#include <DriverStation.h>

Inheritance diagram for DriverStation:

Collaboration diagram for DriverStation:

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	IsTest ()
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)
void	InTest (bool entering)
Public Member Functions inherited from SensorBase
	SensorBase ()
virtual	~SensorBase ()
Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.
virtual const Error &	GetError () const
virtual void	SetErrnoError (const char contextMessage, const char filename, const char *function, UINT32 lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable.
virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, UINT32 lineNumber) const
	Set the current error information associated from the nivision Imaq API.
virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, UINT32 lineNumber) const
	Set the current error information associated with this sensor.
virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, UINT32 lineNumber) const
	Set the current error information associated with this sensor.
virtual void	CloneError (ErrorBase *rhs) const
virtual void	ClearError () const
	Clear the current error information associated with this sensor.
virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error.

Static Public Member Functions
static DriverStation *	GetInstance ()
Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()
static UINT32	GetDefaultAnalogModule ()
static UINT32	GetDefaultDigitalModule ()
static UINT32	GetDefaultSolenoidModule ()
static bool	CheckAnalogModule (UINT8 moduleNumber)
static bool	CheckDigitalModule (UINT8 moduleNumber)
static bool	CheckPWMModule (UINT8 moduleNumber)
static bool	CheckRelayModule (UINT8 moduleNumber)
static bool	CheckSolenoidModule (UINT8 moduleNumber)
static bool	CheckDigitalChannel (UINT32 channel)
static bool	CheckRelayChannel (UINT32 channel)
static bool	CheckPWMChannel (UINT32 channel)
static bool	CheckAnalogChannel (UINT32 channel)
static bool	CheckSolenoidChannel (UINT32 channel)
Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, UINT32 lineNumber)
static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, UINT32 lineNumber)
static Error &	GetGlobalError ()

Static Public Attributes
static const UINT32	kBatteryModuleNumber = 1
static const UINT32	kBatteryChannel = 8
static const UINT32	kJoystickPorts = 4
static const UINT32	kJoystickAxes = 6
Static Public Attributes inherited from SensorBase
static const UINT32	kSystemClockTicksPerMicrosecond = 40
static const UINT32	kDigitalChannels = 14
static const UINT32	kAnalogChannels = 8
static const UINT32	kAnalogModules = 2
static const UINT32	kDigitalModules = 2
static const UINT32	kSolenoidChannels = 8
static const UINT32	kSolenoidModules = 2
static const UINT32	kPwmChannels = 10
static const UINT32	kRelayChannels = 8
static const UINT32	kChassisSlots = 8

Protected Member Functions
	DriverStation ()
void	GetData ()
void	SetData ()
Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()
Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Additional Inherited Members
Protected Attributes inherited from ErrorBase
Error	m_error
Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)
static Error	_globalError

Detailed Description

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

Definition at line 21 of file DriverStation.h.

Constructor & Destructor Documentation

DriverStation::DriverStation ( )

protected

DriverStation contructor.

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

Definition at line 31 of file DriverStation.cpp.

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

Definition at line 453 of file DriverStation.cpp.

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.

Definition at line 306 of file DriverStation.cpp.

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.

Definition at line 208 of file DriverStation.cpp.

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.

Definition at line 159 of file DriverStation.cpp.

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.

Definition at line 338 of file DriverStation.cpp.

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.

Definition at line 383 of file DriverStation.cpp.

DriverStation * DriverStation::GetInstance ( )

static

Return a pointer to the singleton DriverStation.

Definition at line 145 of file DriverStation.cpp.

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

Definition at line 466 of file DriverStation.cpp.

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

Definition at line 492 of file DriverStation.cpp.

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

Definition at line 443 of file DriverStation.cpp.

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.

Definition at line 227 of file DriverStation.cpp.

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.

Definition at line 275 of file DriverStation.cpp.

UINT16 DriverStation::GetTeamNumber ( )

Return the team number that the Driver Station is configured for

Returns: The team number

Definition at line 503 of file DriverStation.cpp.

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

Definition at line 87 of file DriverStation.h.

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

Definition at line 83 of file DriverStation.h.

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

Definition at line 91 of file DriverStation.h.

void DriverStation::InTest ( 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 test code; if false, leaving test code

Definition at line 95 of file DriverStation.h.

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

Definition at line 432 of file DriverStation.cpp.

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.

Definition at line 422 of file DriverStation.cpp.

void DriverStation::SetData ( )

protected

Copy status data from the DS task for the user.

Definition at line 182 of file DriverStation.cpp.

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.

Definition at line 362 of file DriverStation.cpp.

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

Definition at line 477 of file DriverStation.cpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation