C++

class Robot: public IterativeRobot
{
	/*
	 * Defines the variables as members of our Robot class
	 */
	RobotDrive myRobot; // robot drive system
	Joystick stick; // only joystick
	LiveWindow *lw;
	int autoLoopCounter;

public:
	Robot() :
		/* Initializes the variables as part of the constructor using an Initialization
		 * list.
		 */
		myRobot(0,1), //these must be initialized in the same order
		stick(1),	  //as they are declared above.
		lw(NULL),
		autoLoopCounter(0)
		{
			myRobot.SetExpiration(0.1);
			/*
			 * Performs robot initialization
			 * (in this case sets the safety timer expiration for
			 * the myRobot object to .1 seconds, see the next step for an explanation of
			 * the motor safety timers).
			 */
		}

C++

	void RobotInit()
	{
		lw = LiveWindow::GetInstance();
	}

C++

	void AutonomousInit() //This method is called once each time the robot enters Autonomous
	{
		autoLoopCounter = 0;
	}

	void AutonomousPeriodic() /* This method is called each time the robot receives a 
	* packet instructing the robot to be in Autonomous Enabled mode (approximately every 20ms)
	* This means that code in this method should return in 20 ms or less (no delays or loops)
	*/
	{
		/* This example checks if the loop counter has reached 100
		* (approximately 2 seconds) THis is a fairly simple example and is not recommended for actual
		* autonomous routines, because delayed or missed packets will significantly affect the timing
		* of this program
		*/
		if(autoLoopCounter < 100)
		{
			myRobot.Drive(-0.5, 0.0); /* If autoLoopCounter has not yet reached 100,
			* this instructs the robot to drive forward at half speed, and increment the counter
			**/
			autoLoopCounter++;
		} else {
			myRobot.Drive(0.0, 0.0); // If autoLoopCounter has reached 100, this stops the robot
		}
	}

C++

	void TeleopInit()
	{
		/* The TeleopInit method is called once each time the robot enters teleoperated mode
		*  This is where you would put presets for the teleoperated mode.
		*/
	}
	
	void TeleopPeriodic()
	{
		/* The TeleopPeriodic method is called each time the robot recieves a packet instructing it 
		* to be in teleoperated mode
		*/
		myRobot.ArcadeDrive(stick); // This line tells the drivetrain to use the joystick to control the 
		// robot with the Arcade Drive scheme (Y-Axis throttle, X-Axis turn).
	}

C++

	void TestPeriodic()
	{
		lw->Run();
	}