com.qualcomm.robotcore.eventloop.opmode

Class LinearOpMode

java.lang.Object

com.qualcomm.robotcore.eventloop.opmode.OpMode

com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

public abstract class LinearOpMode
extends OpMode

Base class for user defined linear operation modes (op modes).

This class derives from OpMode, but you should not override the methods from OpMode.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
protected class	LinearOpMode.LinearOpModeHelper

Field Summary

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

gamepad1, gamepad2, hardwareMap, internalOpModeServices, msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, msStuckDetectStop, telemetry, time

Constructor Summary

Constructors

Constructor and Description
LinearOpMode()

Method Summary

Modifier and Type	Method and Description
protected void	handleLoop()
void	idle() Puts the current thread to sleep for a bit as it has nothing better to do.
void	init_loop() From the non-linear OpMode; do not override
void	init() From the non-linear OpMode; do not override
void	internalPostInitLoop() automatically update telemetry in a non-linear opmode
void	internalPostLoop() automatically update telemetry in a non-linear opmode
boolean	isStarted() Has the opMode been started?
boolean	isStopRequested() Has the the stopping of the opMode been requested?
void	loop() From the non-linear OpMode; do not override
boolean	opModeIsActive() Answer as to whether this opMode is active and the robot should continue onwards.
abstract void	runOpMode() Override this method and place your code here.
void	sleep(long milliseconds) Sleeps for the given amount of milliseconds, or until the thread is interrupted.
void	start() From the non-linear OpMode; do not override
void	stop() From the non-linear OpMode; do not override
void	waitForNextHardwareCycle() Deprecated. The need for user code to synchronize with the loop() thread has been obviated by improvements in the modern motor and servo controller implementations. Remaining uses of this API are likely unncessarily wasting cycles. If a simple non-zero delay is required, the sleep() method is a better choice. If one simply wants to allow other threads to run, idle() is a good choice.
void	waitForStart() Pauses the Linear Op Mode until start has been pressed or until the current thread is interrupted.
void	waitOneFullHardwareCycle() Deprecated. The need for user code to synchronize with the loop() thread has been obviated by improvements in the modern motor and servo controller implementations. Remaining uses of this API are likely unncessarily wasting cycles. If a simple non-zero delay is required, the sleep() method is a better choice. If one simply wants to allow other threads to run, idle() is a good choice.

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

getRuntime, internalPreInit, internalUpdateTelemetryNow, requestOpModeStop, resetStartTime, updateTelemetry

Methods inherited from class java.lang.Object

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

Constructor Detail

LinearOpMode

public LinearOpMode()

Method Detail

runOpMode

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

Override this method and place your code here.

Please do not swallow the InterruptedException, as it is used in cases where the op mode needs to be terminated early.

Throws:

java.lang.InterruptedException

waitForStart

public void waitForStart()

Pauses the Linear Op Mode until start has been pressed or until the current thread is interrupted.

waitOneFullHardwareCycle

@Deprecated
public void waitOneFullHardwareCycle()
                                           throws java.lang.InterruptedException

Deprecated. The need for user code to synchronize with the loop() thread has been obviated by improvements in the modern motor and servo controller implementations. Remaining uses of this API are likely unncessarily wasting cycles. If a simple non-zero delay is required, the sleep() method is a better choice. If one simply wants to allow other threads to run, idle() is a good choice.

Wait for one full cycle of the hardware

Each cycle of the hardware your commands are sent out to the hardware; and the latest data is read back in.

This method has a strong guarantee to wait for at least one full hardware hardware cycle.

Throws:

java.lang.InterruptedException

See Also:

Thread.sleep(long), idle(), waitForNextHardwareCycle()

waitForNextHardwareCycle

@Deprecated
public void waitForNextHardwareCycle()
                                           throws java.lang.InterruptedException

Deprecated. The need for user code to synchronize with the loop() thread has been obviated by improvements in the modern motor and servo controller implementations. Remaining uses of this API are likely unncessarily wasting cycles. If a simple non-zero delay is required, the sleep() method is a better choice. If one simply wants to allow other threads to run, idle() is a good choice.

Wait for the start of the next hardware cycle

Each cycle of the hardware your commands are sent out to the hardware; and the latest data is read back in.

This method will wait for the current hardware cycle to finish, which is also the start of the next hardware cycle.

Throws:

java.lang.InterruptedException

See Also:

Thread.sleep(long), idle(), waitOneFullHardwareCycle()

idle

public final void idle()

Puts the current thread to sleep for a bit as it has nothing better to do. This allows other threads in the system to run.

One can use this method when you have nothing better to do in your code as you await state managed by other threads to change. Calling idle() is entirely optional: it just helps make the system a little more responsive and a little more efficient.

idle() is conceptually related to waitOneFullHardwareCycle(), but makes no guarantees as to completing any particular number of hardware cycles, if any.

See Also:

opModeIsActive(), waitOneFullHardwareCycle()

sleep

public final void sleep(long milliseconds)

Sleeps for the given amount of milliseconds, or until the thread is interrupted. This is simple shorthand for the operating-system-provided sleep() method.

Parameters:

milliseconds - amount of time to sleep, in milliseconds

See Also:

Thread.sleep(long)

opModeIsActive

public final boolean opModeIsActive()

Answer as to whether this opMode is active and the robot should continue onwards. If the opMode is not active, the OpMode should terminate at its earliest convenience.

Note that internally this method calls idle()

Returns:

whether the OpMode is currently active. If this returns false, you should break out of the loop in your runOpMode() method and return to its caller.

See Also:

runOpMode(), isStarted(), isStopRequested()

isStarted

public final boolean isStarted()

Has the opMode been started?

Returns:

whether this opMode has been started or not

See Also:

opModeIsActive(), isStopRequested()

isStopRequested

public final boolean isStopRequested()

Has the the stopping of the opMode been requested?

Returns:

whether stopping opMode has been requested or not

See Also:

opModeIsActive(), isStarted()

init

public final void init()

From the non-linear OpMode; do not override

Specified by:

init in class OpMode

init_loop

public final void init_loop()

From the non-linear OpMode; do not override

Overrides:

init_loop in class OpMode

start

public final void start()

From the non-linear OpMode; do not override

Overrides:

start in class OpMode

loop

public final void loop()

From the non-linear OpMode; do not override

Specified by:

loop in class OpMode

stop

public final void stop()

From the non-linear OpMode; do not override

Overrides:

stop in class OpMode

handleLoop

protected void handleLoop()

internalPostInitLoop

public void internalPostInitLoop()

Description copied from class: OpMode

automatically update telemetry in a non-linear opmode

Overrides:

internalPostInitLoop in class OpMode

internalPostLoop

public void internalPostLoop()

Description copied from class: OpMode

automatically update telemetry in a non-linear opmode

Overrides:

internalPostLoop in class OpMode