DriverStationBackend

class wpilib.DriverStationBackend

Bases: pybind11_object

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

JOYSTICK_PORTS = 6
static add_opmode(*args, **kwargs)

Overloaded function.

  1. add_opmode(mode: hal._wpi_hal.RobotMode, name: str, group: str, description: str, text_color: wpiutil._wpiutil.Color, background_color: 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

  • text_color – text color

  • background_color – 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. add_opmode(mode: hal._wpi_hal.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 clear_opmodes() → None

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

static construct_generic_hid(port: SupportsInt | SupportsIndex) → wpilib._wpilib.GenericHID

Constructs a GenericHID for the given port.

Parameters:

port – The port index on the Driver Station.

Returns:

The GenericHID object for the given port.

static get_alliance() → wpilib._wpilib.Alliance | None

Get the current alliance from the FMS.

If the FMS is not connected, it is set from the team alliance setting on the driver station.

Returns:

The alliance (red or blue) or an empty optional if the alliance is invalid

static get_battery_voltage() → float

Read the battery voltage.

Returns:

The battery voltage in Volts.

static get_control_word() → hal._wpi_hal.ControlWord

Get the current control word.

Returns:

control word

static get_event_name() → str

Returns the name of the competition event provided by the FMS.

Returns:

A string containing the event name

static get_game_data() → str | None

Returns the game specific message provided by the FMS.

If the FMS is not connected, it is set from the game data setting on the driver station.

Returns:

A string containing the game specific message.

static get_joystick_gamepad_type(stick: SupportsInt | SupportsIndex) → int

Returns the type of joystick at a given port.

This maps to SDL_GamepadType

Parameters:

stick – The joystick port number

Returns:

The HID type of joystick at the given port

static get_joystick_is_gamepad(stick: SupportsInt | SupportsIndex) → bool

Returns a boolean indicating if the controller is an xbox controller.

Parameters:

stick – The joystick port number

Returns:

A boolean that is true if the controller is an xbox controller.

static get_joystick_name(stick: SupportsInt | SupportsIndex) → str

Returns the name of the joystick at the given port.

Parameters:

stick – The joystick port number

Returns:

The name of the joystick at the given port

static get_joystick_supported_outputs(stick: SupportsInt | SupportsIndex) → int

Returns the number of outputs supported by the joystick at the given port.

Parameters:

stick – The joystick port number

Returns:

The number of outputs supported by the joystick at the given port

static get_location() → int | None

Return the driver station location from the FMS.

If the FMS is not connected, it is set from the team alliance setting on the driver station.

This could return 1, 2, or 3.

Returns:

The location of the driver station (1-3, 0 for invalid)

static get_match_number() → int

Returns the match number provided by the FMS.

Returns:

The number of the match

static get_match_time() → wpimath.units.seconds

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 returns -1.0.

Simulation matches DS behavior without an FMS connected.

Returns:

Time remaining in current match period (auto or teleop) in seconds

static get_match_type() → wpilib._wpilib.MatchType

Returns the type of match being played provided by the FMS.

Returns:

The match type enum (kNone, kPractice, kQualification, kElimination)

static get_opmode() → 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 get_opmode_id() → 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 get_replay_number() → int

Returns the number of times the current match has been replayed from the FMS.

Returns:

The number of replays

static get_robot_mode() → hal._wpi_hal.RobotMode

Gets the current robot mode.

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

Returns:

robot mode

static get_stick_axes_available(stick: SupportsInt | SupportsIndex) → int

Returns the mask of available axes on a given joystick port.

Parameters:

stick – The joystick port number

Returns:

The mask of available axes on the indicated joystick

static get_stick_axes_maximum_index(stick: SupportsInt | SupportsIndex) → int

Returns the maximum axis index on a given joystick port.

Parameters:

stick – The joystick port number

Returns:

The maximum axis index on the indicated joystick

static get_stick_axis(stick: SupportsInt | SupportsIndex, axis: SupportsInt | SupportsIndex) → float

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.

static get_stick_axis_if_available(stick: SupportsInt | SupportsIndex, axis: SupportsInt | SupportsIndex) → float | None

Get the value of the axis on a joystick, if available.

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, or empty if not available.

static get_stick_button(stick: SupportsInt | SupportsIndex, button: SupportsInt | SupportsIndex) → bool

The state of one joystick button. Button indexes begin at 0.

Parameters:

  • stick – The joystick to read.

  • button – The button index, beginning at 0.

Returns:

The state of the joystick button.

static get_stick_button_if_available(stick: SupportsInt | SupportsIndex, button: SupportsInt | SupportsIndex) → bool | None

The state of one joystick button, only if available. Button indexes begin at 0.

Parameters:

  • stick – The joystick to read.

  • button – The button index, beginning at 0.

Returns:

The state of the joystick button, or empty if unavailable.

static get_stick_button_pressed(stick: SupportsInt | SupportsIndex, button: SupportsInt | SupportsIndex) → bool

Whether one joystick button was pressed since the last check. %Button indexes begin at 1.

Parameters:

  • stick – The joystick to read.

  • button – The button index, beginning at 0.

Returns:

Whether the joystick button was pressed since the last check.

static get_stick_button_released(stick: SupportsInt | SupportsIndex, button: SupportsInt | SupportsIndex) → bool

Whether one joystick button was released since the last check. %Button indexes begin at 1.

Parameters:

  • stick – The joystick to read.

  • button – The button index, beginning at 0.

Returns:

Whether the joystick button was released since the last check.

static get_stick_buttons(stick: SupportsInt | SupportsIndex) → int

The state of the buttons on the joystick.

Parameters:

stick – The joystick to read.

Returns:

The state of the buttons on the joystick.

static get_stick_buttons_available(stick: SupportsInt | SupportsIndex) → int

Returns the mask of available buttons on a given joystick port.

Parameters:

stick – The joystick port number

Returns:

The mask of available buttons on the indicated joystick

static get_stick_buttons_maximum_index(stick: SupportsInt | SupportsIndex) → int

Returns the maximum button index on a given joystick port.

Parameters:

stick – The joystick port number

Returns:

The maximum button index on the indicated joystick

static get_stick_pov(stick: SupportsInt | SupportsIndex, pov: SupportsInt | SupportsIndex) → wpilib._wpilib.POVDirection

Get the state of a POV on the joystick.

Returns:

the angle of the POV.

static get_stick_povs_available(stick: SupportsInt | SupportsIndex) → int

Returns the mask of available POVs on a given joystick port.

Parameters:

stick – The joystick port number

Returns:

The mask of available POVs on the indicated joystick

static get_stick_povs_maximum_index(stick: SupportsInt | SupportsIndex) → int

Returns the maximum POV index on a given joystick port.

Parameters:

stick – The joystick port number

Returns:

The maximum POV index on the indicated joystick

static get_stick_touchpad_finger(stick: SupportsInt | SupportsIndex, touchpad: SupportsInt | SupportsIndex, finger: SupportsInt | SupportsIndex) → wpilib._wpilib.TouchpadFinger

Get the finger data of a touchpad on a joystick, if available.

Parameters:

  • stick – The joystick to read.

  • touchpad – The touchpad index to read from the joystick.

  • finger – The finger index to read from the touchpad.

Returns:

The finger data of the touchpad on the joystick.

static get_stick_touchpad_finger_available(stick: SupportsInt | SupportsIndex, touchpad: SupportsInt | SupportsIndex, finger: SupportsInt | SupportsIndex) → bool

Whether a finger on a touchpad is available.

Parameters:

  • stick – The joystick to read.

  • touchpad – The touchpad index to read from the joystick.

  • finger – The finger index to read from the touchpad.

Returns:

True if the finger data is available.

static is_autonomous() → bool

Check if the DS is commanding autonomous mode.

Returns:

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

static is_autonomous_enabled() → 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 is_disabled() → bool

Check if the robot is disabled.

Returns:

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

static is_ds_attached() → bool

Check if the DS is attached.

Returns:

True if the DS is connected to the robot

static is_e_stopped() → bool

Check if the robot is e-stopped.

Returns:

True if the robot is e-stopped

static is_enabled() → bool

Check if the DS has enabled the robot.

Returns:

True if the robot is enabled and the DS is connected

static is_fms_attached() → 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 is_joystick_connected(stick: SupportsInt | SupportsIndex) → bool

Returns if a joystick is connected to the Driver Station.

This makes a best effort guess by looking at the reported number of axis, buttons, and POVs attached.

Parameters:

stick – The joystick port number

Returns:

true if a joystick is connected

static is_joystick_connection_warning_silenced() → bool

Returns whether joystick connection warnings are silenced. This will always return false when connected to the FMS.

Returns:

Whether joystick connection warnings are silenced.

static is_opmode(*args, **kwargs)

Overloaded function.

  1. is_opmode(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. is_opmode(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 is_teleop() → bool

Check if the DS is commanding teleop mode.

Returns:

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

static is_teleop_enabled() → 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 is_utility() → bool

Check if the DS is commanding utility mode.

Returns:

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

static is_utility_enabled() → 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 observe_user_program_starting() → None

Sets the program starting flag in the DS. This will also allow getOpModeId() and getOpMode() to return values for the selected OpMode in the DS application, if the DS is connected by the time this method is called.

Most users will not need to use this method; the TimedRobot and OpModeRobot robot framework classes will call it automatically after the main robot class is instantiated.

This is what changes the DS to showing robot code ready.

static provide_refreshed_data_event_handle(handle: SupportsInt | SupportsIndex) → None

Registers the given handle for DS data refresh notifications.

Parameters:

handle – The event handle.

static publish_opmodes() → None

Publishes the operating mode options to the driver station.

static refresh_data() → None

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.

static remove_opmode(mode: hal._wpi_hal.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

static remove_refreshed_data_event_handle(handle: SupportsInt | SupportsIndex) → None

Unregisters the given handle from DS data refresh notifications.

Parameters:

handle – The event handle.

static reset_cached_hid_data() → None

Resets cached DriverStation HID wrapper objects.

This is intended for test cleanup only. Any existing references to cached GenericHID or Gamepad objects become invalid after this call.

static silence_joystick_connection_warning(silence: bool) → None

Allows the user to specify whether they want joystick connection warnings to be printed to the console. This setting is ignored when the FMS is connected – warnings will always be on in that scenario.

Parameters:

silence – Whether warning messages should be silenced.

static start_data_log(log: wpilog._wpilog.DataLog, log_joysticks: bool = True) → None

Starts logging DriverStation data to data log. Repeated calls are ignored.

Parameters:

  • log – data log

  • log_joysticks – if true, log joystick data