wpi::hal::ControlWord Class Reference

A wrapper around Driver Station control word. More...

#include <wpi/hal/DriverStationTypes.hpp>

Public Member Functions
	ControlWord ()=default
	Default constructor.
	ControlWord (int64_t opModeHash, RobotMode robotMode, bool enabled, bool eStop, bool fmsAttached, bool dsAttached)
	Constructs from state values.
	ControlWord (HAL_ControlWord word)
	Constructs from the native HAL value.
	ControlWord (const ControlWord &)=default
ControlWord &	operator= (const ControlWord &)=default
void	Update (int64_t opModeHash, RobotMode robotMode, bool enabled, bool eStop, bool fmsAttached, bool dsAttached)
	Updates from state values.
void	Update (HAL_ControlWord word)
	Updates from the native HAL value.
bool	IsEnabled () const
	Check if the DS has enabled the robot.
RobotMode	GetRobotMode () const
	Gets the current robot mode.
int64_t	GetOpModeId () const
	Gets the current opmode ID.
void	SetOpModeId (int64_t id)
	Sets the opmode ID.
bool	IsEStopped () const
	Check if the robot is e-stopped.
bool	IsFMSAttached () const
	Is the driver station attached to a Field Management System?
bool	IsDSAttached () const
	Check if the DS is attached.
bool	IsAutonomous () const
	Check if the DS is commanding autonomous mode.
bool	IsAutonomousEnabled () const
	Check if the DS is commanding autonomous mode and if it has enabled the robot.
bool	IsTeleop () const
	Check if the DS is commanding teleop mode.
bool	IsTeleopEnabled () const
	Check if the DS is commanding teleop mode and if it has enabled the robot.
bool	IsTest () const
	Check if the DS is commanding test mode.
bool	IsTestEnabled () const
	Check if the DS is commanding test mode and if it has enabled the robot.
HAL_ControlWord	GetValue () const
	Get the HAL raw value.

Detailed Description

A wrapper around Driver Station control word.

Constructor & Destructor Documentation

ControlWord() [1/4]

wpi::hal::ControlWord::ControlWord ( )

default

Default constructor.

ControlWord() [2/4]

wpi::hal::ControlWord::ControlWord ( int64_t opModeHash, RobotMode robotMode, bool enabled, bool eStop, bool fmsAttached, bool dsAttached )

inline

Constructs from state values.

Parameters

opModeHash	opmode hash
robotMode	robot mode
enabled	enabled
eStop	emergency stopped
fmsAttached	FMS attached
dsAttached	DS attached

ControlWord() [3/4]

wpi::hal::ControlWord::ControlWord ( HAL_ControlWord word )

inlineexplicit

Constructs from the native HAL value.

Parameters

word

value

ControlWord() [4/4]

wpi::hal::ControlWord::ControlWord ( const ControlWord & )

default

Member Function Documentation

GetOpModeId()

int64_t wpi::hal::ControlWord::GetOpModeId ( ) const

inline

Gets the current opmode ID.

Returns

opmode

GetRobotMode()

RobotMode wpi::hal::ControlWord::GetRobotMode ( ) const

inline

Gets the current robot mode.

Note that this does not indicate whether the robot is enabled or disabled.

Returns

robot mode

GetValue()

HAL_ControlWord wpi::hal::ControlWord::GetValue ( ) const

inline

Get the HAL raw value.

Returns

Control word value

IsAutonomous()

bool wpi::hal::ControlWord::IsAutonomous ( ) const

inline

Check if the DS is commanding autonomous mode.

Returns

True if the robot is being commanded to be in autonomous mode

IsAutonomousEnabled()

bool wpi::hal::ControlWord::IsAutonomousEnabled ( ) const

inline

Check if the DS is commanding autonomous mode and if it has enabled the robot.

Returns

True if the robot is being commanded to be in autonomous mode and enabled.

IsDSAttached()

bool wpi::hal::ControlWord::IsDSAttached ( ) const

inline

Check if the DS is attached.

Returns

True if the DS is connected to the robot

IsEnabled()

bool wpi::hal::ControlWord::IsEnabled ( ) const

inline

Check if the DS has enabled the robot.

Returns

True if the robot is enabled and the DS is connected

IsEStopped()

bool wpi::hal::ControlWord::IsEStopped ( ) const

inline

Check if the robot is e-stopped.

Returns

True if the robot is e-stopped

IsFMSAttached()

bool wpi::hal::ControlWord::IsFMSAttached ( ) const

inline

Is 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

IsTeleop()

bool wpi::hal::ControlWord::IsTeleop ( ) const

inline

Check if the DS is commanding teleop mode.

Returns

True if the robot is being commanded to be in teleop mode

IsTeleopEnabled()

bool wpi::hal::ControlWord::IsTeleopEnabled ( ) const

inline

Check if the DS is commanding teleop mode and if it has enabled the robot.

Returns

True if the robot is being commanded to be in teleop mode and enabled.

IsTest()

bool wpi::hal::ControlWord::IsTest ( ) const

inline

Check if the DS is commanding test mode.

Returns

True if the robot is being commanded to be in test mode

IsTestEnabled()

bool wpi::hal::ControlWord::IsTestEnabled ( ) const

inline

Check if the DS is commanding test mode and if it has enabled the robot.

Returns

True if the robot is being commanded to be in test mode and enabled.

operator=()

ControlWord & wpi::hal::ControlWord::operator= ( const ControlWord & )

default

SetOpModeId()

void wpi::hal::ControlWord::SetOpModeId ( int64_t id )

inline

Sets the opmode ID.

Parameters

id

opmode ID

Update() [1/2]

void wpi::hal::ControlWord::Update ( HAL_ControlWord word )

inline

Updates from the native HAL value.

Parameters

word

value

Update() [2/2]

void wpi::hal::ControlWord::Update ( int64_t opModeHash, RobotMode robotMode, bool enabled, bool eStop, bool fmsAttached, bool dsAttached )

inline

Updates from state values.

Parameters

opModeHash	opmode hash
robotMode	robot mode
enabled	enabled
eStop	emergency stopped
fmsAttached	FMS attached
dsAttached	DS attached

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The documentation for this class was generated from the following file:

• wpi/hal/DriverStationTypes.hpp