Utilities

class ntcore.util.ChooserControl(key: str, on_choices: Callable[[Sequence[str]], None] | None = None, on_selected: Callable[[str], None] | None = None, *, inst: NetworkTableInstance | None = None)

Interacts with a wpilib.SendableChooser object over NetworkTables.

Parameters:

• key – NetworkTables key

• on_choices – A function that will be called when the choices change.

• on_selection – A function that will be called when the selection changes.

• inst – The NetworkTables instance to use.

close() → None

Stops listening for changes to the SendableChooser

getChoices() → Sequence[str]

Returns the current choices. If the chooser doesn’t exist, this will return an empty tuple.

getSelected() → str | None

Returns the current selection or None

setSelected(selection: str) → None

Sets the active selection on the chooser

Parameters:

selection – Active selection name

ntcore.util.ntproperty(key: str, defaultValue, *, writeDefault: bool = True, doc: str = None, persistent: bool = False, type: NetworkTableType | None = None, inst: NetworkTableInstance | None = None) → property

A property that you can add to your classes to access NetworkTables variables like a normal variable.

Parameters:

• key – A full NetworkTables key (eg /SmartDashboard/foo)

• defaultValue (any) – Default value to use if not in the table

• writeDefault – If True, put the default value to the table, overwriting existing values

• doc – If given, will be the docstring of the property.

• persistent – If True, persist set values across restarts. writeDefault is ignored if this is True.

• type – Specify the type of this entry. If not specified, will autodetect the type from the default value

• inst – The NetworkTables instance to use.

Example usage:

class Foo(object):

    something = ntproperty('/SmartDashboard/something', True)

    ...

    def do_thing(self):
        if self.something:    # reads from value
            ...

            self.something = False # writes value

Note

When using empty lists/tuples, you must explicitly specify the type.

Warning

This function assumes that the value’s type never changes. If it does, you’ll get really strange errors… so don’t do that.