/**
* Robot-wide initialization code should go here. This default Robot-wide initialization code will
* be called when the robot is first powered on. It will be called exactly 1 time.
*/
public void robotInit() {
// create mechanism components and controllers
this.components = new ComponentManager();
this.controllers = new ControllerManager(this.components);
DashboardLogger.putString(Robot.ROBOT_STATE_LOG_KEY, "Init");
}
/**
* Initialization code for teleop mode should go here. This code will be called each time the
* robot enters teleop mode.
*/
public void teleopInit() {
// create driver for user's joystick
this.driver = new UserDriver(this.components);
this.generalInit();
// log that we are in teleop mode
DashboardLogger.putString(Robot.ROBOT_STATE_LOG_KEY, "Teleop");
}
/**
* Initialization code for disabled mode should go here. This code will be called each time the
* robot enters disabled mode.
*/
public void disabledInit() {
if (this.driver != null) {
this.driver.stop();
}
if (this.controllers != null) {
this.controllers.stop();
}
DashboardLogger.putString(Robot.ROBOT_STATE_LOG_KEY, "Disabled");
}
/**
* Initialization code for autonomous mode should go here. This code will be called each time the
* robot enters autonomous mode.
*/
public void autonomousInit() {
// reset the position manager so that we consider ourself at the origin (0,0) and facing the 0
// direction.
this.components.getPositionManager().reset();
// Create an autonomous driver
this.driver = new AutonomousDriver(this.components);
this.generalInit();
// log that we are in autonomous mode
DashboardLogger.putString(Robot.ROBOT_STATE_LOG_KEY, "Autonomous");
}