DriverStation

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

```
public class DriverStation
extends java.lang.Object
```
Provide access to the network communication data to / from the Driver Station.

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

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

Nested Classes
Modifier and Type	Class and Description
`static class`	`DriverStation.Alliance` The robot alliance that the robot is a part of.

Field Summary

Fields
Modifier and Type Field and Description

static int kJoystickPorts
Number of Joystick Ports.

Fields
Modifier and Type	Field and Description
`static int`	`kJoystickPorts` Number of Joystick Ports.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`DriverStation.Alliance`	`getAlliance()` Get the current alliance from the FMS.
`double`	`getBatteryVoltage()` Read the battery voltage.
`protected void`	`getData()` Copy data from the DS task for the user.
`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.
`java.lang.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.
`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.
`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, byte 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`	`isBrownedOut()` Check if the system is browned out.
`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`	`isFMSAttached()`
`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`	`isSysActive()` Gets a value indicating whether the FPGA outputs are enabled.
`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(java.lang.String error, boolean printTrace)` Report error to Driver Station.
`static void`	`reportWarning(java.lang.String error, boolean printTrace)` 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.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- 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(java.lang.String error,
                               boolean printTrace)
```
    Report error to Driver Station. Also prints error to System.err Optionally appends Stack trace to error message.
    
    Parameters:
    
    printTrace - If true, append stack trace to error string
  - reportWarning
```
public static void reportWarning(java.lang.String error,
                                 boolean printTrace)
```
    Report warning to Driver Station. Also prints error to System.err Optionally appends Stack trace to warning message.
    
    Parameters:
    
    printTrace - If true, append stack trace to warning string
  - 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.
  - getStickButton
```
public boolean getStickButton(int stick,
                              byte 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.
  - 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 java.lang.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()
```
    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.
  - isFMSAttached
```
public boolean isFMSAttached()
```
  - isSysActive
```
public boolean 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 watdhog has expired, or if the roboRIO browns out.
    
    Returns:
    
    True if the FPGA outputs are enabled.
  - isBrownedOut
```
public boolean isBrownedOut()
```
    Check if the system is browned out.
    
    Returns:
    
    True if the system is browned out
  - 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
```
public double 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.

Class DriverStation

Nested Class Summary

Field Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

kJoystickPorts

Method Detail

getInstance

release

reportError

reportWarning

getStickAxis

getStickPOV

getStickButtons

getStickButton

getStickAxisCount

getStickPOVCount

getStickButtonCount

getJoystickIsXbox

getJoystickType

getJoystickName

getJoystickAxisType

isEnabled

isDisabled

isAutonomous

isOperatorControl

isTest

isDSAttached

isNewControlData

isFMSAttached

isSysActive

isBrownedOut

getAlliance

getLocation

waitForData

waitForData

getMatchTime

getBatteryVoltage

InDisabled

InAutonomous

InOperatorControl

InTest

getData