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src/main/java/frc/robot/Robot.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+public class Robot extends TimedRobot {
+    private Command m_autonomousCommand;
+
+    private final RobotContainer m_robotContainer;
+
+    public Robot() {
+        m_robotContainer = new RobotContainer();
+    }
+
+    @Override
+    public void robotPeriodic() {
+        CommandScheduler.getInstance().run(); 
+        m_robotContainer.tunerPeriodic();
+
+    }
+
+    @Override
+    public void disabledInit() {}
+
+    @Override
+    public void disabledPeriodic() {}
+
+    @Override
+    public void disabledExit() {}
+
+    @Override
+    public void autonomousInit() {
+        m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+        if (m_autonomousCommand != null) {
+            CommandScheduler.getInstance().schedule(m_autonomousCommand);
+        }
+    }
+
+    @Override
+    public void autonomousPeriodic() {}
+
+    @Override
+    public void autonomousExit() {}
+
+    @Override
+    public void teleopInit() {
+        if (m_autonomousCommand != null) {
+            CommandScheduler.getInstance().cancel(m_autonomousCommand);
+        }
+    }
+
+    @Override
+    public void teleopPeriodic() {}
+
+    @Override
+    public void teleopExit() {}
+
+    @Override
+    public void testInit() {
+        CommandScheduler.getInstance().cancelAll();
+    }
+
+    @Override
+    public void testPeriodic() {}
+
+    @Override
+    public void testExit() {}
+
+    @Override
+    public void simulationPeriodic() {}
+}