
+  }
+
 #if defined(__linux__) || defined(_WIN32)
 
  private:
@@ -147,18 +160,6 @@ class Robot : public frc::TimedRobot {
     }
   }
 #endif
-
-  void RobotInit() override {
-    // We need to run our vision program in a separate thread. If not, our robot
-    // program will not run.
-#if defined(__linux__) || defined(_WIN32)
-    std::thread visionThread(VisionThread);
-    visionThread.detach();
-#else
-    std::fputs("Vision only available on Linux or Windows.\n", stderr);
-    std::fflush(stderr);
-#endif
-  }
 };
 
 #ifndef RUNNING_FRC_TESTS

diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
@@ -23,9 +23,7 @@ class Robot : public frc::TimedRobot {
   Robot() {
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
-  }
 
-  void RobotInit() override {
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
     // gearbox is constructed, you might have to invert the left side instead.

diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
@@ -23,9 +23,7 @@ class Robot : public frc::TimedRobot {
   Robot() {
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
-  }
 
-  void RobotInit() override {
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
     // gearbox is constructed, you might have to invert the left side instead.

diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp
@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Robot.h
@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp
@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Robot.h
@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.h
@@ -14,7 +14,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {}
+  Robot() {}
   void SimulationPeriodic() override;
   void TeleopInit() override;
   void TeleopPeriodic() override;

diff --git a/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
@@ -13,7 +13,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {
+  Robot() {
     // Put the PDP itself to the dashboard
     frc::SmartDashboard::PutData("PDP", &m_pdp);
   }

diff --git a/wpilibcExamples/src/main/cpp/examples/DMA/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DMA/cpp/Robot.cpp
@@ -25,7 +25,7 @@ class Robot : public frc::TimedRobot {
   frc::Encoder m_encoder{0, 1};
 
  public:
-  void RobotInit() override {
+  Robot() {
     // Trigger on falling edge of dma trigger output
     m_dma.SetExternalTrigger(&m_dmaTrigger, false, true);
 

diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.h
@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

diff --git a/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp
@@ -20,7 +20,7 @@ class Robot : public frc::TimedRobot {
   frc::DutyCycleEncoder m_dutyCycleEncoder{0, fullRange, expectedZero};
 
  public:
-  void RobotInit() override {
+  Robot() {
     // If you know the frequency of your sensor, uncomment the following
     // method, and set the method to the frequency of your sensor.
     // This will result in more stable readings from the sensor.

diff --git a/wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp
@@ -12,7 +12,7 @@ class Robot : public frc::TimedRobot {
   frc::DutyCycle m_dutyCycle{m_input};  // Duty cycle input
 
  public:
-  void RobotInit() override {}
+  Robot() {}
 
   void RobotPeriodic() override {
     // Duty Cycle Frequency in Hz

diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.h
@@ -14,7 +14,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {}
+  Robot() {}
   void RobotPeriodic() override;
   void SimulationPeriodic() override;
   void TeleopInit() override;

diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.h
@@ -14,7 +14,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {}
+  Robot() {}
   void RobotPeriodic() override;
   void SimulationPeriodic() override;
   void TeleopPeriodic() override;

diff --git a/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
@@ -22,7 +22,7 @@ static const auto KICKER_THRESHOLD = 15_mm;
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {
+  Robot() {
     m_controller.SetTolerance(TOLERANCE.value());
 
     frc::BooleanEvent isBallAtKicker{&m_loop, [&kickerSensor = m_kickerSensor] {

diff --git a/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
@@ -40,7 +40,7 @@ class Robot : public frc::TimedRobot {
                                0.9 * m_feedforward.Calculate(setpoint));
   }
 
-  void RobotInit() override {
+  Robot() {
     // Add bang-bang controler to SmartDashboard and networktables.
     frc::SmartDashboard::PutData("BangBangControler", &m_bangBangControler);
   }

diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/Robot.cpp
@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Robot.h
@@ -11,7 +11,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp
@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/Robot.h
@@ -11,7 +11,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

diff --git a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
@@ -18,16 +18,14 @@
 class Robot : public frc::TimedRobot {
  public:
   Robot() {
-    wpi::SendableRegistry::AddChild(&m_drive, &m_left);
-    wpi::SendableRegistry::AddChild(&m_drive, &m_right);
-  }
-
-  void RobotInit() override {
     m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
     // gearbox is constructed, you might have to invert the left side instead.
     m_right.SetInverted(true);
+
+    wpi::SendableRegistry::AddChild(&m_drive, &m_left);
+    wpi::SendableRegistry::AddChild(&m_drive, &m_right);
   }
 
   /**

diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp
@@ -7,7 +7,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use

diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h
@@ -13,7 +13,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

diff --git a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
@@ -15,7 +15,7 @@
  */
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override {
+  Robot() {
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontLeft);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rearLeft);
     wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontRight);

diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
@@ -9,7 +9,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {
+Robot::Robot() {
   // Start recording to data log
   frc::DataLogManager::Start();
 

diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.h
@@ -11,7 +11,7 @@
 
 class Robot : public frc::TimedRobot {
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;

diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
@@ -9,7 +9,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {
+Robot::Robot() {
   // Start recording to data log
   frc::DataLogManager::Start();