Class DriverStation


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

      Fields 
      Modifier and Type Field Description
      static int kJoystickPorts
      Number of Joystick Ports.
    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      DriverStation.Alliance getAlliance()
      Get the current alliance from the FMS.
      protected void getData()
      Copy data from the DS task for the user.
      String getEventName()
      Get the event name.
      String getGameSpecificMessage()
      Get the game specific message.
      static DriverStation getInstance()
      Gets an instance of the DriverStation.
      int getJoystickAxisType​(int stick, int axis)
      Returns the types of Axes on a given joystick port.
      boolean getJoystickIsXbox​(int stick)
      Gets the value of isXbox on a joystick.
      String getJoystickName​(int stick)
      Gets the name of the joystick at a port.
      int getJoystickType​(int stick)
      Gets the value of type on a joystick.
      int getLocation()
      Gets the location of the team's driver station controls.
      int getMatchNumber()
      Get the match number.
      double getMatchTime()
      Return the approximate match time.
      DriverStation.MatchType getMatchType()
      Get the match type.
      int getReplayNumber()
      Get the replay number.
      double getStickAxis​(int stick, int axis)
      Get the value of the axis on a joystick.
      int getStickAxisCount​(int stick)
      Returns the number of axes on a given joystick port.
      boolean getStickButton​(int stick, int button)
      The state of one joystick button.
      int getStickButtonCount​(int stick)
      Gets the number of buttons on a joystick.
      int getStickButtons​(int stick)
      The state of the buttons on the joystick.
      int getStickPOV​(int stick, int pov)
      Get the state of a POV on the joystick.
      int getStickPOVCount​(int stick)
      Returns the number of POVs on a given joystick port.
      void InAutonomous​(boolean entering)
      Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only.
      void InDisabled​(boolean entering)
      Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only.
      void InOperatorControl​(boolean entering)
      Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only.
      void InTest​(boolean entering)
      Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only.
      boolean isAutonomous()
      Gets a value indicating whether the Driver Station requires the robot to be running in autonomous mode.
      boolean isDisabled()
      Gets a value indicating whether the Driver Station requires the robot to be disabled.
      boolean isDSAttached()
      Gets a value indicating whether the Driver Station is attached.
      boolean isEnabled()
      Gets a value indicating whether the Driver Station requires the robot to be enabled.
      boolean isEStopped()
      Gets a value indicating whether the Robot is e-stopped.
      boolean isFMSAttached()
      Gets if the driver station attached to a Field Management System.
      boolean isNewControlData()
      Gets if a new control packet from the driver station arrived since the last time this function was called.
      boolean isOperatorControl()
      Gets a value indicating whether the Driver Station requires the robot to be running in operator-controlled mode.
      boolean isTest()
      Gets a value indicating whether the Driver Station requires the robot to be running in test mode.
      void release()
      Kill the thread.
      static void reportError​(String error, boolean printTrace)
      Report error to Driver Station.
      static void reportError​(String error, StackTraceElement[] stackTrace)
      Report error to Driver Station.
      static void reportWarning​(String error, boolean printTrace)
      Report warning to Driver Station.
      static void reportWarning​(String error, StackTraceElement[] stackTrace)
      Report warning to Driver Station.
      void waitForData()
      Wait for new data from the driver station.
      boolean waitForData​(double timeout)
      Wait for new data or for timeout, which ever comes first.
      void wakeupWaitForData()
      Forces waitForData() to return immediately.
    • 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.
      • isEStopped

        public boolean isEStopped()
        Gets a value indicating whether the Robot is e-stopped.
        Returns:
        True if the robot is e-stopped, 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
      • 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
      • 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
      • wakeupWaitForData

        public void wakeupWaitForData()
        Forces waitForData() to return immediately.
      • 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.