Struct ds::DriverStation

pub struct DriverStation { /* fields omitted */ }

Represents a connection to the roboRIO acting as a driver station

This struct will contain relevant functions to update the state of the robot, and also manages the threads that manage network connections and joysticks

Methods

impl DriverStation

pub fn new_team(team_number: u32, alliance: Alliance) -> DriverStation

pub fn new(ip: &str, team_number: u32, alliance: Alliance) -> DriverStation

Creates a new driver station for the given alliance station and team number Connects to the roborio at ip. To infer the ip from team_number, use new_team instead.

pub fn connected(&self) -> Result<bool>

Queries subthreads to see if this DriverStation is currently connected to a roboRIO

pub fn set_joystick_supplier(
    &mut self,
    supplier: impl Fn() -> Vec<Vec<JoystickValue>> + Send + Sync + 'static
)

Provides a closure that will be called when constructing outbound packets to append joystick values

pub fn set_tcp_consumer(
    &mut self,
    consumer: impl FnMut(TcpPacket) + Send + Sync + 'static
)

pub fn set_alliance(&mut self, alliance: Alliance)

Changes the alliance for the given DriverStation

pub fn set_mode(&mut self, mode: Mode)

Changes the given mode the robot will be in

pub fn set_game_specific_message(&mut self, message: &str) -> Result<()>

Sets the game specific message sent to the robot, and used during the autonomous period

pub fn mode(&self) -> Mode

Returns the current mode of the robot

pub fn enable(&mut self)

Enables outputs on the robot

pub fn restart_code(&mut self)

Instructs the roboRIO to restart robot code

pub fn restart_roborio(&mut self)

Instructs the roboRIO to reboot

pub fn enabled(&self) -> bool

Returns whether the robot is currently enabled

pub fn trace(&self) -> Trace

Returns the last received Trace from the robot

pub fn battery_voltage(&self) -> f32

Returns the last received battery voltage from the robot

pub fn queue_udp(&mut self, udp_tag: UdpTag)

Queues a UDP tag to be transmitted with the next outbound packet to the roboRIO

pub fn udp_queue(&self) -> Vec<UdpTag>

Returns a Vec of the current contents of the UDP queue

pub fn queue_tcp(&mut self, tcp_tag: TcpTag)

Queues a TCP tag to be transmitted to the roboRIO

pub fn tcp_queue(&self) -> Vec<TcpTag>

Returns a Vec of the current contents of the TCP queue

pub fn estop(&mut self)

Disables outputs on the robot and disallows enabling it until the code is restarted.

pub fn estopped(&self) -> bool

Returns whether the robot is currently E-stopped

pub fn disable(&mut self)

Disables outputs on the robot

Trait Implementations

impl Drop for DriverStation

fn drop(&mut self)

Executes the destructor for this type.