DriverStation Class Reference

#include <DriverStation.h>

Inheritance diagram for DriverStation:

List of all members.

Public Types
enum	Alliance { kRed, kBlue, kInvalid }
Public Member Functions
float	GetStickAxis (UINT32 stick, UINT32 axis)
short	GetStickButtons (UINT32 stick)
float	GetAnalogIn (UINT32 channel)
bool	GetDigitalIn (UINT32 channel)
void	SetDigitalOut (UINT32 channel, bool value)
bool	GetDigitalOut (UINT32 channel)
bool	IsEnabled ()
bool	IsDisabled ()
bool	IsAutonomous ()
bool	IsOperatorControl ()
bool	IsNewControlData ()
bool	IsFMSAttached ()
UINT32	GetPacketNumber ()
Alliance	GetAlliance ()
UINT32	GetLocation ()
void	WaitForData ()
double	GetMatchTime ()
float	GetBatteryVoltage ()
UINT16	GetTeamNumber ()
Dashboard &	GetHighPriorityDashboardPacker ()
Dashboard &	GetLowPriorityDashboardPacker ()
DashboardBase *	GetHighPriorityDashboardPackerInUse ()
DashboardBase *	GetLowPriorityDashboardPackerInUse ()
void	SetHighPriorityDashboardPackerToUse (DashboardBase *db)
void	SetLowPriorityDashboardPackerToUse (DashboardBase *db)
DriverStationEnhancedIO &	GetEnhancedIO ()
void	IncrementUpdateNumber ()
SEM_ID	GetUserStatusDataSem ()
void	InDisabled (bool entering)
void	InAutonomous (bool entering)
void	InOperatorControl (bool entering)
Static Public Member Functions
static DriverStation *	GetInstance ()
Static Public Attributes
static const UINT32	kBatteryModuleNumber = 1
static const UINT32	kBatteryChannel = 8
static const UINT32	kJoystickPorts = 4
static const UINT32	kJoystickAxes = 6
Protected Member Functions
	DriverStation ()
void	GetData ()
void	SetData ()

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Detailed Description

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

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Constructor & Destructor Documentation

DriverStation::DriverStation

(

)

[protected]

DriverStation contructor.

This is only called once the first time GetInstance() is called

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Member Function Documentation

DriverStation::Alliance DriverStation::GetAlliance

(

)

Return the alliance that the driver station says it is on. This could return kRed or kBlue

Returns:

The Alliance enum

float DriverStation::GetAnalogIn

(

UINT32

channel

)

Get an analog voltage from the Driver Station. The analog values are returned as voltage values for the Driver Station analog inputs. These inputs are typically used for advanced operator interfaces consisting of potentiometers or resistor networks representing values on a rotary switch.

Parameters:

channel

The analog input channel on the driver station to read from. Valid range is 1 - 4.

Returns:

The analog voltage on the input.

float DriverStation::GetBatteryVoltage

(

)

Read the battery voltage from the specified AnalogChannel.

This accessor assumes that the battery voltage is being measured through the voltage divider on an analog breakout.

Returns:

The battery voltage.

void DriverStation::GetData

(

)

[protected]

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.

bool DriverStation::GetDigitalIn

(

UINT32

channel

)

Get values from the digital inputs on the Driver Station. Return digital values from the Drivers Station. These values are typically used for buttons and switches on advanced operator interfaces.

Parameters:

channel

The digital input to get. Valid range is 1 - 8.

bool DriverStation::GetDigitalOut

(

UINT32

channel

)

Get a value that was set for the digital outputs on the Driver Station.

Parameters:

channel

The digital ouput to monitor. Valid range is 1 through 8.

Returns:

A digital value being output on the Drivers Station.

DriverStation * DriverStation::GetInstance

(

)

[static]

Return a pointer to the singleton DriverStation.

UINT32 DriverStation::GetLocation

(

)

Return the driver station location on the field This could return 1, 2, or 3

Returns:

The location of the driver station

double DriverStation::GetMatchTime

(

)

Return the approximate match time The FMS does not currently send the official match time to the robots This returns the time since the enable signal sent from the Driver Station At the beginning of autonomous, the time is reset to 0.0 seconds At the beginning of teleop, the time is reset to +15.0 seconds If the robot is disabled, this returns 0.0 seconds Warning: This is not an official time (so it cannot be used to argue with referees)

Returns:

Match time in seconds since the beginning of autonomous

UINT32 DriverStation::GetPacketNumber

(

)

Return the DS packet number. The packet number is the index of this set of data returned by the driver station. Each time new data is received, the packet number (included with the sent data) is returned.

Returns:

The driver station packet number

float DriverStation::GetStickAxis	(	UINT32	stick,
		UINT32	axis
	)

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.

short DriverStation::GetStickButtons

(

UINT32

stick

)

The state of the buttons on the joystick. 12 buttons (4 msb are unused) from the joystick.

Parameters:

stick

The joystick to read.

Returns:

The state of the buttons on the joystick.

UINT16 DriverStation::GetTeamNumber

(

)

Return the team number that the Driver Station is configured for

Returns:

The team number

void DriverStation::InAutonomous

(

bool

entering

)

[inline]

Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only

Parameters:

entering

If true, starting autonomous code; if false, leaving autonomous code

void DriverStation::InDisabled

(

bool

entering

)

[inline]

Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only

Parameters:

entering

If true, starting disabled code; if false, leaving disabled code

void DriverStation::InOperatorControl

(

bool

entering

)

[inline]

Only to be used to tell the Driver Station what code you claim to be executing for diagnostic purposes only

Parameters:

entering

If true, starting teleop code; if false, leaving teleop code

bool DriverStation::IsFMSAttached

(

)

Is the driver station attached to a Field Management System? Note: This does not work with the Blue DS.

Returns:

True if the robot is competing on a field being controlled by a Field Management System

bool DriverStation::IsNewControlData

(

)

Has a new control packet from the driver station arrived since the last time this function was called? Warning: If you call this function from more than one place at the same time, you will not get the get the intended behavior

Returns:

True if the control data has been updated since the last call.

void DriverStation::SetData

(

)

[protected]

Copy status data from the DS task for the user.

void DriverStation::SetDigitalOut	(	UINT32	channel,
		bool	value
	)

Set a value for the digital outputs on the Driver Station.

Control digital outputs on the Drivers Station. These values are typically used for giving feedback on a custom operator station such as LEDs.

Parameters:

channel	The digital output to set. Valid range is 1 - 8.
value	The state to set the digital output.

void DriverStation::WaitForData

(

)

Wait until a new packet comes from the driver station This blocks on a semaphore, so the waiting is efficient. This is a good way to delay processing until there is new driver station data to act on

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

• DriverStation.h
• DriverStation.cpp