Class DriverStation


  • public class DriverStation
    extends Object
    Provide access to the network communication data to / from the Driver Station.
    • Field Detail

      • kJoystickPorts

        public static final int kJoystickPorts
        Number of Joystick Ports.
        See Also:
        Constant Field Values
    • Method Detail

      • getInstance

        public static DriverStation getInstance()
        Gets an instance of the DriverStation.
        Returns:
        The DriverStation.
      • release

        public void release()
        Kill the thread.
      • reportError

        public static void reportError​(String error,
                                       boolean printTrace)
        Report error to Driver Station. Optionally appends Stack trace to error message.
        Parameters:
        printTrace - If true, append stack trace to error string
      • reportError

        public static void reportError​(String error,
                                       StackTraceElement[] stackTrace)
        Report error to Driver Station. Appends provided stack trace to error message.
        Parameters:
        stackTrace - The stack trace to append
      • reportWarning

        public static void reportWarning​(String error,
                                         boolean printTrace)
        Report warning to Driver Station. Optionally appends Stack trace to warning message.
        Parameters:
        printTrace - If true, append stack trace to warning string
      • reportWarning

        public static void reportWarning​(String error,
                                         StackTraceElement[] stackTrace)
        Report warning to Driver Station. Appends provided stack trace to warning message.
        Parameters:
        stackTrace - The stack trace to append
      • getStickButton

        public boolean getStickButton​(int stick,
                                      int button)
        The state of one joystick button. Button indexes begin at 1.
        Parameters:
        stick - The joystick to read.
        button - The button index, beginning at 1.
        Returns:
        The state of the joystick button.
      • getStickAxis

        public double getStickAxis​(int stick,
                                   int axis)
        Get the value of the axis on a joystick. This depends on the mapping of the joystick connected to the specified port.
        Parameters:
        stick - The joystick to read.
        axis - The analog axis value to read from the joystick.
        Returns:
        The value of the axis on the joystick.
      • getStickPOV

        public int getStickPOV​(int stick,
                               int pov)
        Get the state of a POV on the joystick.
        Returns:
        the angle of the POV in degrees, or -1 if the POV is not pressed.
      • getStickButtons

        public int getStickButtons​(int stick)
        The state of the buttons on the joystick.
        Parameters:
        stick - The joystick to read.
        Returns:
        The state of the buttons on the joystick.
      • getStickAxisCount

        public int getStickAxisCount​(int stick)
        Returns the number of axes on a given joystick port.
        Parameters:
        stick - The joystick port number
        Returns:
        The number of axes on the indicated joystick
      • getStickPOVCount

        public int getStickPOVCount​(int stick)
        Returns the number of POVs on a given joystick port.
        Parameters:
        stick - The joystick port number
        Returns:
        The number of POVs on the indicated joystick
      • getStickButtonCount

        public int getStickButtonCount​(int stick)
        Gets the number of buttons on a joystick.
        Parameters:
        stick - The joystick port number
        Returns:
        The number of buttons on the indicated joystick
      • getJoystickIsXbox

        public boolean getJoystickIsXbox​(int stick)
        Gets the value of isXbox on a joystick.
        Parameters:
        stick - The joystick port number
        Returns:
        A boolean that returns the value of isXbox
      • getJoystickType

        public int getJoystickType​(int stick)
        Gets the value of type on a joystick.
        Parameters:
        stick - The joystick port number
        Returns:
        The value of type
      • getJoystickName

        public String getJoystickName​(int stick)
        Gets the name of the joystick at a port.
        Parameters:
        stick - The joystick port number
        Returns:
        The value of name
      • getJoystickAxisType

        public int getJoystickAxisType​(int stick,
                                       int axis)
        Returns the types of Axes on a given joystick port.
        Parameters:
        stick - The joystick port number
        axis - The target axis
        Returns:
        What type of axis the axis is reporting to be
      • isEnabled

        public boolean isEnabled()
        Gets a value indicating whether the Driver Station requires the robot to be enabled.
        Returns:
        True if the robot is enabled, false otherwise.
      • isDisabled

        public boolean isDisabled()
        Gets a value indicating whether the Driver Station requires the robot to be disabled.
        Returns:
        True if the robot should be disabled, false otherwise.
      • isAutonomous

        public boolean isAutonomous()
        Gets a value indicating whether the Driver Station requires the robot to be running in autonomous mode.
        Returns:
        True if autonomous mode should be enabled, false otherwise.
      • isOperatorControl

        public boolean isOperatorControl()
        Gets a value indicating whether the Driver Station requires the robot to be running in operator-controlled mode.
        Returns:
        True if operator-controlled mode should be enabled, false otherwise.
      • isTest

        public boolean isTest()
        Gets a value indicating whether the Driver Station requires the robot to be running in test mode.
        Returns:
        True if test mode should be enabled, false otherwise.
      • isDSAttached

        public boolean isDSAttached()
        Gets a value indicating whether the Driver Station is attached.
        Returns:
        True if Driver Station is attached, false otherwise.
      • isNewControlData

        public boolean isNewControlData()
        Gets if a new control packet from the driver station arrived since the last time this function was called.
        Returns:
        True if the control data has been updated since the last call.
      • isFMSAttached

        public boolean isFMSAttached()
        Gets if the driver station attached to a Field Management System.
        Returns:
        true if the robot is competing on a field being controlled by a Field Management System
      • isSysActive

        @Deprecated
        public boolean isSysActive()
        Deprecated.
        Use RobotController.isSysActive()
        Gets a value indicating whether the FPGA outputs are enabled. The outputs may be disabled if the robot is disabled or e-stopped, the watchdog has expired, or if the roboRIO browns out.
        Returns:
        True if the FPGA outputs are enabled.
      • isBrownedOut

        @Deprecated
        public boolean isBrownedOut()
        Deprecated.
        Use RobotController.isBrownedOut()
        Check if the system is browned out.
        Returns:
        True if the system is browned out
      • getGameSpecificMessage

        public String getGameSpecificMessage()
        Get the game specific message.
        Returns:
        the game specific message
      • getEventName

        public String getEventName()
        Get the event name.
        Returns:
        the event name
      • getMatchNumber

        public int getMatchNumber()
        Get the match number.
        Returns:
        the match number
      • getReplayNumber

        public int getReplayNumber()
        Get the replay number.
        Returns:
        the replay number
      • getAlliance

        public DriverStation.Alliance getAlliance()
        Get the current alliance from the FMS.
        Returns:
        the current alliance
      • getLocation

        public int getLocation()
        Gets the location of the team's driver station controls.
        Returns:
        the location of the team's driver station controls: 1, 2, or 3
      • waitForData

        public void waitForData()
        Wait for new data from the driver station.
      • waitForData

        public boolean waitForData​(double timeout)
        Wait for new data or for timeout, which ever comes first. If timeout is 0, wait for new data only.
        Parameters:
        timeout - The maximum time in seconds to wait.
        Returns:
        true if there is new data, otherwise false
      • getMatchTime

        public double getMatchTime()
        Return the approximate match time. The FMS does not send an official match time to the robots, but does send an approximate match time. The value will count down the time remaining in the current period (auto or teleop). Warning: This is not an official time (so it cannot be used to dispute ref calls or guarantee that a function will trigger before the match ends) The Practice Match function of the DS approximates the behaviour seen on the field.
        Returns:
        Time remaining in current match period (auto or teleop) in seconds
      • getBatteryVoltage

        @Deprecated
        public double getBatteryVoltage()
        Deprecated.
        Use RobotController.getBatteryVoltage
        Read the battery voltage.
        Returns:
        The battery voltage in Volts.
      • InDisabled

        public void InDisabled​(boolean entering)
        Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only.
        Parameters:
        entering - If true, starting disabled code; if false, leaving disabled code
      • InAutonomous

        public void InAutonomous​(boolean entering)
        Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only.
        Parameters:
        entering - If true, starting autonomous code; if false, leaving autonomous code
      • InOperatorControl

        public void InOperatorControl​(boolean entering)
        Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only.
        Parameters:
        entering - If true, starting teleop code; if false, leaving teleop code
      • InTest

        public void InTest​(boolean entering)
        Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only.
        Parameters:
        entering - If true, starting test code; if false, leaving test code
      • getData

        protected void getData()
        Copy data from the DS task for the user. If no new data exists, it will just be returned, otherwise the data will be copied from the DS polling loop.