Classes
struct	HAL_ControlWord

struct	HAL_JoystickAxes

struct	HAL_JoystickPOVs

struct	HAL_JoystickButtons

struct	HAL_JoystickDescriptor

struct	HAL_MatchInfo

Macros
#define	HAL_IO_CONFIG_DATA_SIZE 32

#define	HAL_SYS_STATUS_DATA_SIZE 44

#define	HAL_USER_STATUS_DATA_SIZE (984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)

#define	HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17

#define	HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18

#define	HALFRC_NetworkCommunication_DynamicType_Kinect_Header 19

#define	HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20

#define	HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21

#define	HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22

#define	HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23

#define	HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24

#define	HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25

#define	HAL_kMaxJoystickAxes 12

#define	HAL_kMaxJoystickPOVs 12

#define	HAL_kMaxJoysticks 6

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_JoystickDescriptor	HAL_JoystickDescriptor

typedef struct HAL_MatchInfo	HAL_MatchInfo

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 }

Functions
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. More...

void	HAL_SetPrintErrorImpl (void(func)(const char line, size_t size))
	Set the print function used by HAL_SendError. More...

int32_t	HAL_SendConsoleLine (const char *line)
	Sends a line to the driver station console. More...

int32_t	HAL_GetControlWord (HAL_ControlWord *controlWord)
	Gets the current control word of the driver station. More...

HAL_AllianceStationID	HAL_GetAllianceStation (int32_t *status)
	Gets the current alliance station ID. More...

int32_t	HAL_GetJoystickAxes (int32_t joystickNum, HAL_JoystickAxes *axes)
	Gets the axes of a specific joystick. More...

int32_t	HAL_GetJoystickPOVs (int32_t joystickNum, HAL_JoystickPOVs *povs)
	Gets the POVs of a specific joystick. More...

int32_t	HAL_GetJoystickButtons (int32_t joystickNum, HAL_JoystickButtons *buttons)
	Gets the buttons of a specific joystick. More...

void	HAL_GetAllJoystickData (HAL_JoystickAxes axes, HAL_JoystickPOVs povs, HAL_JoystickButtons *buttons)

int32_t	HAL_GetJoystickDescriptor (int32_t joystickNum, HAL_JoystickDescriptor *desc)
	Retrieves the Joystick Descriptor for particular slot. More...

HAL_Bool	HAL_GetJoystickIsXbox (int32_t joystickNum)
	Gets whether a specific joystick is considered to be an XBox controller. More...

int32_t	HAL_GetJoystickType (int32_t joystickNum)
	Gets the type of joystick connected. More...

char *	HAL_GetJoystickName (int32_t joystickNum)
	Gets the name of a joystick. More...

void	HAL_FreeJoystickName (char *name)
	Frees a joystick name received with HAL_GetJoystickName. More...

int32_t	HAL_GetJoystickAxisType (int32_t joystickNum, int32_t axis)
	Gets the type of a specific joystick axis. More...

int32_t	HAL_SetJoystickOutputs (int32_t joystickNum, int64_t outputs, int32_t leftRumble, int32_t rightRumble)
	Set joystick outputs. More...

double	HAL_GetMatchTime (int32_t *status)
	Return the approximate match time. More...

HAL_Bool	HAL_GetOutputsEnabled (void)
	Gets if outputs are enabled by the control system. More...

int32_t	HAL_GetMatchInfo (HAL_MatchInfo *info)
	Gets info about a specific match. More...

HAL_Bool	HAL_RefreshDSData (void)
	Refresh the DS control word. More...

void	HAL_ProvideNewDataEventHandle (WPI_EventHandle handle)

void	HAL_RemoveNewDataEventHandle (WPI_EventHandle handle)

void	HAL_ObserveUserProgramStarting (void)
	Sets the program starting flag in the DS. More...

void	HAL_ObserveUserProgramDisabled (void)
	Sets the disabled flag in the DS. More...

void	HAL_ObserveUserProgramAutonomous (void)
	Sets the autonomous enabled flag in the DS. More...

void	HAL_ObserveUserProgramTeleop (void)
	Sets the teleoperated enabled flag in the DS. More...

void	HAL_ObserveUserProgramTest (void)
	Sets the test mode flag in the DS. More...

Detailed Description

Macro Definition Documentation

◆ HAL_IO_CONFIG_DATA_SIZE

#define HAL_IO_CONFIG_DATA_SIZE 32

◆ HAL_kMaxJoystickAxes

#define HAL_kMaxJoystickAxes 12

◆ HAL_kMaxJoystickPOVs

#define HAL_kMaxJoystickPOVs 12

◆ HAL_kMaxJoysticks

#define HAL_kMaxJoysticks 6

◆ HAL_SYS_STATUS_DATA_SIZE

#define HAL_SYS_STATUS_DATA_SIZE 44

◆ HAL_USER_STATUS_DATA_SIZE

#define HAL_USER_STATUS_DATA_SIZE (984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)

◆ HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input

#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17

◆ HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output

#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Custom

#define HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1

#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2

#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Header

#define HALFRC_NetworkCommunication_DynamicType_Kinect_Header 19

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick

#define HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1

#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2

#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23

Typedef Documentation

◆ HAL_ControlWord

typedef struct HAL_ControlWord HAL_ControlWord

◆ 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_MatchInfo

typedef struct HAL_MatchInfo HAL_MatchInfo

Enumeration Type Documentation

◆ HAL_AllianceStationID

enum HAL_AllianceStationID : int32_t

Enumerator
HAL_AllianceStationID_kUnknown
HAL_AllianceStationID_kRed1
HAL_AllianceStationID_kRed2
HAL_AllianceStationID_kRed3
HAL_AllianceStationID_kBlue1
HAL_AllianceStationID_kBlue2
HAL_AllianceStationID_kBlue3

◆ HAL_MatchType

enum HAL_MatchType : int32_t

Enumerator
HAL_kMatchType_none
HAL_kMatchType_practice
HAL_kMatchType_qualification
HAL_kMatchType_elimination

Function Documentation

◆ HAL_FreeJoystickName()

void HAL_FreeJoystickName ( char * name )

Frees a joystick name received with HAL_GetJoystickName.

Parameters

name	the name storage

◆ 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	(	HAL_JoystickAxes *	axes,
		HAL_JoystickPOVs *	povs,
		HAL_JoystickButtons *	buttons
	)

◆ 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_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_GetJoystickAxisType()

int32_t HAL_GetJoystickAxisType	(	int32_t	joystickNum,
		int32_t	axis
	)

Gets the type of a specific joystick axis.

This is device specific, and different depending on what system input type the joystick uses.

Parameters

joystickNum	the joystick number
axis	the axis number

Returns: the enumerated axis type

◆ 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_GetJoystickIsXbox()

HAL_Bool HAL_GetJoystickIsXbox ( int32_t joystickNum )

Gets whether a specific joystick is considered to be an XBox controller.

Parameters

joystickNum the joystick number

Returns: true if xbox, false otherwise

◆ HAL_GetJoystickName()

char * HAL_GetJoystickName ( int32_t joystickNum )

Gets the name of a joystick.

The returned array must be freed with HAL_FreeJoystickName.

Will be null terminated.

Parameters

joystickNum the joystick number

Returns: the joystick name

◆ 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_GetJoystickType()

int32_t HAL_GetJoystickType ( int32_t joystickNum )

Gets the type of joystick connected.

This is device specific, and different depending on what system input type the joystick uses.

Parameters

joystickNum the joystick number

Returns: the enumerated joystick type

◆ 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 is a floating point number, and counts up.

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_ObserveUserProgramAutonomous()

void HAL_ObserveUserProgramAutonomous ( void )

Sets the autonomous enabled flag in 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.

◆ HAL_ObserveUserProgramDisabled()

void HAL_ObserveUserProgramDisabled ( void )

Sets the disabled flag in 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.

◆ 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_ObserveUserProgramTeleop()

void HAL_ObserveUserProgramTeleop ( void )

Sets the teleoperated enabled flag in 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.

◆ HAL_ObserveUserProgramTest()

void HAL_ObserveUserProgramTest ( void )

Sets the test mode flag in 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.

◆ HAL_ProvideNewDataEventHandle()

void HAL_ProvideNewDataEventHandle ( WPI_EventHandle handle )

◆ HAL_RefreshDSData()

HAL_Bool HAL_RefreshDSData ( void )

Refresh the DS control word.

Returns: true if updated

◆ HAL_RemoveNewDataEventHandle()

void HAL_RemoveNewDataEventHandle ( WPI_EventHandle handle )

◆ 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_SetJoystickOutputs()

int32_t HAL_SetJoystickOutputs	(	int32_t	joystickNum,
		int64_t	outputs,
		int32_t	leftRumble,
		int32_t	rightRumble
	)

Set joystick outputs.

Parameters

joystickNum	the joystick number
outputs	bitmask of outputs, 1 for on 0 for off
leftRumble	the left rumble value (0-FFFF)
rightRumble	the right rumble value (0-FFFF)

Returns: the error code, or 0 for success

◆ HAL_SetPrintErrorImpl()

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

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_IO_CONFIG_DATA_SIZE

◆ HAL_kMaxJoystickAxes

◆ HAL_kMaxJoystickPOVs

◆ HAL_kMaxJoysticks

◆ HAL_SYS_STATUS_DATA_SIZE

◆ HAL_USER_STATUS_DATA_SIZE

◆ HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input

◆ HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Custom

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Header

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1

◆ HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2

Typedef Documentation

◆ HAL_ControlWord

◆ HAL_JoystickAxes

◆ HAL_JoystickButtons

◆ HAL_JoystickDescriptor

◆ HAL_JoystickPOVs

◆ HAL_MatchInfo

Enumeration Type Documentation

◆ HAL_AllianceStationID

◆ HAL_MatchType

Function Documentation

◆ HAL_FreeJoystickName()

◆ HAL_GetAllianceStation()

◆ HAL_GetAllJoystickData()

◆ HAL_GetControlWord()

◆ HAL_GetJoystickAxes()

◆ HAL_GetJoystickAxisType()

◆ HAL_GetJoystickButtons()

◆ HAL_GetJoystickDescriptor()

◆ HAL_GetJoystickIsXbox()

◆ HAL_GetJoystickName()

◆ HAL_GetJoystickPOVs()

◆ HAL_GetJoystickType()

◆ HAL_GetMatchInfo()

◆ HAL_GetMatchTime()

◆ HAL_GetOutputsEnabled()

◆ HAL_ObserveUserProgramAutonomous()

◆ HAL_ObserveUserProgramDisabled()

◆ HAL_ObserveUserProgramStarting()

◆ HAL_ObserveUserProgramTeleop()

◆ HAL_ObserveUserProgramTest()

◆ HAL_ProvideNewDataEventHandle()

◆ HAL_RefreshDSData()

◆ HAL_RemoveNewDataEventHandle()

◆ HAL_SendConsoleLine()

◆ HAL_SendError()

◆ HAL_SetJoystickOutputs()

◆ HAL_SetPrintErrorImpl()