edu.wpi.first.wpilibj
Class DriverStation

java.lang.Object
  edu.wpi.first.wpilibj.DriverStation

All Implemented Interfaces:

IDevice, IInputOutput

public class DriverStation
extends java.lang.Object
implements IInputOutput

Provide access to the network communication data to / from the Driver Station.

Nested Class Summary

static class

DriverStation.Alliance The robot alliance that the robot is a part of

Field Summary

static int	kBatteryChannel Analog channel to read the battery
static int	kBatterySlot Slot for the analog module to read the battery
static double	kDSAnalogInScaling Convert from raw values to volts
static int	kJoystickAxes Number of Joystick Axes
static int	kJoystickPorts Number of Joystick Ports
static int	USER_CONTROL_DATA_SIZE The size of the user control data
static int	USER_STATUS_DATA_SIZE The size of the user status data

Constructor Summary

protected

DriverStation() DriverStation constructor.

Method Summary

DriverStation.Alliance	getAlliance() Get the current alliance from the FMS
double	getAnalogIn(int channel) Get an analog voltage from the Driver Station.
double	getBatteryVoltage() Read the battery voltage from the specified AnalogChannel.
Dashboard	getDashboardPackerHigh() Gets the default dashboard packer for sending high priority user data to a dashboard receiver.
IDashboard	getDashboardPackerInUseHigh() Gets the dashboard packer that's currently in use for sending high priority user data to a dashboard receiver.
IDashboard	getDashboardPackerInUseLow() Gets the dashboard packer that's currently in use for sending low priority user data to a dashboard receiver.
Dashboard	getDashboardPackerLow() Gets the default dashboard packer for sending low priority user data to a dashboard receiver.
protected void	getData() Copy data from the DS task for the user.
boolean	getDigitalIn(int channel) Get values from the digital inputs on the Driver Station.
boolean	getDigitalOut(int channel) Get a value that was set for the digital outputs on the Driver Station.
DriverStationEnhancedIO	getEnhancedIO() Get the interface to the enhanced IO of the new driver station.
static DriverStation	getInstance() Gets an instance of the DriverStation
int	getLocation() Gets the location of the team's driver station controls.
double	getMatchTime() Return the approximate match time The FMS does not currently send the official match time to the robots This returns the time since the enable signal sent from the Driver Station At the beginning of autonomous, the time is reset to 0.0 seconds At the beginning of teleop, the time is reset to +15.0 seconds If the robot is disabled, this returns 0.0 seconds Warning: This is not an official time (so it cannot be used to argue with referees)
int	getPacketNumber() Return the DS packet number.
java.lang.Object	getStatusDataMonitor() Gets the status data monitor
double	getStickAxis(int stick, int axis) Get the value of the axis on a joystick.
int	getStickButtons(int stick) The state of the buttons on the joystick.
int	getTeamNumber() Return the team number that the Driver Station is configured for
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	isEnabled() Gets a value indicating whether the Driver Station requires the robot to be enabled.
boolean	isFMSAttached() Is the driver station attached to a Field Management System? Note: This does not work with the Blue DS.
boolean	isNewControlData() Has 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
void	setDashboardPackerToUseHigh(IDashboard dashboard) Sets the dashboard packer to use for sending high priority user data to a dashboard receiver.
void	setDashboardPackerToUseLow(IDashboard dashboard) Sets the dashboard packer to use for sending low priority user data to a dashboard receiver.
protected void	setData() Copy status data from the DS task for the user.
void	setDigitalOut(int channel, boolean value) Set a value for the digital outputs on the Driver Station.
void	waitForData() Wait for new data from the driver station.
void	waitForData(long timeout) Wait for new data or for timeout, which ever comes first.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

USER_CONTROL_DATA_SIZE

public static final int USER_CONTROL_DATA_SIZE

The size of the user control data

See Also:

Constant Field Values

USER_STATUS_DATA_SIZE

public static final int USER_STATUS_DATA_SIZE

The size of the user status data

See Also:

Constant Field Values

kBatterySlot

public static final int kBatterySlot

Slot for the analog module to read the battery

See Also:

Constant Field Values

kBatteryChannel

public static final int kBatteryChannel

Analog channel to read the battery

See Also:

Constant Field Values

kJoystickPorts

public static final int kJoystickPorts

Number of Joystick Ports

See Also:

Constant Field Values

kJoystickAxes

public static final int kJoystickAxes

Number of Joystick Axes

See Also:

Constant Field Values

kDSAnalogInScaling

public static final double kDSAnalogInScaling

Convert from raw values to volts

See Also:

Constant Field Values

Constructor Detail

DriverStation

protected DriverStation()

DriverStation constructor. The single DriverStation instance is created statically with the instance static member variable.

Method Detail

getInstance

public static DriverStation getInstance()

Gets an instance of the DriverStation

Returns:

The DriverStation.

release

public void release()

Kill the thread

waitForData

public void waitForData()

Wait for new data from the driver station.

waitForData

public void waitForData(long 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 milliseconds to wait.

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.

setData

protected void setData()

Copy status data from the DS task for the user. This is used primarily to set digital outputs on the DS.

getBatteryVoltage

public double getBatteryVoltage()

Read the battery voltage from the specified AnalogChannel. This accessor assumes that the battery voltage is being measured through the voltage divider on an analog breakout.

Returns:

The battery voltage.

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.

getStickButtons

public int getStickButtons(int stick)

The state of the buttons on the joystick. 12 buttons (4 msb are unused) from the joystick.

Parameters:

stick - The joystick to read.

Returns:

The state of the buttons on the joystick.

getAnalogIn

public double getAnalogIn(int channel)

Get an analog voltage from the Driver Station. The analog values are returned as voltage values for the Driver Station analog inputs. These inputs are typically used for advanced operator interfaces consisting of potentiometers or resistor networks representing values on a rotary switch.

Parameters:

channel - The analog input channel on the driver station to read from. Valid range is 1 - 4.

Returns:

The analog voltage on the input.

getDigitalIn

public boolean getDigitalIn(int channel)

Get values from the digital inputs on the Driver Station. Return digital values from the Drivers Station. These values are typically used for buttons and switches on advanced operator interfaces.

Parameters:

channel - The digital input to get. Valid range is 1 - 8.

Returns:

The value of the digital input

setDigitalOut

public void setDigitalOut(int channel,
                          boolean value)

Set a value for the digital outputs on the Driver Station. Control digital outputs on the Drivers Station. These values are typically used for giving feedback on a custom operator station such as LEDs.

Parameters:

channel - The digital output to set. Valid range is 1 - 8.

value - The state to set the digital output.

getDigitalOut

public boolean getDigitalOut(int channel)

Get a value that was set for the digital outputs on the Driver Station.

Parameters:

channel - The digital ouput to monitor. Valid range is 1 through 8.

Returns:

A digital value being output on the Drivers Station.

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.

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.

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.

isNewControlData

public boolean isNewControlData()

Has 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.

getPacketNumber

public int getPacketNumber()

Return the DS packet number. The packet number is the index of this set of data returned by the driver station. Each time new data is received, the packet number (included with the sent data) is returned.

Returns:

The DS packet 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

getTeamNumber

public int getTeamNumber()

Return the team number that the Driver Station is configured for

Returns:

The team number

setDashboardPackerToUseHigh

public void setDashboardPackerToUseHigh(IDashboard dashboard)

Sets the dashboard packer to use for sending high priority user data to a dashboard receiver. This can idle or restore the default packer. (Initializing SmartDashboard sets the high priority packer in use, so beware that the default packer will then be idle. You can restore the default high priority packer by calling setDashboardPackerToUseHigh(getDashboardPackerHigh()).)

Parameters:

dashboard - any kind of IDashboard object

getDashboardPackerHigh

public Dashboard getDashboardPackerHigh()

Gets the default dashboard packer for sending high priority user data to a dashboard receiver. This instance stays around even after a call to setDashboardPackerToUseHigh(edu.wpi.first.wpilibj.IDashboard) changes which packer is in use.

Returns:

the default Dashboard object; it may be idle

getDashboardPackerInUseHigh

public IDashboard getDashboardPackerInUseHigh()

Gets the dashboard packer that's currently in use for sending high priority user data to a dashboard receiver. This can be any kind of IDashboard.

Returns:

the current IDashboard object

setDashboardPackerToUseLow

public void setDashboardPackerToUseLow(IDashboard dashboard)

Sets the dashboard packer to use for sending low priority user data to a dashboard receiver. This can idle or restore the default packer.

Parameters:

dashboard - any kind of IDashboard object

getDashboardPackerLow

public Dashboard getDashboardPackerLow()

Gets the default dashboard packer for sending low priority user data to a dashboard receiver. This instance stays around even after a call to setDashboardPackerToUseLow(edu.wpi.first.wpilibj.IDashboard) changes which packer is in use.

Returns:

the default Dashboard object; it may be idle

getDashboardPackerInUseLow

public IDashboard getDashboardPackerInUseLow()

Gets the dashboard packer that's currently in use for sending low priority user data to a dashboard receiver. This can be any kind of IDashboard.

Returns:

the current IDashboard object

getStatusDataMonitor

public java.lang.Object getStatusDataMonitor()

Gets the status data monitor

Returns:

The status data monitor for use with IDashboard objects which must send data across the network.

isFMSAttached

public boolean isFMSAttached()

Is the driver station attached to a Field Management System? Note: This does not work with the Blue DS.

Returns:

True if the robot is competing on a field being controlled by a Field Management System

getEnhancedIO

public DriverStationEnhancedIO getEnhancedIO()

Get the interface to the enhanced IO of the new driver station.

Returns:

An enhanced IO object for the advanced features of the driver station.

getMatchTime

public double getMatchTime()

Return the approximate match time The FMS does not currently send the official match time to the robots This returns the time since the enable signal sent from the Driver Station At the beginning of autonomous, the time is reset to 0.0 seconds At the beginning of teleop, the time is reset to +15.0 seconds If the robot is disabled, this returns 0.0 seconds Warning: This is not an official time (so it cannot be used to argue with referees)

Returns:

Match time in seconds since the beginning of autonomous

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