DriverStation
- class wpilib.DriverStation
Bases:
pybind11_object
Provide access to the network communication data to / from the Driver Station.
- class Alliance(value: int)
Bases:
pybind11_object
The robot alliance that the robot is a part of.
Members:
kRed : Red alliance.
kBlue : Blue alliance.
- kBlue = <Alliance.kBlue: 1>
- kRed = <Alliance.kRed: 0>
- property name
- property value
- class MatchType(value: int)
Bases:
pybind11_object
The type of robot match that the robot is part of.
Members:
kNone : None.
kPractice : Practice.
kQualification : Qualification.
kElimination : Elimination.
- kElimination = <MatchType.kElimination: 3>
- kNone = <MatchType.kNone: 0>
- kPractice = <MatchType.kPractice: 1>
- kQualification = <MatchType.kQualification: 2>
- property name
- property value
- static getAlliance() wpilib._wpilib.DriverStation.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 getBatteryVoltage() float
Read the battery voltage.
- Returns:
The battery voltage in Volts.
- getControlState() tuple[bool, bool, bool]
More efficient way to determine what state the robot is in.
- Returns:
booleans representing enabled, isautonomous, istest
New in version 2019.2.1.
Note
This function only exists in RobotPy
- static getEventName() str
Returns the name of the competition event provided by the FMS.
- Returns:
A string containing the event name
- static getGameSpecificMessage() str
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 getJoystickAxisType(stick: int, axis: int) int
Returns the types of Axes on a given joystick port.
- Parameters:
stick – The joystick port number and the target axis
axis – The analog axis value to read from the joystick.
- Returns:
What type of axis the axis is reporting to be
- static getJoystickIsXbox(stick: int) 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 getJoystickName(stick: int) 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 getJoystickType(stick: int) int
Returns the type of joystick at a given port.
- Parameters:
stick – The joystick port number
- Returns:
The HID type of joystick at the given port
- static getLocation() 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 getMatchNumber() int
Returns the match number provided by the FMS.
- Returns:
The number of the match
- static getMatchTime() 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 is a floating point number, and counts up.
Simulation matches DS behavior without an FMS connected.
- Returns:
Time remaining in current match period (auto or teleop) in seconds
- static getMatchType() wpilib._wpilib.DriverStation.MatchType
Returns the type of match being played provided by the FMS.
- Returns:
The match type enum (kNone, kPractice, kQualification, kElimination)
- static getReplayNumber() int
Returns the number of times the current match has been replayed from the FMS.
- Returns:
The number of replays
- static getStickAxis(stick: int, axis: int) 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 getStickAxisCount(stick: int) int
Returns the number of axes on a given joystick port.
- Parameters:
stick – The joystick port number
- Returns:
The number of axes on the indicated joystick
- static getStickButton(stick: int, button: int) bool
The state of one joystick button. %Button indexes begin at 1.
- Parameters:
stick – The joystick to read.
button – The button index, beginning at 1.
- Returns:
The state of the joystick button.
- static getStickButtonCount(stick: int) int
Returns the number of buttons on a given joystick port.
- Parameters:
stick – The joystick port number
- Returns:
The number of buttons on the indicated joystick
- static getStickButtonPressed(stick: int, button: int) 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 1.
- Returns:
Whether the joystick button was pressed since the last check.
- static getStickButtonReleased(stick: int, button: int) 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 1.
- Returns:
Whether the joystick button was released since the last check.
- static getStickButtons(stick: int) 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 getStickPOV(stick: int, pov: int) int
Get the state of a POV on the joystick.
- Returns:
the angle of the POV in degrees, or -1 if the POV is not pressed.
- static getStickPOVCount(stick: int) int
Returns the number of POVs on a given joystick port.
- Parameters:
stick – The joystick port number
- Returns:
The number of POVs on the indicated joystick
- 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 isJoystickConnected(stick: int) 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 isJoystickConnectionWarningSilenced() 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 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 isTest() bool
Check if the DS is commanding test mode.
- Returns:
True if the robot is being commanded to be in test mode
- static isTestEnabled() bool
Check if the DS is commanding Test mode and if it has enabled the robot.
- Returns:
True if the robot is being commanded to be in Test mode and enabled.
- kJoystickPorts = 6
- static provideRefreshedDataEventHandle(handle: int) None
Registers the given handle for DS data refresh notifications.
- Parameters:
handle – The event handle.
- static refreshData() 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 removeRefreshedDataEventHandle(handle: int) None
Unregisters the given handle from DS data refresh notifications.
- Parameters:
handle – The event handle.
- static silenceJoystickConnectionWarning(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 startDataLog(log: wpiutil._wpiutil.log.DataLog, logJoysticks: bool = True) None
Starts logging DriverStation data to data log. Repeated calls are ignored.
- Parameters:
log – data log
logJoysticks – if true, log joystick data
- static waitForDsConnection(timeout: wpimath.units.seconds) bool
Wait for a DS connection.
- Parameters:
timeout – timeout in seconds. 0 for infinite.
- Returns:
true if connected, false if timeout