Package edu.wpi.first.hal
Class HAL
- java.lang.Object
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- edu.wpi.first.hal.JNIWrapper
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- edu.wpi.first.hal.HAL
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public final class HAL extends JNIWrapper
JNI Wrapper for HAL
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Field Summary
Fields Modifier and Type Field Description static int
kMaxJoystickAxes
static int
kMaxJoystickPOVs
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Method Summary
All Methods Static Methods Concrete Methods Modifier and Type Method Description static AllianceStationID
getAllianceStation()
static boolean
getBrownedOut()
static void
getControlWord(ControlWord controlWord)
static short
getJoystickAxes(byte joystickNum, float[] axesArray)
static int
getJoystickAxisType(byte joystickNum, byte axis)
static int
getJoystickButtons(byte joystickNum, ByteBuffer count)
static int
getJoystickIsXbox(byte joystickNum)
static String
getJoystickName(byte joystickNum)
static short
getJoystickPOVs(byte joystickNum, short[] povsArray)
static int
getJoystickType(byte joystickNum)
static int
getMatchInfo(MatchInfoData info)
static double
getMatchTime()
static int
getPort(byte channel)
static int
getPortWithModule(byte module, byte channel)
static boolean
getSystemActive()
static boolean
initialize(int timeout, int mode)
static boolean
isNewControlData()
static int
nativeGetControlWord()
static void
observeUserProgramAutonomous()
static void
observeUserProgramDisabled()
static void
observeUserProgramStarting()
static void
observeUserProgramTeleop()
static void
observeUserProgramTest()
static void
releaseDSMutex()
static void
report(int resource, int instanceNumber)
static void
report(int resource, int instanceNumber, int context)
static int
report(int resource, int instanceNumber, int context, String feature)
Report the usage of a resource of interest.static int
sendError(boolean isError, int errorCode, boolean isLVCode, String details, String location, String callStack, boolean printMsg)
static int
setJoystickOutputs(byte joystickNum, int outputs, short leftRumble, short rightRumble)
static void
waitForDSData()
static boolean
waitForDSDataTimeout(double timeout)
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Method Detail
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waitForDSData
public static void waitForDSData()
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initialize
public static boolean initialize(int timeout, int mode)
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observeUserProgramStarting
public static void observeUserProgramStarting()
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observeUserProgramDisabled
public static void observeUserProgramDisabled()
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observeUserProgramAutonomous
public static void observeUserProgramAutonomous()
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observeUserProgramTeleop
public static void observeUserProgramTeleop()
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observeUserProgramTest
public static void observeUserProgramTest()
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report
public static void report(int resource, int instanceNumber)
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report
public static void report(int resource, int instanceNumber, int context)
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report
public static int report(int resource, int instanceNumber, int context, String feature)
Report the usage of a resource of interest.
Original signature:
uint32_t report(tResourceType, uint8_t, uint8_t, const char*)
- Parameters:
resource
- one of the values in the tResourceType above (max value 51).instanceNumber
- an index that identifies the resource instance.context
- an optional additional context number for some cases (such as module number). Set to 0 to omit.feature
- a string to be included describing features in use on a specific resource. Setting the same resource more than once allows you to change the feature string.
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nativeGetControlWord
public static int nativeGetControlWord()
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getControlWord
public static void getControlWord(ControlWord controlWord)
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getAllianceStation
public static AllianceStationID getAllianceStation()
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isNewControlData
public static boolean isNewControlData()
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releaseDSMutex
public static void releaseDSMutex()
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waitForDSDataTimeout
public static boolean waitForDSDataTimeout(double timeout)
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getJoystickAxes
public static short getJoystickAxes(byte joystickNum, float[] axesArray)
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getJoystickPOVs
public static short getJoystickPOVs(byte joystickNum, short[] povsArray)
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getJoystickButtons
public static int getJoystickButtons(byte joystickNum, ByteBuffer count)
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setJoystickOutputs
public static int setJoystickOutputs(byte joystickNum, int outputs, short leftRumble, short rightRumble)
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getJoystickIsXbox
public static int getJoystickIsXbox(byte joystickNum)
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getJoystickType
public static int getJoystickType(byte joystickNum)
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getJoystickName
public static String getJoystickName(byte joystickNum)
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getJoystickAxisType
public static int getJoystickAxisType(byte joystickNum, byte axis)
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getMatchTime
public static double getMatchTime()
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getSystemActive
public static boolean getSystemActive()
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getBrownedOut
public static boolean getBrownedOut()
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getMatchInfo
public static int getMatchInfo(MatchInfoData info)
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sendError
public static int sendError(boolean isError, int errorCode, boolean isLVCode, String details, String location, String callStack, boolean printMsg)
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getPortWithModule
public static int getPortWithModule(byte module, byte channel)
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getPort
public static int getPort(byte channel)
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