Use Robot constructor instead of robotInit in Java/C++

CrossTheRoadElec · Oct 31, 2024 · 55038a9 · 55038a9
1 parent aab7300
commit 55038a9
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Showing 42 changed files with 43 additions and 56 deletions.
diff --git a/cpp/ArcadeDrive/src/main/cpp/Robot.cpp b/cpp/ArcadeDrive/src/main/cpp/Robot.cpp
@@ -7,7 +7,7 @@
 
 using namespace ctre::phoenix6;
 
-void Robot::RobotInit() {
+Robot::Robot() {
   /* Configure devices */
   configs::TalonFXConfiguration leftConfiguration{};
   configs::TalonFXConfiguration rightConfiguration{};

diff --git a/cpp/ArcadeDrive/src/main/include/Robot.h b/cpp/ArcadeDrive/src/main/include/Robot.h
@@ -25,7 +25,7 @@ class Robot : public frc::TimedRobot {
   int printCount{};
 
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
   void AutonomousInit() override;

diff --git a/cpp/BasicLatencyCompensation/src/main/cpp/Robot.cpp b/cpp/BasicLatencyCompensation/src/main/cpp/Robot.cpp
@@ -6,7 +6,7 @@
 
 using namespace ctre::phoenix6;
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 void Robot::RobotPeriodic() {
   /* Perform basic latency compensation based on latency and current derivative */
   /* First refresh the signal */

diff --git a/cpp/BasicLatencyCompensation/src/main/include/Robot.h b/cpp/BasicLatencyCompensation/src/main/include/Robot.h
@@ -29,7 +29,7 @@ class Robot : public frc::TimedRobot {
   ctre::phoenix6::StatusSignal<units::degrees_per_second_t> &m_p2yawRate = m_p2.GetAngularVelocityZWorld();
 
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
   void AutonomousInit() override;

diff --git a/cpp/CANcoder/src/main/cpp/Robot.cpp b/cpp/CANcoder/src/main/cpp/Robot.cpp
@@ -9,7 +9,7 @@ using namespace ctre::phoenix6;
 
 constexpr units::time::second_t print_period{500_ms};
 
-void Robot::RobotInit() {
+Robot::Robot() {
   /* Configure CANcoder */
   configs::CANcoderConfiguration toApply{};
 
@@ -20,6 +20,7 @@ void Robot::RobotInit() {
   /* Speed up signals to an appropriate rate */
   BaseStatusSignal::SetUpdateFrequencyForAll(100_Hz, cancoder.GetPosition(), cancoder.GetVelocity());
 }
+
 void Robot::RobotPeriodic() {
   /* Every print_period get the CANcoder position/velocity and report it */
   if (frc::Timer::GetFPGATimestamp() - currentTime >= print_period) {

diff --git a/cpp/CANcoder/src/main/include/Robot.h b/cpp/CANcoder/src/main/include/Robot.h
@@ -14,7 +14,7 @@ class Robot : public frc::TimedRobot {
   units::time::second_t currentTime{frc::Timer::GetFPGATimestamp()};
 
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
   void AutonomousInit() override;

diff --git a/cpp/CommandBasedDrive/src/main/cpp/Robot.cpp b/cpp/CommandBasedDrive/src/main/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/cpp/CommandBasedDrive/src/main/include/Robot.h b/cpp/CommandBasedDrive/src/main/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/cpp/ControlRequestLimits/src/main/cpp/Robot.cpp b/cpp/ControlRequestLimits/src/main/cpp/Robot.cpp
@@ -8,7 +8,7 @@
 using namespace ctre::phoenix;
 using namespace ctre::phoenix6;
 
-void Robot::RobotInit()
+Robot::Robot()
 {
     configs::TalonFXConfiguration configs{};
 

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

diff --git a/cpp/CurrentLimits/src/main/cpp/Robot.cpp b/cpp/CurrentLimits/src/main/cpp/Robot.cpp
@@ -7,7 +7,7 @@
 
 using namespace ctre::phoenix6;
 
-void Robot::RobotInit() {
+Robot::Robot() {
   /* Configure the Talon to use a supply limit of 70 A, and
    * lower to 40 A if we're at 70 A for over 1 second */
   configs::TalonFXConfiguration toConfigure{};

diff --git a/cpp/CurrentLimits/src/main/include/Robot.h b/cpp/CurrentLimits/src/main/include/Robot.h
@@ -18,7 +18,7 @@ class Robot : public frc::TimedRobot {
   int printCount = 0;
 
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
   void AutonomousInit() override;

diff --git a/cpp/FusedCANcoder/src/main/cpp/Robot.cpp b/cpp/FusedCANcoder/src/main/cpp/Robot.cpp
@@ -7,7 +7,7 @@
 
 using namespace ctre::phoenix6;
 
-void Robot::RobotInit() {
+Robot::Robot() {
   /* Configure CANcoder to zero the magnet appropriately */
   configs::CANcoderConfiguration cc_cfg{};
   cc_cfg.MagnetSensor.AbsoluteSensorRange = signals::AbsoluteSensorRangeValue::Signed_PlusMinusHalf;

diff --git a/cpp/FusedCANcoder/src/main/include/Robot.h b/cpp/FusedCANcoder/src/main/include/Robot.h
@@ -29,7 +29,7 @@ class Robot : public frc::TimedRobot {
   int printCount = 0;
 
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
   void AutonomousInit() override;

diff --git a/cpp/MotionMagic/src/main/cpp/Robot.cpp b/cpp/MotionMagic/src/main/cpp/Robot.cpp
@@ -16,7 +16,7 @@ void Robot::SimulationPeriodic() {
   PhysicsSim::GetInstance().Run();
 }
 
-void Robot::RobotInit() {
+Robot::Robot() {
   configs::TalonFXConfiguration cfg{};
 
   /* Configure gear ratio */

diff --git a/cpp/MotionMagic/src/main/include/Robot.h b/cpp/MotionMagic/src/main/include/Robot.h
@@ -15,7 +15,7 @@ class Robot : public frc::TimedRobot {
   int m_printCount = 0;
 
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
   void AutonomousInit() override;

diff --git a/cpp/PhoenixSysId/src/main/cpp/Robot.cpp b/cpp/PhoenixSysId/src/main/cpp/Robot.cpp
@@ -6,7 +6,7 @@
 
 #include <frc2/command/CommandScheduler.h>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 
 void Robot::RobotPeriodic() {
   frc2::CommandScheduler::GetInstance().Run();

diff --git a/cpp/PhoenixSysId/src/main/include/Robot.h b/cpp/PhoenixSysId/src/main/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/cpp/Pigeon2/src/main/cpp/Robot.cpp b/cpp/Pigeon2/src/main/cpp/Robot.cpp
@@ -9,7 +9,7 @@ using namespace ctre::phoenix6;
 
 constexpr units::time::second_t print_period{500_ms};
 
-void Robot::RobotInit() {
+Robot::Robot() {
   /* Configure Pigeon2 */
   configs::Pigeon2Configuration toApply{};
 

diff --git a/cpp/Pigeon2/src/main/include/Robot.h b/cpp/Pigeon2/src/main/include/Robot.h
@@ -14,7 +14,7 @@ class Robot : public frc::TimedRobot {
   units::time::second_t currentTime{frc::Timer::GetFPGATimestamp()};
 
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
   void AutonomousInit() override;

diff --git a/cpp/PositionClosedLoop/src/main/cpp/Robot.cpp b/cpp/PositionClosedLoop/src/main/cpp/Robot.cpp
@@ -7,7 +7,7 @@
 
 using namespace ctre::phoenix6;
 
-void Robot::RobotInit() {
+Robot::Robot() {
   configs::TalonFXConfiguration configs{};
   configs.Slot0.kP = 2.4; // An error of 1 rotations results in 1.2 V output
   configs.Slot0.kI = 0; // No output for integrated error

diff --git a/cpp/PositionClosedLoop/src/main/include/Robot.h b/cpp/PositionClosedLoop/src/main/include/Robot.h
@@ -24,7 +24,7 @@ class Robot : public frc::TimedRobot {
   frc::XboxController m_joystick{0};
 
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
   void AutonomousInit() override;

diff --git a/cpp/Simulation/src/main/cpp/Robot.cpp b/cpp/Simulation/src/main/cpp/Robot.cpp
@@ -9,7 +9,7 @@
 
 using namespace ctre::phoenix6;
 
-void Robot::RobotInit()
+Robot::Robot()
 {
   ctre::phoenix::StatusCode returnCode;
 

diff --git a/cpp/Simulation/src/main/include/Robot.h b/cpp/Simulation/src/main/include/Robot.h
@@ -67,7 +67,7 @@ class Robot : public frc::TimedRobot {
   units::turns_per_second_t metersToRotationsVel(units::meters_per_second_t meters);
 
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
   void AutonomousInit() override;

diff --git a/cpp/VelocityClosedLoop/src/main/cpp/Robot.cpp b/cpp/VelocityClosedLoop/src/main/cpp/Robot.cpp
@@ -7,7 +7,7 @@
 
 using namespace ctre::phoenix6;
 
-void Robot::RobotInit() {
+Robot::Robot() {
   configs::TalonFXConfiguration configs{};
 
   /* Voltage-based velocity requires a feed forward to account for the back-emf of the motor */

diff --git a/cpp/VelocityClosedLoop/src/main/include/Robot.h b/cpp/VelocityClosedLoop/src/main/include/Robot.h
@@ -27,7 +27,7 @@ class Robot : public frc::TimedRobot {
   frc::XboxController m_joystick{0};
 
  public:
-  void RobotInit() override;
+  Robot();
   void RobotPeriodic() override;
 
   void AutonomousInit() override;

diff --git a/cpp/WaitForAll/src/main/cpp/Robot.cpp b/cpp/WaitForAll/src/main/cpp/Robot.cpp
@@ -5,7 +5,7 @@
 #include "Robot.h"
 #include <iostream>
 
-void Robot::RobotInit() {}
+Robot::Robot() {}
 void Robot::RobotPeriodic() {
   if (m_joystick.GetLeftBumperButton()) {
     m_waitForAllTimeout = 0.1_s;

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

diff --git a/java/ArcadeDrive/src/main/java/frc/robot/Robot.java b/java/ArcadeDrive/src/main/java/frc/robot/Robot.java
@@ -39,8 +39,7 @@ 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() {
     /* Configure the devices */
     var leftConfiguration = new TalonFXConfiguration();
     var rightConfiguration = new TalonFXConfiguration();

diff --git a/java/BasicLatencyCompensation/src/main/java/frc/robot/Robot.java b/java/BasicLatencyCompensation/src/main/java/frc/robot/Robot.java
@@ -49,8 +49,7 @@ 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() {
 
   }
 

diff --git a/java/CANcoder/src/main/java/frc/robot/Robot.java b/java/CANcoder/src/main/java/frc/robot/Robot.java
@@ -43,8 +43,7 @@ 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() {
     /* Configure CANcoder */
     var toApply = new CANcoderConfiguration();
 

diff --git a/java/CommandBasedDrive/src/main/java/frc/robot/Robot.java b/java/CommandBasedDrive/src/main/java/frc/robot/Robot.java
@@ -23,8 +23,7 @@ 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() {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();

diff --git a/java/ControlRequestLimits/src/main/java/frc/robot/Robot.java b/java/ControlRequestLimits/src/main/java/frc/robot/Robot.java
@@ -35,8 +35,7 @@ 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() {
         TalonFXConfiguration configs = new TalonFXConfiguration();
 
         configs.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;

diff --git a/java/CurrentLimits/src/main/java/frc/robot/Robot.java b/java/CurrentLimits/src/main/java/frc/robot/Robot.java
@@ -34,8 +34,7 @@ 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() {
     /* Configure the Talon to use a supply limit of 70 A, and
      * lower to 40 A if we're at 70 A for over 1 second */
     TalonFXConfiguration toConfigure = new TalonFXConfiguration();

diff --git a/java/FusedCANcoder/src/main/java/frc/robot/Robot.java b/java/FusedCANcoder/src/main/java/frc/robot/Robot.java
@@ -56,8 +56,7 @@ 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() {
     /* Configure CANcoder to zero the magnet appropriately */
     CANcoderConfiguration cc_cfg = new CANcoderConfiguration();
     cc_cfg.MagnetSensor.AbsoluteSensorRange = AbsoluteSensorRangeValue.Signed_PlusMinusHalf;

diff --git a/java/MotionMagic/src/main/java/frc/robot/Robot.java b/java/MotionMagic/src/main/java/frc/robot/Robot.java
@@ -47,8 +47,7 @@ public void simulationPeriodic() {
    * 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() {
     TalonFXConfiguration cfg = new TalonFXConfiguration();
 
     /* Configure gear ratio */

diff --git a/java/PhoenixSysId/src/main/java/frc/robot/Robot.java b/java/PhoenixSysId/src/main/java/frc/robot/Robot.java
@@ -13,8 +13,7 @@ public class Robot extends TimedRobot {
 
   private RobotContainer m_robotContainer;
 
-  @Override
-  public void robotInit() {
+  public Robot() {
     m_robotContainer = new RobotContainer();
   }
 

diff --git a/java/Pigeon2/src/main/java/frc/robot/Robot.java b/java/Pigeon2/src/main/java/frc/robot/Robot.java
@@ -40,8 +40,7 @@ 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() {
     /* Configure Pigeon2 */
     var toApply = new Pigeon2Configuration();
 

diff --git a/java/PositionClosedLoop/src/main/java/frc/robot/Robot.java b/java/PositionClosedLoop/src/main/java/frc/robot/Robot.java
@@ -42,8 +42,7 @@ 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() {
     TalonFXConfiguration configs = new TalonFXConfiguration();
     configs.Slot0.kP = 2.4; // An error of 1 rotation results in 2.4 V output
     configs.Slot0.kI = 0; // No output for integrated error

diff --git a/java/Simulation/src/main/java/frc/robot/Robot.java b/java/Simulation/src/main/java/frc/robot/Robot.java
@@ -106,8 +106,7 @@ public class Robot extends TimedRobot {
      * for any
      * initialization code.
      */
-    @Override
-    public void robotInit() {
+    public Robot() {
         StatusCode returnCode;
 
         TalonFXConfiguration fxCfg = new TalonFXConfiguration();

diff --git a/java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java b/java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java
@@ -46,8 +46,7 @@ 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() {
     TalonFXConfiguration configs = new TalonFXConfiguration();
 
     /* Voltage-based velocity requires a velocity feed forward to account for the back-emf of the motor */

diff --git a/java/WaitForAll/src/main/java/frc/robot/Robot.java b/java/WaitForAll/src/main/java/frc/robot/Robot.java
@@ -65,8 +65,7 @@ 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() {}
 
   @Override
   public void robotPeriodic() {