DriverStationSim

class wpilib.simulation.DriverStationSim

Bases: pybind11_object

Class to control a simulated driver station.

static getAllianceStationId() → hal._wpiHal.AllianceStationID

Get the alliance station ID (color + number).

Returns:

the alliance station color and number

static getAutonomous() → bool

Check if the DS is in autonomous.

Returns:

true if autonomous

static getDsAttached() → bool

Check if the DS is attached.

Returns:

true if attached

static getEStop() → bool

Check if eStop has been activated.

Returns:

true if eStopped

static getEnabled() → bool

Check if the DS is enabled.

Returns:

true if enabled

static getFmsAttached() → bool

Check if the FMS is connected.

Returns:

true if FMS is connected

static getJoystickOutputs(stick: int) → int

Gets the joystick outputs.

Parameters:

stick – The joystick number

Returns:

The joystick outputs

static getJoystickRumble(stick: int, rumbleNum: int) → int

Gets the joystick rumble.

Parameters:

  • stick – The joystick number

  • rumbleNum – Rumble to get (0=left, 1=right)

Returns:

The joystick rumble value

static getMatchTime() → float

Get the current value of the match timer.

Returns:

the current match time

static getTest() → bool

Check if the DS is in test.

Returns:

true if test

static notifyNewData() → None

Updates DriverStation data so that new values are visible to the user program.

static registerAllianceStationIdCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on the alliance station ID.

Parameters:

  • callback – the callback that will be called whenever the alliance station changes

  • initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

static registerAutonomousCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on whether the DS is in autonomous mode.

Parameters:

  • callback – the callback that will be called on autonomous mode entrance/exit

  • initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

static registerDsAttachedCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on whether the DS is connected.

Parameters:

  • callback – the callback that will be called whenever the DS connection changes

  • initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

static registerEStopCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on the eStop state.

Parameters:

  • callback – the callback that will be called whenever the eStop state changes

  • initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

static registerEnabledCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on whether the DS is enabled.

Parameters:

  • callback – the callback that will be called whenever the enabled state is changed

  • initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

static registerFmsAttachedCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on whether the FMS is connected.

Parameters:

  • callback – the callback that will be called whenever the FMS connection changes

  • initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

static registerMatchTimeCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on match time.

Parameters:

  • callback – the callback that will be called whenever match time changes

  • initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

static registerTestCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) → wpilib.simulation._simulation.CallbackStore

Register a callback on whether the DS is in test mode.

Parameters:

  • callback – the callback that will be called whenever the test mode is entered or left

  • initialNotify – if true, the callback will be run on the initial value

Returns:

the CallbackStore object associated with this callback

static resetData() → None

Reset all simulation data for the Driver Station.

static setAllianceStationId(allianceStationId: hal._wpiHal.AllianceStationID) → None

Change the alliance station.

Parameters:

allianceStationId – the new alliance station

static setAutonomous(autonomous: bool) → None

Change whether the DS is in autonomous.

Parameters:

autonomous – the new value

static setDsAttached(dsAttached: bool) → None

Change whether the DS is attached.

Parameters:

dsAttached – the new value

static setEStop(eStop: bool) → None

Set whether eStop is active.

Parameters:

eStop – true to activate

static setEnabled(enabled: bool) → None

Change whether the DS is enabled.

Parameters:

enabled – the new value

static setEventName(name: str) → None

Sets the event name.

Parameters:

name – the event name

static setFmsAttached(fmsAttached: bool) → None

Change whether the FMS is connected.

Parameters:

fmsAttached – the new value

static setGameSpecificMessage(message: str) → None

Sets the game specific message.

Parameters:

message – the game specific message

static setJoystickAxis(stick: int, axis: int, value: float) → None

Gets the value of the axis on a joystick.

Parameters:

  • stick – The joystick number

  • axis – The analog axis number

  • value – The value of the axis on the joystick

static setJoystickAxisCount(stick: int, count: int) → None

Sets the number of axes for a joystick.

Parameters:

  • stick – The joystick number

  • count – The number of axes on the indicated joystick

static setJoystickAxisType(stick: int, axis: int, type: int) → None

Sets the types of Axes for a joystick.

Parameters:

  • stick – The joystick number

  • axis – The target axis

  • type – The type of axis

static setJoystickButton(stick: int, button: int, state: bool) → None

Sets the state of one joystick button. %Button indexes begin at 1.

Parameters:

  • stick – The joystick number

  • button – The button index, beginning at 1

  • state – The state of the joystick button

static setJoystickButtonCount(stick: int, count: int) → None

Sets the number of buttons for a joystick.

Parameters:

  • stick – The joystick number

  • count – The number of buttons on the indicated joystick

static setJoystickButtons(stick: int, buttons: int) → None

Sets the state of all the buttons on a joystick.

Parameters:

  • stick – The joystick number

  • buttons – The bitmap state of the buttons on the joystick

static setJoystickIsXbox(stick: int, isXbox: bool) → None

Sets the value of isXbox for a joystick.

Parameters:

  • stick – The joystick number

  • isXbox – The value of isXbox

static setJoystickName(stick: int, name: str) → None

Sets the name of a joystick.

Parameters:

  • stick – The joystick number

  • name – The value of name

static setJoystickPOV(stick: int, pov: int, value: int) → None

Gets the state of a POV on a joystick.

Parameters:

  • stick – The joystick number

  • pov – The POV number

  • value – the angle of the POV in degrees, or -1 for not pressed

static setJoystickPOVCount(stick: int, count: int) → None

Sets the number of POVs for a joystick.

Parameters:

  • stick – The joystick number

  • count – The number of POVs on the indicated joystick

static setJoystickType(stick: int, type: int) → None

Sets the value of type for a joystick.

Parameters:

  • stick – The joystick number

  • type – The value of type

static setMatchNumber(matchNumber: int) → None

Sets the match number.

Parameters:

matchNumber – the match number

static setMatchTime(matchTime: float) → None

Sets the match timer.

Parameters:

matchTime – the new match time

static setMatchType(type: wpilib._wpilib.DriverStation.MatchType) → None

Sets the match type.

Parameters:

type – the match type

static setReplayNumber(replayNumber: int) → None

Sets the replay number.

Parameters:

replayNumber – the replay number

static setSendConsoleLine(shouldSend: bool) → None

Sets suppression of DriverStation::SendConsoleLine messages.

Parameters:

shouldSend – If false then messages will be suppressed.

static setSendError(shouldSend: bool) → None

Sets suppression of DriverStation::ReportError and ReportWarning messages.

Parameters:

shouldSend – If false then messages will be suppressed.

static setTest(test: bool) → None

Change whether the DS is in test.

Parameters:

test – the new value