edu.wpi.first.wpilibj.communication
Class FRCControl

java.lang.Object
  edu.wpi.first.wpilibj.communication.FRCControl

public final class FRCControl
extends Object

Contains the code necessary to communicate between the robot and the driver station.

IO_CONFIG_DATA_SIZE

public static final int IO_CONFIG_DATA_SIZE

The size of the IO configuration data

See Also:

Constant Field Values

USER_CONTROL_DATA_SIZE

public static final int USER_CONTROL_DATA_SIZE

The size of the user control data

See Also:

Constant Field Values

USER_STATUS_DATA_SIZE

public static final int USER_STATUS_DATA_SIZE

The size of the user status data

See Also:

Constant Field Values

USER_DS_LCD_DATA_SIZE

public static final int USER_DS_LCD_DATA_SIZE

The size of the user driver station display data

See Also:

Constant Field Values

getCommonControlData

public static int getCommonControlData(FRCCommonControlData data,
                                       int wait_ms)

Get the control data from the driver station. The parameter "data" is only updated when the method returns 0.

Parameters:

data - the object to store the results in (out param)

wait_ms - the maximum time to wait

Returns:

0 if new data, 1 if no new data, 2 if access timed out.

getDynamicControlData

public static int getDynamicControlData(byte type,
                                        FRCControl.DynamicControlData dynamicData,
                                        int maxLength,
                                        int wait_ms)

Get the dynamic control data from the driver station. The parameter "dynamicData" is only updated when the method returns 0.

Parameters:

type - The type to get.

dynamicData - The array to hold the result in.

maxLength - The maximum length of the data.

wait_ms - The maximum time to wait.

Returns:

0 if new data, 1 if no new data, 2 if access timed out.

overrideIOConfig

public static int overrideIOConfig(FRCControl.DynamicControlData ioConfig,
                                   int wait_ms)

Right new io config data.

Parameters:

ioConfig - The data to write / read

wait_ms - The maximum time to wait.

Returns:

0 if new data, 1 if no new data, 2 if access timed out.

setStatusData

public static int setStatusData(double battery,
                                int dsDigitalOut,
                                int updateNumber,
                                byte[] userDataHigh,
                                int userDataHighLength,
                                byte[] userDataLow,
                                int userDataLowLength,
                                int wait_ms)

Set the status data to send to the ds

Parameters:

battery - the battery voltage

dsDigitalOut - value to set the digital outputs on the ds to

updateNumber - unique ID for this update (incrementing)

userDataHigh - additional high-priority user data bytes

userDataHighLength - number of high-priority data bytes

userDataLow - additional low-priority user data bytes

userDataLowLength - number of low-priority data bytes

wait_ms - the timeout

Returns:

0 on success, 1 if userData.length is too big, 2 if semaphore could not be taken in wait_ms.

setErrorData

public static void setErrorData(byte[] bytes,
                                int length,
                                int timeOut)

Send data to the driver station's error panel

Parameters:

bytes - the byte array containing the properly formatted information for the display

length - the length of the byte array

timeOut - the maximum time to wait

setErrorData

public static void setErrorData(Pointer textPtr,
                                int length,
                                int timeOut)

Send data to the driver station's error panel

Parameters:

textPtr - pointer to C byte array containing the properly formatted information for the display

length - the length of the byte array

timeOut - the maximum time to wait

setUserDsLcdData

public static void setUserDsLcdData(byte[] bytes,
                                    int length,
                                    int timeOut)

Send data to the driver station's user panel

Parameters:

bytes - the byte array containing the properly formatted information for the display

length - the length of the byte array

timeOut - the maximum time to wait

setNewDataSem

public static void setNewDataSem(Semaphore sem)

Set the semaphore for the communications task to use

Parameters:

sem - the semaphore to use

observeUserProgramStarting

public static void observeUserProgramStarting()

Let the DS know that the user is loading a new app.

observeUserProgramDisabled

public static void observeUserProgramDisabled()

observeUserProgramAutonomous

public static void observeUserProgramAutonomous()

observeUserProgramTeleop

public static void observeUserProgramTeleop()

observeUserProgramTest

public static void observeUserProgramTest()