Package edu.wpi.first.wpilibj
Class DSControlWord
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- edu.wpi.first.wpilibj.DSControlWord
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public class DSControlWord extends Object
A wrapper around Driver Station control word.
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Constructor Summary
Constructors Constructor Description DSControlWord()
DSControlWord constructor.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description boolean
isAutonomous()
Gets a value indicating whether the Driver Station requires the robot to be running in autonomous mode.boolean
isAutonomousEnabled()
Gets a value indicating whether the Driver Station requires the robot to be running in autonomous mode and enabled.boolean
isDisabled()
Gets a value indicating whether the Driver Station requires the robot to be disabled.boolean
isDSAttached()
Gets a value indicating whether the Driver Station is attached.boolean
isEnabled()
Gets a value indicating whether the Driver Station requires the robot to be enabled.boolean
isEStopped()
Gets a value indicating whether the Robot is e-stopped.boolean
isFMSAttached()
Gets if the driver station attached to a Field Management System.boolean
isTeleop()
Gets a value indicating whether the Driver Station requires the robot to be running in operator-controlled mode.boolean
isTeleopEnabled()
Gets a value indicating whether the Driver Station requires the robot to be running in operator-controller mode and enabled.boolean
isTest()
Gets a value indicating whether the Driver Station requires the robot to be running in test mode.void
update()
Update internal Driver Station control word.
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Constructor Detail
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DSControlWord
public DSControlWord()
DSControlWord constructor.Upon construction, the current Driver Station control word is read and stored internally.
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Method Detail
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update
public void update()
Update internal Driver Station control word.
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isEnabled
public boolean isEnabled()
Gets a value indicating whether the Driver Station requires the robot to be enabled.- Returns:
- True if the robot is enabled, false otherwise.
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isDisabled
public boolean isDisabled()
Gets a value indicating whether the Driver Station requires the robot to be disabled.- Returns:
- True if the robot should be disabled, false otherwise.
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isEStopped
public boolean isEStopped()
Gets a value indicating whether the Robot is e-stopped.- Returns:
- True if the robot is e-stopped, false otherwise.
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isAutonomous
public boolean isAutonomous()
Gets a value indicating whether the Driver Station requires the robot to be running in autonomous mode.- Returns:
- True if autonomous mode should be enabled, false otherwise.
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isAutonomousEnabled
public boolean isAutonomousEnabled()
Gets a value indicating whether the Driver Station requires the robot to be running in autonomous mode and enabled.- Returns:
- True if autonomous should be set and the robot should be enabled.
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isTeleop
public boolean isTeleop()
Gets a value indicating whether the Driver Station requires the robot to be running in operator-controlled mode.- Returns:
- True if operator-controlled mode should be enabled, false otherwise.
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isTeleopEnabled
public boolean isTeleopEnabled()
Gets a value indicating whether the Driver Station requires the robot to be running in operator-controller mode and enabled.- Returns:
- True if operator-controlled mode should be set and the robot should be enabled.
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isTest
public boolean isTest()
Gets a value indicating whether the Driver Station requires the robot to be running in test mode.- Returns:
- True if test mode should be enabled, false otherwise.
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isDSAttached
public boolean isDSAttached()
Gets a value indicating whether the Driver Station is attached.- Returns:
- True if Driver Station is attached, false otherwise.
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isFMSAttached
public boolean isFMSAttached()
Gets if 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
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