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.

Field Summary

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

gamepad1, gamepad2, hardwareMap, telemetry, time

Constructor Summary

Constructors

Constructor and Description
LinearOpMode()

Method Summary

Methods

Modifier and Type	Method and Description
void	init_loop() From the non-linear OpMode; do not override
void	init() From the non-linear OpMode; do not override
void	loop() From the non-linear OpMode; do not override
boolean	opModeIsActive() Returns true as long as the op mode is active.
abstract void	runOpMode() Override this method and place your code here.
void	sleep(long milliseconds) Sleep for the given amount of milliseconds
void	start() From the non-linear OpMode; do not override
void	stop() From the non-linear OpMode; do not override
void	waitForNextHardwareCycle() Wait for the start of the next hardware cycle
void	waitForStart() Pause the Linear Op Mode until start has been pressed
void	waitOneFullHardwareCycle() Wait for one full cycle of the hardware

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

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()
                  throws java.lang.InterruptedException

Pause the Linear Op Mode until start has been pressed

Throws:

java.lang.InterruptedException

waitOneFullHardwareCycle

public void waitOneFullHardwareCycle()
                              throws java.lang.InterruptedException

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

waitForNextHardwareCycle

public void waitForNextHardwareCycle()
                              throws java.lang.InterruptedException

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

sleep

public void sleep(long milliseconds)
           throws java.lang.InterruptedException

Sleep for the given amount of milliseconds

Parameters:

milliseconds - amount of time to sleep

Throws:

java.lang.InterruptedException

opModeIsActive

public boolean opModeIsActive()

Returns true as long as the op mode is active.

An op mode is considered active after the call to start() and before the call to stop().

Returns:

true if op mode is running

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