Class SpectrumRobot

java.lang.Object

org.wpilib.framework.RobotBase

org.wpilib.framework.IterativeRobotBase

org.littletonrobotics.junction.LoggedRobot

frc.spectrumLib.framework.SpectrumRobot

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

Robot

public class SpectrumRobot
extends LoggedRobot

Base robot class for Spectrum robots on SystemCore: AdvantageKit's LoggedRobot, which runs the loop, records every input, and drives replay.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	LOOP_OVERRUN_WARNING_SECONDS	Loop length above which WPILib prints "Loop time of Xs overrun" plus a per-section epoch breakdown to the Driver Station.

Fields inherited from class LoggedRobot

defaultPeriodSecs

Constructor Summary

Constructors

Constructor	Description
SpectrumRobot(double periodSeconds)	Starts the robot loop at periodSeconds and sets the loop overrun watchdogs to LOOP_OVERRUN_WARNING_SECONDS.

Method Summary

Methods inherited from class LoggedRobot

close, endCompetition, setUseTiming, startCompetition

Methods inherited from class IterativeRobotBase

autonomousExit, autonomousInit, autonomousPeriodic, disabledExit, disabledInit, disabledPeriodic, driverStationConnected, getPeriod, loopFunc, printWatchdogEpochs, robotPeriodic, simulationInit, simulationPeriodic, teleopExit, teleopInit, teleopPeriodic, utilityExit, utilityInit, utilityPeriodic

Methods inherited from class RobotBase

getMainThreadId, getOpMode, getOpModeId, getRuntimeType, isAutonomous, isAutonomousEnabled, isDisabled, isEnabled, isReal, isSimulation, isTeleop, isTeleopEnabled, isUtility, isUtilityEnabled, startRobot, suppressExitWarning

Methods inherited from class Object

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

Field Details

LOOP_OVERRUN_WARNING_SECONDS

public static final double LOOP_OVERRUN_WARNING_SECONDS

Loop length above which WPILib prints "Loop time of Xs overrun" plus a per-section epoch breakdown to the Driver Station.

0.20 s keeps the console quiet in matches. It also hides everything below it: in the 2026-09-05 roboRIO logs 60 to 90 percent of enabled loops ran over 25 ms and none of that reached the console. AdvantageKit's /RealOutputs/LoggedRobot/* timings and the Scheduler/* timers are the record of loop time.

See Also:

• Constant Field Values

Constructor Details

SpectrumRobot

public SpectrumRobot(double periodSeconds)

Starts the robot loop at periodSeconds and sets the loop overrun watchdogs to LOOP_OVERRUN_WARNING_SECONDS.

Parameters:

periodSeconds - the robot loop period; SystemCore runs 0.01 (100 Hz) comfortably