[wpilib] Rename mode Init functions to Enter

Fixes #8717.

Author: calcmogul

cameraserver/src/main/java/org/wpilib/vision/process/package-info.java

@@ -49,7 +49,7 @@
  *      }
  *
  *     {@literal @}Override
- *      public void autonomousInit() {
+ *      public void autonomousEnter() {
  *          findToteThread.start();
  *      }
  *

design-docs/opmodes.md

@@ -51,7 +51,7 @@ Separate from the driver station application, WPILib-provided as well as custom
 
 ### Robot Code
 
-The standard WPILib team code structure derives a single team-written `Robot` class from an "periodic" robot base class.  This `Robot` class is constructed and run by the Java `main()` function.  After construction, the base class implementation runs a periodic loop (typically running on a 20 ms period, although that can be changed by the user) that reads the enabled state and teleop/auto/test mode provided by the DS and calls overrideable functions for each mode (disabled, teleop, auto, and test), as well as a `robotPeriodic` overrideable function that is always called regardless of mode.  Three overrideable functions are provided for each mode: an init function (called when the mode is transitioned into from another mode), a periodic function (called on a fixed period), and an exit function (called when the mode is transitioned out of into another mode).  Teams override these functions in their Robot derived class to implement their robot code.  Because of this code structure, teams generally create their hardware configuration (can be flat or organized into subsystems) and other objects as member variables within the Robot class (constructed at robot start) and share them across all modes of operation.
+The standard WPILib team code structure derives a single team-written `Robot` class from an "periodic" robot base class.  This `Robot` class is constructed and run by the Java `main()` function.  After construction, the base class implementation runs a periodic loop (typically running on a 20 ms period, although that can be changed by the user) that reads the enabled state and teleop/auto/test mode provided by the DS and calls overrideable functions for each mode (disabled, teleop, auto, and test), as well as a `robotPeriodic` overrideable function that is always called regardless of mode.  Three overrideable functions are provided for each mode: an enter function (called when the mode is transitioned into from another mode), a periodic function (called on a fixed period), and an exit function (called when the mode is transitioned out of into another mode).  Teams override these functions in their Robot derived class to implement their robot code.  Because of this code structure, teams generally create their hardware configuration (can be flat or organized into subsystems) and other objects as member variables within the Robot class (constructed at robot start) and share them across all modes of operation.
 
 WPILib provides a class called `SendableChooser` for creating the drop-down lists shown on the dashboard.  This class is a generic/template class that provides a map of string key (shown on the drop-down) and object value (read by robot code).  This is typically displayed by dashboards as a simple list with no categorization.  This feature is most often used by teams for autonomous routine selection, but is not limited to that use case.  Examples and templates show teams how to instantiate this class, add it to the dashboard, and use it for operator selection of different autonomous routines (by reading the chosen value from the object and executing different code).  Examples of how to use `SendableChooser` for operator selection in other modes (e.g. teleop or test) is not provided, and it's generally uncommon for teams to use it in that way–most team code has just a single teleop routine, and the test mode is rarely used (manual testing code is instead usually integrated as part of the teleop routine).
 
@@ -187,16 +187,16 @@ public abstract class OpModeRobot extends RobotBase {
     // called periodically in simulation
   }
 
-  public void disabledInit() {
-    // called once when the robot becomes disabled
+  public void disabledEnter() {
+    // called when the robot enters disabled state
   }
 
   public void disabledPeriodic() {
     // called periodically while the robot is disabled
   }
 
   public void disabledExit() {
-    // called once when the robot exits disabled state
+    // called when the robot exits disabled state
   }
 
   public void nonePeriodic() {

developerRobot/src/main/java/wpilib/robot/Robot.java

@@ -15,15 +15,15 @@ public Robot() {}
 
   /** This function is run once each time the robot enters autonomous mode. */
   @Override
-  public void autonomousInit() {}
+  public void autonomousEnter() {}
 
   /** This function is called periodically during autonomous. */
   @Override
   public void autonomousPeriodic() {}
 
   /** This function is called once each time the robot enters tele-operated mode. */
   @Override
-  public void teleopInit() {}
+  public void teleopEnter() {}
 
   /** This function is called periodically during operator control. */
   @Override

developerRobot/src/main/native/cpp/Robot.cpp

@@ -15,7 +15,7 @@ class Robot : public wpi::TimedRobot {
   /**
    * This function is run once each time the robot enters autonomous mode
    */
-  void AutonomousInit() override {}
+  void AutonomousEnter() override {}
 
   /**
    * This function is called periodically during autonomous
@@ -25,7 +25,7 @@ class Robot : public wpi::TimedRobot {
   /**
    * This function is called once each time the robot enters tele-operated mode
    */
-  void TeleopInit() override {}
+  void TeleopEnter() override {}
 
   /**
    * This function is called periodically during operator control

robotpyExamples/ArmSimulation/robot.py

@@ -22,7 +22,7 @@ def __init__(self) -> None:
     def simulationPeriodic(self) -> None:
         self.arm.simulationPeriodic()
 
-    def teleopInit(self) -> None:
+    def teleopEnter(self) -> None:
         self.arm.loadPreferences()
 
     def teleopPeriodic(self) -> None:
@@ -33,6 +33,6 @@ def teleopPeriodic(self) -> None:
             # Otherwise, we disable the motor.
             self.arm.stop()
 
-    def disabledInit(self) -> None:
+    def disabledEnter(self) -> None:
         # This just makes sure that our simulation code knows that the motor's off.
         self.arm.stop()

robotpyExamples/DriveDistanceOffboard/robot.py

@@ -39,13 +39,13 @@ def __init__(self) -> None:
         # autonomous chooser on the dashboard.
         self.container = robotcontainer.RobotContainer()
 
-    def disabledInit(self) -> None:
+    def disabledEnter(self) -> None:
         """This function is called once each time the robot enters Disabled mode."""
 
     def disabledPeriodic(self) -> None:
         """This function is called periodically when disabled"""
 
-    def autonomousInit(self) -> None:
+    def autonomousEnter(self) -> None:
         """This autonomous runs the autonomous command selected by your RobotContainer class."""
         self.autonomousCommand = self.container.getAutonomousCommand()
 
@@ -58,7 +58,7 @@ def autonomousInit(self) -> None:
     def autonomousPeriodic(self) -> None:
         """This function is called periodically during autonomous"""
 
-    def teleopInit(self) -> None:
+    def teleopEnter(self) -> None:
         # This makes sure that the autonomous stops running when
         # teleop starts running. If you want the autonomous to
         # continue until interrupted by another command, remove
@@ -69,6 +69,6 @@ def teleopInit(self) -> None:
     def teleopPeriodic(self) -> None:
         """This function is called periodically during operator control"""
 
-    def testInit(self) -> None:
+    def testEnter(self) -> None:
         # Cancels all running commands at the start of test mode
         commands2.CommandScheduler.getInstance().cancelAll()

robotpyExamples/ElevatorExponentialSimulation/robot.py

@@ -27,7 +27,7 @@ def simulationPeriodic(self) -> None:
         # Update the simulation model.
         self.elevator.simulationPeriodic()
 
-    def teleopInit(self) -> None:
+    def teleopEnter(self) -> None:
         self.elevator.reset()
 
     def teleopPeriodic(self) -> None:
@@ -38,6 +38,6 @@ def teleopPeriodic(self) -> None:
             # Otherwise, we update the setpoint to 1 meter.
             self.elevator.reachGoal(constants.kLowerkSetpoint)
 
-    def disabledInit(self) -> None:
+    def disabledEnter(self) -> None:
         # This just makes sure that our simulation code knows that the motor's off.
         self.elevator.stop()

robotpyExamples/ElevatorSimulation/robot.py

@@ -35,6 +35,6 @@ def teleopPeriodic(self) -> None:
             # Otherwise, we update the setpoint to 0.
             self.elevator.reachGoal(0.0)
 
-    def disabledInit(self) -> None:
+    def disabledEnter(self) -> None:
         # This just makes sure that our simulation code knows that the motor's off.
         self.elevator.stop()

robotpyExamples/GettingStarted/robot.py

@@ -26,7 +26,7 @@ def __init__(self):
         # gearbox is constructed, you might have to invert the left side instead.
         self.rightDrive.setInverted(True)
 
-    def autonomousInit(self):
+    def autonomousEnter(self):
         """This function is run once each time the robot enters autonomous mode."""
         self.timer.restart()
 
@@ -40,7 +40,7 @@ def autonomousPeriodic(self):
         else:
             self.robotDrive.stopMotor()  # Stop robot
 
-    def teleopInit(self):
+    def teleopEnter(self):
         """This function is called once each time the robot enters teleoperated mode."""
 
     def teleopPeriodic(self):
@@ -49,7 +49,7 @@ def teleopPeriodic(self):
             -self.controller.getLeftY(), -self.controller.getRightX()
         )
 
-    def testInit(self):
+    def testEnter(self):
         """This function is called once each time the robot enters test mode."""
 
     def testPeriodic(self):

robotpyExamples/HatchbotInlined/robot.py

@@ -39,13 +39,13 @@ def __init__(self) -> None:
         # Change to `false` to not record joystick data.
         wpilib.DriverStation.startDataLog(wpilib.DataLogManager.getLog(), True)
 
-    def disabledInit(self) -> None:
+    def disabledEnter(self) -> None:
         """This function is called once each time the robot enters Disabled mode."""
 
     def disabledPeriodic(self) -> None:
         """This function is called periodically when disabled"""
 
-    def autonomousInit(self) -> None:
+    def autonomousEnter(self) -> None:
         """This autonomous runs the autonomous command selected by your RobotContainer class."""
         self.autonomousCommand = self.container.getAutonomousCommand()
 
@@ -55,7 +55,7 @@ def autonomousInit(self) -> None:
     def autonomousPeriodic(self) -> None:
         """This function is called periodically during autonomous"""
 
-    def teleopInit(self) -> None:
+    def teleopEnter(self) -> None:
         # This makes sure that the autonomous stops running when
         # teleop starts running. If you want the autonomous to
         # continue until interrupted by another command, remove
@@ -66,6 +66,6 @@ def teleopInit(self) -> None:
     def teleopPeriodic(self) -> None:
         """This function is called periodically during operator control"""
 
-    def testInit(self) -> None:
+    def testEnter(self) -> None:
         # Cancels all running commands at the start of test mode
         commands2.CommandScheduler.getInstance().cancelAll()