Package edu.wpi.first.hal
Class HAL
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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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Nested Class Summary
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Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper
JNIWrapper.Helper
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Field Summary
Fields Modifier and Type Field Description static intkMaxJoystickAxesstatic intkMaxJoystickPOVs
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Method Summary
All Methods Static Methods Concrete Methods Modifier and Type Method Description static voidexitMain()static AllianceStationIDgetAllianceStation()static booleangetBrownedOut()static voidgetControlWord(ControlWord controlWord)static shortgetJoystickAxes(byte joystickNum, float[] axesArray)static intgetJoystickAxisType(byte joystickNum, byte axis)static intgetJoystickButtons(byte joystickNum, ByteBuffer count)static intgetJoystickIsXbox(byte joystickNum)static StringgetJoystickName(byte joystickNum)static shortgetJoystickPOVs(byte joystickNum, short[] povsArray)static intgetJoystickType(byte joystickNum)static intgetMatchInfo(MatchInfoData info)static doublegetMatchTime()static intgetPort(byte channel)static intgetPortWithModule(byte module, byte channel)static booleangetSystemActive()static booleanhasMain()static booleaninitialize(int timeout, int mode)static booleanisNewControlData()static intnativeGetControlWord()static voidobserveUserProgramAutonomous()static voidobserveUserProgramDisabled()static voidobserveUserProgramStarting()static voidobserveUserProgramTeleop()static voidobserveUserProgramTest()static voidreleaseDSMutex()static voidreport(int resource, int instanceNumber)static voidreport(int resource, int instanceNumber, int context)static intreport(int resource, int instanceNumber, int context, String feature)Report the usage of a resource of interest.static voidrunMain()static intsendConsoleLine(String line)static intsendError(boolean isError, int errorCode, boolean isLVCode, String details, String location, String callStack, boolean printMsg)static intsetJoystickOutputs(byte joystickNum, int outputs, short leftRumble, short rightRumble)static voidwaitForDSData()static booleanwaitForDSDataTimeout(double timeout)-
Methods inherited from class edu.wpi.first.hal.JNIWrapper
forceLoad
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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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hasMain
public static boolean hasMain()
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runMain
public static void runMain()
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exitMain
public static void exitMain()
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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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sendConsoleLine
public static int sendConsoleLine(String line)
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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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