TimedRobot¶

class wpilib.TimedRobot(period: seconds = 0.02)¶

TimedRobot implements the IterativeRobotBase robot program framework.

The TimedRobot class is intended to be subclassed by a user creating a robot program.

Periodic() functions from the base class are called on an interval by a Notifier instance.

Constructor for TimedRobot.

addPeriodic(callback: Callable[[], None], period: seconds, offset: seconds = 0.0) → None¶

Add a callback to run at a specific period with a starting time offset.

This is scheduled on TimedRobot’s Notifier, so TimedRobot and the callback run synchronously. Interactions between them are thread-safe.

Parameters:

callback – The callback to run.
period – The period at which to run the callback.
offset – The offset from the common starting time. This is useful for scheduling a callback in a different timeslot relative to TimedRobot.

startCompetition() → None¶: Provide an alternate “main loop” via StartCompetition().