edu.wpi.first.wpilibj.hal

Class HAL

java.lang.Object

edu.wpi.first.wpilibj.hal.JNIWrapper

edu.wpi.first.wpilibj.hal.HAL

public class HAL
extends JNIWrapper

JNI Wrapper for HAL
.

Field Summary

Fields

Modifier and Type	Field and Description
static int	kMaxJoystickAxes
static int	kMaxJoystickPOVs

Constructor Summary

Constructors

Constructor and Description
HAL()

Method Summary

Modifier and Type	Method and 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, java.nio.ByteBuffer count)
static int	getJoystickIsXbox(byte joystickNum)
static java.lang.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 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, java.lang.String feature) Report the usage of a resource of interest.
static int	sendError(boolean isError, int errorCode, boolean isLVCode, java.lang.String details, java.lang.String location, java.lang.String callStack, boolean printMsg)
static int	setJoystickOutputs(byte joystickNum, int outputs, short leftRumble, short rightRumble)
static void	waitForDSData()
static boolean	waitForDSDataTimeout(double timeout)

Methods inherited from class edu.wpi.first.wpilibj.hal.JNIWrapper

getPort, getPortWithModule

Methods inherited from class java.lang.Object

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

Field Detail

kMaxJoystickAxes

public static int kMaxJoystickAxes

kMaxJoystickPOVs

public static int kMaxJoystickPOVs

Constructor Detail

HAL

public HAL()

Method Detail

waitForDSData

public static void waitForDSData()

initialize

public static boolean initialize(int timeout,
                                 int mode)

observeUserProgramStarting

public static void observeUserProgramStarting()

observeUserProgramDisabled

public static void observeUserProgramDisabled()

observeUserProgramAutonomous

public static void observeUserProgramAutonomous()

observeUserProgramTeleop

public static void observeUserProgramTeleop()

observeUserProgramTest

public static void observeUserProgramTest()

report

public static void report(int resource,
                          int instanceNumber)

report

public static void report(int resource,
                          int instanceNumber,
                          int context)

report

public static int report(int resource,
                         int instanceNumber,
                         int context,
                         java.lang.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.

nativeGetControlWord

public static int nativeGetControlWord()

getControlWord

public static void getControlWord(ControlWord controlWord)

getAllianceStation

public static AllianceStationID getAllianceStation()

isNewControlData

public static boolean isNewControlData()

releaseDSMutex

public static void releaseDSMutex()

waitForDSDataTimeout

public static boolean waitForDSDataTimeout(double timeout)

getJoystickAxes

public static short getJoystickAxes(byte joystickNum,
                                    float[] axesArray)

getJoystickPOVs

public static short getJoystickPOVs(byte joystickNum,
                                    short[] povsArray)

getJoystickButtons

public static int getJoystickButtons(byte joystickNum,
                                     java.nio.ByteBuffer count)

setJoystickOutputs

public static int setJoystickOutputs(byte joystickNum,
                                     int outputs,
                                     short leftRumble,
                                     short rightRumble)

getJoystickIsXbox

public static int getJoystickIsXbox(byte joystickNum)

getJoystickType

public static int getJoystickType(byte joystickNum)

getJoystickName

public static java.lang.String getJoystickName(byte joystickNum)

getJoystickAxisType

public static int getJoystickAxisType(byte joystickNum,
                                      byte axis)

getMatchTime

public static double getMatchTime()

getSystemActive

public static boolean getSystemActive()

getBrownedOut

public static boolean getBrownedOut()

getMatchInfo

public static int getMatchInfo(MatchInfoData info)

sendError

public static int sendError(boolean isError,
                            int errorCode,
                            boolean isLVCode,
                            java.lang.String details,
                            java.lang.String location,
                            java.lang.String callStack,
                            boolean printMsg)