Classes
struct	HAL_ControlWord
struct	HAL_JoystickAxes
struct	HAL_JoystickPOVs
struct	HAL_JoystickButtons
struct	HAL_JoystickTouchpadFinger
struct	HAL_JoystickTouchpad
struct	HAL_JoystickTouchpads
struct	HAL_GameData
struct	HAL_JoystickDescriptor
struct	HAL_MatchInfo
struct	HAL_OpModeOption

Macros
#define	HAL_CONTROLWORD_OPMODE_HASH_MASK 0x00FFFFFFFFFFFFFFLL
#define	HAL_CONTROLWORD_ROBOT_MODE_MASK 0x0300000000000000LL
#define	HAL_CONTROLWORD_ROBOT_MODE_SHIFT 56
#define	HAL_CONTROLWORD_ENABLED_MASK 0x0400000000000000LL
#define	HAL_CONTROLWORD_ESTOP_MASK 0x0800000000000000LL
#define	HAL_CONTROLWORD_FMS_ATTACHED_MASK 0x1000000000000000LL
#define	HAL_CONTROLWORD_DS_ATTACHED_MASK 0x2000000000000000LL
#define	HAL_kMaxJoystickTouchpads 2
	The maximum number of touchpads that will be stored in a single HAL_JoystickTouchpads struct.
#define	HAL_kMaxJoystickTouchpadFingers 2
	The maximum number of fingers that will be stored in a single HAL_JoystickTouchpad struct.
#define	HAL_kMaxJoystickAxes 12
	The maximum number of axes that will be stored in a single HAL_JoystickAxes struct.
#define	HAL_kMaxJoystickPOVs 8
	The maximum number of POVs that will be stored in a single HAL_JoystickPOVs struct.
#define	HAL_kMaxJoysticks 6
	The maximum number of joysticks.
#define	HAL_OPMODE_HASH_MASK HAL_CONTROLWORD_OPMODE_HASH_MASK
#define	HAL_OPMODE_ROBOT_MODE_MASK HAL_CONTROLWORD_ROBOT_MODE_MASK
#define	HAL_OPMODE_ROBOT_MODE_SHIFT HAL_CONTROLWORD_ROBOT_MODE_SHIFT
#define	HAL_MAKE_OPMODEID(mode, hash)

Typedefs
typedef struct HAL_ControlWord	HAL_ControlWord
typedef struct HAL_JoystickAxes	HAL_JoystickAxes
typedef struct HAL_JoystickPOVs	HAL_JoystickPOVs
typedef struct HAL_JoystickButtons	HAL_JoystickButtons
typedef struct HAL_JoystickTouchpadFinger	HAL_JoystickTouchpadFinger
typedef struct HAL_JoystickTouchpad	HAL_JoystickTouchpad
typedef struct HAL_JoystickTouchpads	HAL_JoystickTouchpads
typedef struct HAL_GameData	HAL_GameData
typedef struct HAL_JoystickDescriptor	HAL_JoystickDescriptor
typedef struct HAL_MatchInfo	HAL_MatchInfo
typedef struct HAL_OpModeOption	HAL_OpModeOption

Enumerations
enum	HAL_AllianceStationID : int32_t { HAL_AllianceStationID_kUnknown = 0 , HAL_AllianceStationID_kRed1 , HAL_AllianceStationID_kRed2 , HAL_AllianceStationID_kRed3 , HAL_AllianceStationID_kBlue1 , HAL_AllianceStationID_kBlue2 , HAL_AllianceStationID_kBlue3 }
enum	HAL_MatchType : int32_t { HAL_kMatchType_none = 0 , HAL_kMatchType_practice , HAL_kMatchType_qualification , HAL_kMatchType_elimination }
enum	HAL_RobotMode : int32_t { HAL_ROBOTMODE_UNKNOWN = 0 , HAL_ROBOTMODE_AUTONOMOUS , HAL_ROBOTMODE_TELEOPERATED , HAL_ROBOTMODE_TEST }

Functions
	HAL_ENUM_WITH_UNDERLYING_TYPE (HAL_JoystickPOV, uint8_t)
HAL_ControlWord	HAL_MakeControlWord (int64_t opModeHash, HAL_RobotMode robotMode, HAL_Bool enabled, HAL_Bool eStop, HAL_Bool fmsAttached, HAL_Bool dsAttached)
int64_t	HAL_ControlWord_GetOpModeHash (HAL_ControlWord word)
int64_t	HAL_ControlWord_GetOpModeId (HAL_ControlWord word)
void	HAL_ControlWord_SetOpModeId (HAL_ControlWord *word, int64_t id)
HAL_RobotMode	HAL_ControlWord_GetRobotMode (HAL_ControlWord word)
HAL_Bool	HAL_ControlWord_IsEnabled (HAL_ControlWord word)
HAL_Bool	HAL_ControlWord_IsEStopped (HAL_ControlWord word)
HAL_Bool	HAL_ControlWord_IsFMSAttached (HAL_ControlWord word)
HAL_Bool	HAL_ControlWord_IsDSAttached (HAL_ControlWord word)
int64_t	HAL_MakeOpModeId (HAL_RobotMode mode, int64_t hash)
HAL_RobotMode	HAL_OpMode_GetRobotMode (int64_t id)
int64_t	HAL_OpMode_GetHash (int64_t id)
int32_t	HAL_SendError (HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode, const char details, const char location, const char *callStack, HAL_Bool printMsg)
	Sends an error to the driver station.
void	HAL_SetPrintErrorImpl (void(func)(const char line, size_t size))
	Set the print function used by HAL_SendError.
int32_t	HAL_SendConsoleLine (const char *line)
	Sends a line to the driver station console.
int32_t	HAL_GetControlWord (HAL_ControlWord *controlWord)
	Gets the current control word of the driver station.
int32_t	HAL_GetUncachedControlWord (HAL_ControlWord *controlWord)
	Gets the current control word of the driver station.
int32_t	HAL_SetOpModeOptions (const struct HAL_OpModeOption *options, int32_t count)
	Sets operating mode options.
HAL_AllianceStationID	HAL_GetAllianceStation (int32_t *status)
	Gets the current alliance station ID.
int32_t	HAL_GetJoystickAxes (int32_t joystickNum, HAL_JoystickAxes *axes)
	Gets the axes of a specific joystick.
int32_t	HAL_GetJoystickPOVs (int32_t joystickNum, HAL_JoystickPOVs *povs)
	Gets the POVs of a specific joystick.
int32_t	HAL_GetJoystickButtons (int32_t joystickNum, HAL_JoystickButtons *buttons)
	Gets the buttons of a specific joystick.
int32_t	HAL_GetJoystickTouchpads (int32_t joystickNum, HAL_JoystickTouchpads *touchpads)
	Gets the touchpads of a specific joystick.
void	HAL_GetAllJoystickData (int32_t joystickNum, HAL_JoystickAxes axes, HAL_JoystickPOVs povs, HAL_JoystickButtons buttons, HAL_JoystickTouchpads touchpads)
	Gets all the data of a specific joystick.
int32_t	HAL_GetJoystickDescriptor (int32_t joystickNum, HAL_JoystickDescriptor *desc)
	Retrieves the Joystick Descriptor for particular slot.
HAL_Bool	HAL_GetJoystickIsGamepad (int32_t joystickNum)
	Gets whether a specific joystick is considered to be an Gamepad.
int32_t	HAL_GetJoystickGamepadType (int32_t joystickNum)
	Gets the type of joystick connected.
int32_t	HAL_GetGameData (HAL_GameData *gameData)
	Gets the game-specific message for the current match.
int32_t	HAL_GetJoystickSupportedOutputs (int32_t joystickNum)
	Gets the supported outputs of a specific joystick.
void	HAL_GetJoystickName (struct WPI_String *name, int32_t joystickNum)
	Gets the name of a joystick.
int32_t	HAL_SetJoystickRumble (int32_t joystickNum, int32_t leftRumble, int32_t rightRumble, int32_t leftTriggerRumble, int32_t rightTriggerRumble)
	Set joystick rumbles.
int32_t	HAL_SetJoystickLeds (int32_t joystickNum, int32_t leds)
	Set joystick LEDs.
double	HAL_GetMatchTime (int32_t *status)
	Return the approximate match time.
HAL_Bool	HAL_GetOutputsEnabled (void)
	Gets if outputs are enabled by the control system.
int32_t	HAL_GetMatchInfo (HAL_MatchInfo *info)
	Gets info about a specific match.
HAL_Bool	HAL_RefreshDSData (void)
	Refresh the DS control word.
void	HAL_ProvideNewDataEventHandle (WPI_EventHandle handle)
	Adds an event handle to be signalled when new data arrives.
void	HAL_RemoveNewDataEventHandle (WPI_EventHandle handle)
	Removes the event handle from being signalled when new data arrives.
void	HAL_ObserveUserProgramStarting (void)
	Sets the program starting flag in the DS.
void	HAL_ObserveUserProgram (HAL_ControlWord word)
	Sets the control word state returned to the DS.

Detailed Description

Macro Definition Documentation

◆ HAL_CONTROLWORD_DS_ATTACHED_MASK

#define HAL_CONTROLWORD_DS_ATTACHED_MASK 0x2000000000000000LL

◆ HAL_CONTROLWORD_ENABLED_MASK

#define HAL_CONTROLWORD_ENABLED_MASK 0x0400000000000000LL

◆ HAL_CONTROLWORD_ESTOP_MASK

#define HAL_CONTROLWORD_ESTOP_MASK 0x0800000000000000LL

◆ HAL_CONTROLWORD_FMS_ATTACHED_MASK

#define HAL_CONTROLWORD_FMS_ATTACHED_MASK 0x1000000000000000LL

◆ HAL_CONTROLWORD_OPMODE_HASH_MASK

#define HAL_CONTROLWORD_OPMODE_HASH_MASK 0x00FFFFFFFFFFFFFFLL

◆ HAL_CONTROLWORD_ROBOT_MODE_MASK

#define HAL_CONTROLWORD_ROBOT_MODE_MASK 0x0300000000000000LL

◆ HAL_CONTROLWORD_ROBOT_MODE_SHIFT

#define HAL_CONTROLWORD_ROBOT_MODE_SHIFT 56

◆ HAL_kMaxJoystickAxes

#define HAL_kMaxJoystickAxes 12

The maximum number of axes that will be stored in a single HAL_JoystickAxes struct.

This is used for allocating buffers, not bounds checking, since there are usually less axes in practice.

◆ HAL_kMaxJoystickPOVs

#define HAL_kMaxJoystickPOVs 8

The maximum number of POVs that will be stored in a single HAL_JoystickPOVs struct.

This is used for allocating buffers, not bounds checking, since there are usually less POVs in practice.

◆ HAL_kMaxJoysticks

#define HAL_kMaxJoysticks 6

The maximum number of joysticks.

◆ HAL_kMaxJoystickTouchpadFingers

#define HAL_kMaxJoystickTouchpadFingers 2

The maximum number of fingers that will be stored in a single HAL_JoystickTouchpad struct.

This is used for allocating buffers, not bounds checking, since there are usually less fingers in practice.

◆ HAL_kMaxJoystickTouchpads

#define HAL_kMaxJoystickTouchpads 2

The maximum number of touchpads that will be stored in a single HAL_JoystickTouchpads struct.

This is used for allocating buffers, not bounds checking, since there are usually less touchpads in practice.

◆ HAL_MAKE_OPMODEID

#define HAL_MAKE_OPMODEID	(		mode,
			hash )

Value:

  ((((int64_t)(mode) << HAL_OPMODE_ROBOT_MODE_SHIFT) & \
    HAL_OPMODE_ROBOT_MODE_MASK) |                      \
   ((hash) & HAL_OPMODE_HASH_MASK))

◆ HAL_OPMODE_HASH_MASK

#define HAL_OPMODE_HASH_MASK HAL_CONTROLWORD_OPMODE_HASH_MASK

◆ HAL_OPMODE_ROBOT_MODE_MASK

#define HAL_OPMODE_ROBOT_MODE_MASK HAL_CONTROLWORD_ROBOT_MODE_MASK

◆ HAL_OPMODE_ROBOT_MODE_SHIFT

#define HAL_OPMODE_ROBOT_MODE_SHIFT HAL_CONTROLWORD_ROBOT_MODE_SHIFT

Typedef Documentation

◆ HAL_ControlWord

typedef struct HAL_ControlWord HAL_ControlWord

◆ HAL_GameData

typedef struct HAL_GameData HAL_GameData

◆ HAL_JoystickAxes

typedef struct HAL_JoystickAxes HAL_JoystickAxes

◆ HAL_JoystickButtons

typedef struct HAL_JoystickButtons HAL_JoystickButtons

◆ HAL_JoystickDescriptor

typedef struct HAL_JoystickDescriptor HAL_JoystickDescriptor

◆ HAL_JoystickPOVs

typedef struct HAL_JoystickPOVs HAL_JoystickPOVs

◆ HAL_JoystickTouchpad

typedef struct HAL_JoystickTouchpad HAL_JoystickTouchpad

◆ HAL_JoystickTouchpadFinger

typedef struct HAL_JoystickTouchpadFinger HAL_JoystickTouchpadFinger

◆ HAL_JoystickTouchpads

typedef struct HAL_JoystickTouchpads HAL_JoystickTouchpads

◆ HAL_MatchInfo

typedef struct HAL_MatchInfo HAL_MatchInfo

◆ HAL_OpModeOption

typedef struct HAL_OpModeOption HAL_OpModeOption

Enumeration Type Documentation

◆ HAL_AllianceStationID

enum HAL_AllianceStationID : int32_t

Enumerator
HAL_AllianceStationID_kUnknown	Unknown Alliance Station.
HAL_AllianceStationID_kRed1	Red Alliance Station 1.
HAL_AllianceStationID_kRed2	Red Alliance Station 2.
HAL_AllianceStationID_kRed3	Red Alliance Station 3.
HAL_AllianceStationID_kBlue1	Blue Alliance Station 1.
HAL_AllianceStationID_kBlue2	Blue Alliance Station 2.
HAL_AllianceStationID_kBlue3	Blue Alliance Station 3.

◆ HAL_MatchType

enum HAL_MatchType : int32_t

Enumerator
HAL_kMatchType_none
HAL_kMatchType_practice
HAL_kMatchType_qualification
HAL_kMatchType_elimination

◆ HAL_RobotMode

enum HAL_RobotMode : int32_t

Enumerator
HAL_ROBOTMODE_UNKNOWN
HAL_ROBOTMODE_AUTONOMOUS
HAL_ROBOTMODE_TELEOPERATED
HAL_ROBOTMODE_TEST

Function Documentation

◆ HAL_ControlWord_GetOpModeHash()

int64_t HAL_ControlWord_GetOpModeHash ( HAL_ControlWord word )

inline

◆ HAL_ControlWord_GetOpModeId()

int64_t HAL_ControlWord_GetOpModeId ( HAL_ControlWord word )

inline

◆ HAL_ControlWord_GetRobotMode()

HAL_RobotMode HAL_ControlWord_GetRobotMode ( HAL_ControlWord word )

inline

◆ HAL_ControlWord_IsDSAttached()

HAL_Bool HAL_ControlWord_IsDSAttached ( HAL_ControlWord word )

inline

◆ HAL_ControlWord_IsEnabled()

HAL_Bool HAL_ControlWord_IsEnabled ( HAL_ControlWord word )

inline

◆ HAL_ControlWord_IsEStopped()

HAL_Bool HAL_ControlWord_IsEStopped ( HAL_ControlWord word )

inline

◆ HAL_ControlWord_IsFMSAttached()

HAL_Bool HAL_ControlWord_IsFMSAttached ( HAL_ControlWord word )

inline

◆ HAL_ControlWord_SetOpModeId()

void HAL_ControlWord_SetOpModeId	(	HAL_ControlWord *	word,
		int64_t	id )

inline

◆ HAL_ENUM_WITH_UNDERLYING_TYPE()

HAL_ENUM_WITH_UNDERLYING_TYPE	(	HAL_JoystickPOV	,
		uint8_t	)

Centered

Up

Right

Down

Left

Right-Up

Right-Down

Left-Up

Left-Down

◆ HAL_GetAllianceStation()

HAL_AllianceStationID HAL_GetAllianceStation ( int32_t * status )

Gets the current alliance station ID.

Parameters

[out] status the error code, or 0 for success

Returns: the alliance station ID

◆ HAL_GetAllJoystickData()

void HAL_GetAllJoystickData	(	int32_t	joystickNum,
		HAL_JoystickAxes *	axes,
		HAL_JoystickPOVs *	povs,
		HAL_JoystickButtons *	buttons,
		HAL_JoystickTouchpads *	touchpads )

Gets all the data of a specific joystick.

Parameters

joystickNum	the joystick number
axes	the axes values (output)
povs	the POV values (output)
buttons	the button values (output)
touchpads	the touchpad values (output)

◆ HAL_GetControlWord()

int32_t HAL_GetControlWord ( HAL_ControlWord * controlWord )

Gets the current control word of the driver station.

The control word contains the robot state.

Parameters

controlWord the control word (out)

Returns: the error code, or 0 for success

◆ HAL_GetGameData()

int32_t HAL_GetGameData ( HAL_GameData * gameData )

Gets the game-specific message for the current match.

Parameters

gameData the game-specific message (output)

Returns: the error code, or 0 for success

◆ HAL_GetJoystickAxes()

int32_t HAL_GetJoystickAxes	(	int32_t	joystickNum,
		HAL_JoystickAxes *	axes )

Gets the axes of a specific joystick.

Parameters

joystickNum	the joystick number
axes	the axes values (output)

Returns: the error code, or 0 for success

◆ HAL_GetJoystickButtons()

int32_t HAL_GetJoystickButtons	(	int32_t	joystickNum,
		HAL_JoystickButtons *	buttons )

Gets the buttons of a specific joystick.

Parameters

joystickNum	the joystick number
buttons	the button values (output)

Returns: the error code, or 0 for success

◆ HAL_GetJoystickDescriptor()

int32_t HAL_GetJoystickDescriptor	(	int32_t	joystickNum,
		HAL_JoystickDescriptor *	desc )

Retrieves the Joystick Descriptor for particular slot.

Parameters

	joystickNum	the joystick number
[out]	desc	descriptor (data transfer object) to fill in. desc is filled in regardless of success. In other words, if descriptor is not available, desc is filled in with default values matching the init-values in Java and C++ Driver Station for when caller requests a too-large joystick index.

Returns: error code reported from Network Comm back-end. Zero is good, nonzero is bad.

◆ HAL_GetJoystickGamepadType()

int32_t HAL_GetJoystickGamepadType ( int32_t joystickNum )

Gets the type of joystick connected.

This maps to SDL_GamepadType

Parameters

joystickNum the joystick number

Returns: the enumerated gamepad type

◆ HAL_GetJoystickIsGamepad()

HAL_Bool HAL_GetJoystickIsGamepad ( int32_t joystickNum )

Gets whether a specific joystick is considered to be an Gamepad.

Parameters

joystickNum the joystick number

Returns: true if gamepad, false otherwise

◆ HAL_GetJoystickName()

void HAL_GetJoystickName	(	struct WPI_String *	name,
		int32_t	joystickNum )

Gets the name of a joystick.

The returned string must be freed with WPI_FreeString

Parameters

name	the joystick name string
joystickNum	the joystick number

◆ HAL_GetJoystickPOVs()

int32_t HAL_GetJoystickPOVs	(	int32_t	joystickNum,
		HAL_JoystickPOVs *	povs )

Gets the POVs of a specific joystick.

Parameters

joystickNum	the joystick number
povs	the POV values (output)

Returns: the error code, or 0 for success

◆ HAL_GetJoystickSupportedOutputs()

int32_t HAL_GetJoystickSupportedOutputs ( int32_t joystickNum )

Gets the supported outputs of a specific joystick.

Parameters

joystickNum the joystick number

Returns: bitmask of supported outputs

◆ HAL_GetJoystickTouchpads()

int32_t HAL_GetJoystickTouchpads	(	int32_t	joystickNum,
		HAL_JoystickTouchpads *	touchpads )

Gets the touchpads of a specific joystick.

Parameters

joystickNum	the joystick number
touchpads	the touchpad values (output)

Returns: the error code, or 0 for success

◆ HAL_GetMatchInfo()

int32_t HAL_GetMatchInfo ( HAL_MatchInfo * info )

Gets info about a specific match.

Parameters

[in] info the match info (output)

Returns: the error code, or 0 for success

◆ HAL_GetMatchTime()

double HAL_GetMatchTime ( int32_t * status )

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).

When connected to the real field, this number only changes in full integer increments, and always counts down.

When the DS is in practice mode, this number is a floating point number, and counts down.

When the DS is in teleop or autonomous mode, this number returns -1.0.

Simulation matches DS behavior without an FMS connected.

Parameters

[out] status the error code, or 0 for success

Returns: Time remaining in current match period (auto or teleop) in seconds

◆ HAL_GetOutputsEnabled()

HAL_Bool HAL_GetOutputsEnabled ( void )

Gets if outputs are enabled by the control system.

Returns: true if outputs are enabled

◆ HAL_GetUncachedControlWord()

int32_t HAL_GetUncachedControlWord ( HAL_ControlWord * controlWord )

Gets the current control word of the driver station.

Unlike HAL_GetControlWord, this function gets the latest value rather than using the value cached by HAL_RefreshDSData().

The control word contains the robot state.

Parameters

controlWord the control word (out)

Returns: the error code, or 0 for success

◆ HAL_MakeControlWord()

HAL_ControlWord HAL_MakeControlWord	(	int64_t	opModeHash,
		HAL_RobotMode	robotMode,
		HAL_Bool	enabled,
		HAL_Bool	eStop,
		HAL_Bool	fmsAttached,
		HAL_Bool	dsAttached )

inline

◆ HAL_MakeOpModeId()

int64_t HAL_MakeOpModeId	(	HAL_RobotMode	mode,
		int64_t	hash )

inline

◆ HAL_ObserveUserProgram()

void HAL_ObserveUserProgram ( HAL_ControlWord word )

Sets the control word state returned to the DS.

This is used for the DS to ensure the robot is properly responding to its state request. Ensure this gets called about every 50ms, or the robot will be disabled by the DS.

Parameters

word	control word returned by HAL_GetControlWord

◆ HAL_ObserveUserProgramStarting()

void HAL_ObserveUserProgramStarting ( void )

Sets the program starting flag in the DS.

This is what changes the DS to showing robot code ready.

◆ HAL_OpMode_GetHash()

int64_t HAL_OpMode_GetHash ( int64_t id )

inline

◆ HAL_OpMode_GetRobotMode()

HAL_RobotMode HAL_OpMode_GetRobotMode ( int64_t id )

inline

◆ HAL_ProvideNewDataEventHandle()

void HAL_ProvideNewDataEventHandle ( WPI_EventHandle handle )

Adds an event handle to be signalled when new data arrives.

Parameters

handle the event handle to be signalled

◆ HAL_RefreshDSData()

HAL_Bool HAL_RefreshDSData ( void )

Refresh the DS control word.

Returns: true if updated

◆ HAL_RemoveNewDataEventHandle()

void HAL_RemoveNewDataEventHandle ( WPI_EventHandle handle )

Removes the event handle from being signalled when new data arrives.

Parameters

handle the event handle to remove

◆ HAL_SendConsoleLine()

int32_t HAL_SendConsoleLine ( const char * line )

Sends a line to the driver station console.

Parameters

line	the line to send (null terminated)

Returns: the error code, or 0 for success

◆ HAL_SendError()

int32_t HAL_SendError	(	HAL_Bool	isError,
		int32_t	errorCode,
		HAL_Bool	isLVCode,
		const char *	details,
		const char *	location,
		const char *	callStack,
		HAL_Bool	printMsg )

Sends an error to the driver station.

Parameters

isError	true for error, false for warning
errorCode	the error code
isLVCode	true for a LV error code, false for a standard error code
details	the details of the error
location	the file location of the error
callStack	the callstack of the error
printMsg	true to print the error message to stdout as well as to the DS

Returns: the error code, or 0 for success

◆ HAL_SetJoystickLeds()

int32_t HAL_SetJoystickLeds	(	int32_t	joystickNum,
		int32_t	leds )

Set joystick LEDs.

Parameters

joystickNum	the joystick number
leds	the rgb led color value (0xRRGGBB)

Returns: the error code, or 0 for success

◆ HAL_SetJoystickRumble()

int32_t HAL_SetJoystickRumble	(	int32_t	joystickNum,
		int32_t	leftRumble,
		int32_t	rightRumble,
		int32_t	leftTriggerRumble,
		int32_t	rightTriggerRumble )

Set joystick rumbles.

Parameters

joystickNum	the joystick number
leftRumble	the left rumble value (0-FFFF)
rightRumble	the right rumble value (0-FFFF)
leftTriggerRumble	the left trigger rumble value (0-FFFF)
rightTriggerRumble	the right trigger rumble value (0-FFFF)

Returns: the error code, or 0 for success

◆ HAL_SetOpModeOptions()

int32_t HAL_SetOpModeOptions	(	const struct HAL_OpModeOption *	options,
		int32_t	count )

Sets operating mode options.

Parameters

options	array of operating mode options
count	number of options in the array

Returns: the error code, or 0 for success

◆ HAL_SetPrintErrorImpl()

void HAL_SetPrintErrorImpl ( void(* func )(const char *line, size_t size) )

Set the print function used by HAL_SendError.

Parameters

func	Function called by HAL_SendError when stderr is printed

Classes

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ HAL_CONTROLWORD_DS_ATTACHED_MASK

◆ HAL_CONTROLWORD_ENABLED_MASK

◆ HAL_CONTROLWORD_ESTOP_MASK

◆ HAL_CONTROLWORD_FMS_ATTACHED_MASK

◆ HAL_CONTROLWORD_OPMODE_HASH_MASK

◆ HAL_CONTROLWORD_ROBOT_MODE_MASK

◆ HAL_CONTROLWORD_ROBOT_MODE_SHIFT

◆ HAL_kMaxJoystickAxes

◆ HAL_kMaxJoystickPOVs

◆ HAL_kMaxJoysticks

◆ HAL_kMaxJoystickTouchpadFingers

◆ HAL_kMaxJoystickTouchpads

◆ HAL_MAKE_OPMODEID

◆ HAL_OPMODE_HASH_MASK

◆ HAL_OPMODE_ROBOT_MODE_MASK

◆ HAL_OPMODE_ROBOT_MODE_SHIFT

Typedef Documentation

◆ HAL_ControlWord

◆ HAL_GameData

◆ HAL_JoystickAxes

◆ HAL_JoystickButtons

◆ HAL_JoystickDescriptor

◆ HAL_JoystickPOVs

◆ HAL_JoystickTouchpad

◆ HAL_JoystickTouchpadFinger

◆ HAL_JoystickTouchpads

◆ HAL_MatchInfo

◆ HAL_OpModeOption

Enumeration Type Documentation

◆ HAL_AllianceStationID

◆ HAL_MatchType

◆ HAL_RobotMode

Function Documentation

◆ HAL_ControlWord_GetOpModeHash()

◆ HAL_ControlWord_GetOpModeId()

◆ HAL_ControlWord_GetRobotMode()

◆ HAL_ControlWord_IsDSAttached()

◆ HAL_ControlWord_IsEnabled()

◆ HAL_ControlWord_IsEStopped()

◆ HAL_ControlWord_IsFMSAttached()

◆ HAL_ControlWord_SetOpModeId()

◆ HAL_ENUM_WITH_UNDERLYING_TYPE()

◆ HAL_GetAllianceStation()

◆ HAL_GetAllJoystickData()

◆ HAL_GetControlWord()

◆ HAL_GetGameData()

◆ HAL_GetJoystickAxes()

◆ HAL_GetJoystickButtons()

◆ HAL_GetJoystickDescriptor()

◆ HAL_GetJoystickGamepadType()

◆ HAL_GetJoystickIsGamepad()

◆ HAL_GetJoystickName()

◆ HAL_GetJoystickPOVs()

◆ HAL_GetJoystickSupportedOutputs()

◆ HAL_GetJoystickTouchpads()

◆ HAL_GetMatchInfo()

◆ HAL_GetMatchTime()

◆ HAL_GetOutputsEnabled()

◆ HAL_GetUncachedControlWord()

◆ HAL_MakeControlWord()

◆ HAL_MakeOpModeId()

◆ HAL_ObserveUserProgram()

◆ HAL_ObserveUserProgramStarting()

◆ HAL_OpMode_GetHash()

◆ HAL_OpMode_GetRobotMode()

◆ HAL_ProvideNewDataEventHandle()

◆ HAL_RefreshDSData()

◆ HAL_RemoveNewDataEventHandle()

◆ HAL_SendConsoleLine()

◆ HAL_SendError()

◆ HAL_SetJoystickLeds()

◆ HAL_SetJoystickRumble()

◆ HAL_SetOpModeOptions()