RobotState

class wpilib.RobotState

Bases: pybind11_object

Provides access to robot state information from the Driver Station.

static addOpMode(*args, **kwargs)

Overloaded function.

  1. addOpMode(mode: hal._wpiHal.RobotMode, name: str, group: str, description: str, textColor: wpiutil._wpiutil.Color, backgroundColor: wpiutil._wpiutil.Color) -> int

Adds an operating mode option. It’s necessary to call PublishOpModes() to make the added modes visible to the driver station.

Parameters:

  • mode – robot mode

  • name – name of the operating mode

  • group – group of the operating mode

  • description – description of the operating mode

  • textColor – text color

  • backgroundColor – background color

Returns:

unique ID used to later identify the operating mode; if a blank name is passed, 0 is returned; identical names for the same robot mode result in a 0 return value

  1. addOpMode(mode: hal._wpiHal.RobotMode, name: str, group: str = ‘’, description: str = ‘’) -> int

Adds an operating mode option. It’s necessary to call PublishOpModes() to make the added modes visible to the driver station.

Parameters:

  • mode – robot mode

  • name – name of the operating mode

  • group – group of the operating mode

  • description – description of the operating mode

Returns:

unique ID used to later identify the operating mode; if a blank name is passed, 0 is returned; identical names for the same robot mode result in a 0 return value

static clearOpModes() → None

Clears all operating mode options and publishes an empty list to the driver station.

static getOpMode() → str

Gets the operating mode selected on the driver station. Note this does not mean the robot is enabled; use IsEnabled() for that. In a match, this will indicate the operating mode selected for auto before the match starts (i.e., while the robot is disabled in auto mode); after the auto period ends, this will change to reflect the operating mode selected for teleop.

Returns:

Operating mode string; may return a string not in the list of options, so callers should be prepared to handle that case

static getOpModeId() → int

Gets the operating mode selected on the driver station. Note this does not mean the robot is enabled; use IsEnabled() for that. In a match, this will indicate the operating mode selected for auto before the match starts (i.e., while the robot is disabled in auto mode); after the auto period ends, this will change to reflect the operating mode selected for teleop.

Returns:

the unique ID provided by the AddOpMode() function; may return 0 or a unique ID not added, so callers should be prepared to handle that case

static getRobotMode() → hal._wpiHal.RobotMode

Gets the current robot mode.

Note that this does not indicate whether the robot is enabled or disabled.

Returns:

robot mode

static isAutonomous() → bool

Check if the DS is commanding autonomous mode.

Returns:

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

static isAutonomousEnabled() → bool

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.

static isDSAttached() → bool

Check if the DS is attached.

Returns:

True if the DS is connected to the robot

static isDisabled() → bool

Check if the robot is disabled.

Returns:

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

static isEStopped() → bool

Check if the robot is e-stopped.

Returns:

True if the robot is e-stopped

static isEnabled() → bool

Check if the DS has enabled the robot.

Returns:

True if the robot is enabled and the DS is connected

static isFMSAttached() → bool

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

static isOpMode(*args, **kwargs)

Overloaded function.

  1. isOpMode(id: typing.SupportsInt | typing.SupportsIndex) -> bool

Check to see if the selected operating mode is a particular value. Note this does not mean the robot is enabled; use IsEnabled() for that.

Parameters:

id – operating mode unique ID

Returns:

True if that mode is the current mode

  1. isOpMode(mode: str) -> bool

Check to see if the selected operating mode is a particular value. Note this does not mean the robot is enabled; use IsEnabled() for that.

Parameters:

mode – operating mode

Returns:

True if that mode is the current mode

static isTeleop() → bool

Check if the DS is commanding teleop mode.

Returns:

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

static isTeleopEnabled() → bool

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.

static isUtility() → bool

Check if the DS is commanding utility mode.

Returns:

True if the robot is being commanded to be in utility mode

static isUtilityEnabled() → bool

Check if the DS is commanding Utility mode and if it has enabled the robot.

Returns:

True if the robot is being commanded to be in Utility mode and enabled.

static publishOpModes() → None

Publishes the operating mode options to the driver station.

static removeOpMode(mode: hal._wpiHal.RobotMode, name: str) → int

Removes an operating mode option. It’s necessary to call PublishOpModes() to make the removed mode no longer visible to the driver station.

Parameters:

  • mode – robot mode

  • name – name of the operating mode

Returns:

unique ID for the opmode, or 0 if not found