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

#include <frc/DriverStation.h>

Public Types
enum	Alliance { kRed , kBlue }
	The robot alliance that the robot is a part of. More...

enum	MatchType { kNone , kPractice , kQualification , kElimination }
	The type of robot match that the robot is part of. More...

Static Public Member Functions
static bool	GetStickButton (int stick, int button)
	The state of one joystick button. More...

static bool	GetStickButtonPressed (int stick, int button)
	Whether one joystick button was pressed since the last check. More...

static bool	GetStickButtonReleased (int stick, int button)
	Whether one joystick button was released since the last check. More...

static double	GetStickAxis (int stick, int axis)
	Get the value of the axis on a joystick. More...

static int	GetStickPOV (int stick, int pov)
	Get the state of a POV on the joystick. More...

static int	GetStickButtons (int stick)
	The state of the buttons on the joystick. More...

static int	GetStickAxisCount (int stick)
	Returns the number of axes on a given joystick port. More...

static int	GetStickPOVCount (int stick)
	Returns the number of POVs on a given joystick port. More...

static int	GetStickButtonCount (int stick)
	Returns the number of buttons on a given joystick port. More...

static bool	GetJoystickIsXbox (int stick)
	Returns a boolean indicating if the controller is an xbox controller. More...

static int	GetJoystickType (int stick)
	Returns the type of joystick at a given port. More...

static std::string	GetJoystickName (int stick)
	Returns the name of the joystick at the given port. More...

static int	GetJoystickAxisType (int stick, int axis)
	Returns the types of Axes on a given joystick port. More...

static bool	IsJoystickConnected (int stick)
	Returns if a joystick is connected to the Driver Station. More...

static bool	IsEnabled ()
	Check if the DS has enabled the robot. More...

static bool	IsDisabled ()
	Check if the robot is disabled. More...

static bool	IsEStopped ()
	Check if the robot is e-stopped. More...

static bool	IsAutonomous ()
	Check if the DS is commanding autonomous mode. More...

static bool	IsAutonomousEnabled ()
	Check if the DS is commanding autonomous mode and if it has enabled the robot. More...

static bool	IsTeleop ()
	Check if the DS is commanding teleop mode. More...

static bool	IsTeleopEnabled ()
	Check if the DS is commanding teleop mode and if it has enabled the robot. More...

static bool	IsTest ()
	Check if the DS is commanding test mode. More...

static bool	IsTestEnabled ()
	Check if the DS is commanding Test mode and if it has enabled the robot. More...

static bool	IsDSAttached ()
	Check if the DS is attached. More...

static bool	IsFMSAttached ()
	Is the driver station attached to a Field Management System? More...

static std::string	GetGameSpecificMessage ()
	Returns the game specific message provided by the FMS. More...

static std::string	GetEventName ()
	Returns the name of the competition event provided by the FMS. More...

static MatchType	GetMatchType ()
	Returns the type of match being played provided by the FMS. More...

static int	GetMatchNumber ()
	Returns the match number provided by the FMS. More...

static int	GetReplayNumber ()
	Returns the number of times the current match has been replayed from the FMS. More...

static std::optional< Alliance >	GetAlliance ()
	Get the current alliance from the FMS. More...

static std::optional< int >	GetLocation ()
	Return the driver station location from the FMS. More...

static bool	WaitForDsConnection (units::second_t timeout)
	Wait for a DS connection. More...

static units::second_t	GetMatchTime ()
	Return the approximate match time. More...

static double	GetBatteryVoltage ()
	Read the battery voltage. More...

static void	RefreshData ()
	Copy data from the DS task for the user. More...

static void	ProvideRefreshedDataEventHandle (WPI_EventHandle handle)
	Registers the given handle for DS data refresh notifications. More...

static void	RemoveRefreshedDataEventHandle (WPI_EventHandle handle)
	Unregisters the given handle from DS data refresh notifications. More...

static void	SilenceJoystickConnectionWarning (bool silence)
	Allows the user to specify whether they want joystick connection warnings to be printed to the console. More...

static bool	IsJoystickConnectionWarningSilenced ()
	Returns whether joystick connection warnings are silenced. More...

static void	StartDataLog (wpi::log::DataLog &log, bool logJoysticks=true)
	Starts logging DriverStation data to data log. More...

Static Public Attributes
static constexpr int	kJoystickPorts = 6
	Number of Joystick ports. More...

Detailed Description

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

Member Enumeration Documentation

◆ Alliance

enum frc::DriverStation::Alliance

The robot alliance that the robot is a part of.

Enumerator
kRed	Red alliance.
kBlue	Blue alliance.

◆ MatchType

enum frc::DriverStation::MatchType

The type of robot match that the robot is part of.

Enumerator
kNone	None.
kPractice	Practice.
kQualification	Qualification.
kElimination	Elimination.

Member Function Documentation

◆ GetAlliance()

static std::optional< Alliance > frc::DriverStation::GetAlliance ( )

static

Get the current alliance from the FMS.

If the FMS is not connected, it is set from the team alliance setting on the driver station.

Returns: The alliance (red or blue) or an empty optional if the alliance is invalid

◆ GetBatteryVoltage()

static double frc::DriverStation::GetBatteryVoltage ( )

static

Read the battery voltage.

Returns: The battery voltage in Volts.

◆ GetEventName()

static std::string frc::DriverStation::GetEventName ( )

static

Returns the name of the competition event provided by the FMS.

Returns: A string containing the event name

◆ GetGameSpecificMessage()

static std::string frc::DriverStation::GetGameSpecificMessage ( )

static

Returns the game specific message provided by the FMS.

If the FMS is not connected, it is set from the game data setting on the driver station.

Returns: A string containing the game specific message.

◆ GetJoystickAxisType()

static int frc::DriverStation::GetJoystickAxisType	(	int	stick,
		int	axis
	)

static

Returns the types of Axes on a given joystick port.

Parameters

stick	The joystick port number and the target axis
axis	The analog axis value to read from the joystick.

Returns: What type of axis the axis is reporting to be

◆ GetJoystickIsXbox()

static bool frc::DriverStation::GetJoystickIsXbox ( int stick )

static

Returns a boolean indicating if the controller is an xbox controller.

Parameters

stick The joystick port number

Returns: A boolean that is true if the controller is an xbox controller.

◆ GetJoystickName()

static std::string frc::DriverStation::GetJoystickName ( int stick )

static

Returns the name of the joystick at the given port.

Parameters

stick The joystick port number

Returns: The name of the joystick at the given port

◆ GetJoystickType()

static int frc::DriverStation::GetJoystickType ( int stick )

static

Returns the type of joystick at a given port.

Parameters

stick The joystick port number

Returns: The HID type of joystick at the given port

◆ GetLocation()

static std::optional< int > frc::DriverStation::GetLocation ( )

static

Return the driver station location from the FMS.

If the FMS is not connected, it is set from the team alliance setting on the driver station.

This could return 1, 2, or 3.

Returns: The location of the driver station (1-3, 0 for invalid)

◆ GetMatchNumber()

static int frc::DriverStation::GetMatchNumber ( )

static

Returns the match number provided by the FMS.

Returns: The number of the match

◆ GetMatchTime()

static units::second_t frc::DriverStation::GetMatchTime ( )

static

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 is a floating point number, and counts up.

Simulation matches DS behavior without an FMS connected.

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

◆ GetMatchType()

static MatchType frc::DriverStation::GetMatchType ( )

static

Returns the type of match being played provided by the FMS.

Returns: The match type enum (kNone, kPractice, kQualification, kElimination)

◆ GetReplayNumber()

static int frc::DriverStation::GetReplayNumber ( )

static

Returns the number of times the current match has been replayed from the FMS.

Returns: The number of replays

◆ GetStickAxis()

static double frc::DriverStation::GetStickAxis	(	int	stick,
		int	axis
	)

static

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.

◆ GetStickAxisCount()

static int frc::DriverStation::GetStickAxisCount ( int stick )

static

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

◆ GetStickButton()

static bool frc::DriverStation::GetStickButton	(	int	stick,
		int	button
	)

static

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.

◆ GetStickButtonCount()

static int frc::DriverStation::GetStickButtonCount ( int stick )

static

Returns the number of buttons on a given joystick port.

Parameters

stick The joystick port number

Returns: The number of buttons on the indicated joystick

◆ GetStickButtonPressed()

static bool frc::DriverStation::GetStickButtonPressed	(	int	stick,
		int	button
	)

static

Whether one joystick button was pressed since the last check.

Button indexes begin at 1.

Parameters

stick	The joystick to read.
button	The button index, beginning at 1.

Returns: Whether the joystick button was pressed since the last check.

◆ GetStickButtonReleased()

static bool frc::DriverStation::GetStickButtonReleased	(	int	stick,
		int	button
	)

static

Whether one joystick button was released since the last check.

Button indexes begin at 1.

Parameters

stick	The joystick to read.
button	The button index, beginning at 1.

Returns: Whether the joystick button was released since the last check.

◆ GetStickButtons()

static int frc::DriverStation::GetStickButtons ( int stick )

static

The state of the buttons on the joystick.

Parameters

stick The joystick to read.

Returns: The state of the buttons on the joystick.

◆ GetStickPOV()

static int frc::DriverStation::GetStickPOV	(	int	stick,
		int	pov
	)

static

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.

◆ GetStickPOVCount()

static int frc::DriverStation::GetStickPOVCount ( int stick )

static

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

◆ IsAutonomous()

static bool frc::DriverStation::IsAutonomous ( )

static

Check if the DS is commanding autonomous mode.

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

◆ IsAutonomousEnabled()

static bool frc::DriverStation::IsAutonomousEnabled ( )

static

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.

◆ IsDisabled()

static bool frc::DriverStation::IsDisabled ( )

static

Check if the robot is disabled.

Returns: True if the robot is explicitly disabled or the DS is not connected

◆ IsDSAttached()

static bool frc::DriverStation::IsDSAttached ( )

static

Check if the DS is attached.

Returns: True if the DS is connected to the robot

◆ IsEnabled()

static bool frc::DriverStation::IsEnabled ( )

static

Check if the DS has enabled the robot.

Returns: True if the robot is enabled and the DS is connected

◆ IsEStopped()

static bool frc::DriverStation::IsEStopped ( )

static

Check if the robot is e-stopped.

Returns: True if the robot is e-stopped

◆ IsFMSAttached()

static bool frc::DriverStation::IsFMSAttached ( )

static

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

◆ IsJoystickConnected()

static bool frc::DriverStation::IsJoystickConnected ( int stick )

static

Returns if a joystick is connected to the Driver Station.

This makes a best effort guess by looking at the reported number of axis, buttons, and POVs attached.

Parameters

stick The joystick port number

Returns: true if a joystick is connected

◆ IsJoystickConnectionWarningSilenced()

static bool frc::DriverStation::IsJoystickConnectionWarningSilenced ( )

static

Returns whether joystick connection warnings are silenced.

This will always return false when connected to the FMS.

Returns: Whether joystick connection warnings are silenced.

◆ IsTeleop()

static bool frc::DriverStation::IsTeleop ( )

static

Check if the DS is commanding teleop mode.

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

◆ IsTeleopEnabled()

static bool frc::DriverStation::IsTeleopEnabled ( )

static

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()

static bool frc::DriverStation::IsTest ( )

static

Check if the DS is commanding test mode.

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

◆ IsTestEnabled()

static bool frc::DriverStation::IsTestEnabled ( )

static

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.

◆ ProvideRefreshedDataEventHandle()

static void frc::DriverStation::ProvideRefreshedDataEventHandle ( WPI_EventHandle handle )

static

Registers the given handle for DS data refresh notifications.

Parameters

handle The event handle.

◆ RefreshData()

static void frc::DriverStation::RefreshData ( )

static

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.

◆ RemoveRefreshedDataEventHandle()

static void frc::DriverStation::RemoveRefreshedDataEventHandle ( WPI_EventHandle handle )

static

Unregisters the given handle from DS data refresh notifications.

Parameters

handle The event handle.

◆ SilenceJoystickConnectionWarning()

static void frc::DriverStation::SilenceJoystickConnectionWarning ( bool silence )

static

Allows the user to specify whether they want joystick connection warnings to be printed to the console.

This setting is ignored when the FMS is connected – warnings will always be on in that scenario.

Parameters

silence Whether warning messages should be silenced.

◆ StartDataLog()

static void frc::DriverStation::StartDataLog	(	wpi::log::DataLog &	log,
		bool	logJoysticks = `true`
	)

static

Starts logging DriverStation data to data log.

Repeated calls are ignored.

Parameters

log	data log
logJoysticks	if true, log joystick data

◆ WaitForDsConnection()

static bool frc::DriverStation::WaitForDsConnection ( units::second_t timeout )

static

Wait for a DS connection.

Parameters

timeout timeout in seconds. 0 for infinite.

Returns: true if connected, false if timeout

Member Data Documentation

◆ kJoystickPorts

constexpr int frc::DriverStation::kJoystickPorts = 6

staticconstexpr

Number of Joystick ports.

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

frc/DriverStation.h

Public Types

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Enumeration Documentation

◆ Alliance

◆ MatchType

Member Function Documentation

◆ GetAlliance()

◆ GetBatteryVoltage()

◆ GetEventName()

◆ GetGameSpecificMessage()

◆ GetJoystickAxisType()

◆ GetJoystickIsXbox()

◆ GetJoystickName()

◆ GetJoystickType()

◆ GetLocation()

◆ GetMatchNumber()

◆ GetMatchTime()

◆ GetMatchType()

◆ GetReplayNumber()

◆ GetStickAxis()

◆ GetStickAxisCount()

◆ GetStickButton()

◆ GetStickButtonCount()

◆ GetStickButtonPressed()

◆ GetStickButtonReleased()

◆ GetStickButtons()

◆ GetStickPOV()

◆ GetStickPOVCount()

◆ IsAutonomous()

◆ IsAutonomousEnabled()

◆ IsDisabled()

◆ IsDSAttached()

◆ IsEnabled()

◆ IsEStopped()

◆ IsFMSAttached()

◆ IsJoystickConnected()

◆ IsJoystickConnectionWarningSilenced()

◆ IsTeleop()

◆ IsTeleopEnabled()

◆ IsTest()

◆ IsTestEnabled()

◆ ProvideRefreshedDataEventHandle()

◆ RefreshData()

◆ RemoveRefreshedDataEventHandle()

◆ SilenceJoystickConnectionWarning()

◆ StartDataLog()

◆ WaitForDsConnection()

Member Data Documentation

◆ kJoystickPorts