Struct DriverStation

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pub struct DriverStation { /* private fields */ }

Expand description

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

Implementations§

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impl DriverStation

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

Creates a new driver station with the given team number and alliance

This driver station will attempt to connect to a roboRIO at 10.TE.AM.2, if the roboRIO is at a different ip, use [new] and specify the ip directly.

Examples found in repository ?

examples/simple.rs (line 9)

8fn main() {
9    let mut ds = DriverStation::new_team(4069, Alliance::new_red(1));
10
11    thread::sleep(Duration::from_millis(1500));
12    ds.restart_code();
13    loop {
14        println!("Code: {}", ds.trace().is_code_started());
15
16        thread::sleep(Duration::from_millis(20));
17    }
18}

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

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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

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

Provides a closure that will be called when TCP packets are received from the roboRIO

Example usage: Logging all stdout messages from robot code.

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

Changes the alliance for the given DriverStation

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

Changes the given mode the robot will be in

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pub fn ds_mode(&self) -> DsMode

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pub fn set_team_number(&mut self, team_number: u32)

Changes the team number of this driver station, as well as the ip the driver station will attempt to connect to. The ip of the new roboRIO target is 10.TE.AM.2

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pub fn set_use_usb(&mut self, use_usb: bool)

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pub fn team_number(&self) -> u32

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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

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pub fn mode(&self) -> Mode

Returns the current mode of the robot

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pub fn enable(&mut self)

Enables outputs on the robot

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pub fn restart_code(&mut self)

Instructs the roboRIO to restart robot code

Examples found in repository ?

examples/simple.rs (line 12)

8fn main() {
9    let mut ds = DriverStation::new_team(4069, Alliance::new_red(1));
10
11    thread::sleep(Duration::from_millis(1500));
12    ds.restart_code();
13    loop {
14        println!("Code: {}", ds.trace().is_code_started());
15
16        thread::sleep(Duration::from_millis(20));
17    }
18}

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pub fn restart_roborio(&mut self)

Instructs the roboRIO to reboot

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pub fn enabled(&self) -> bool

Returns whether the robot is currently enabled

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pub fn trace(&self) -> Trace

Returns the last received Trace from the robot

Examples found in repository ?

examples/simple.rs (line 14)

8fn main() {
9    let mut ds = DriverStation::new_team(4069, Alliance::new_red(1));
10
11    thread::sleep(Duration::from_millis(1500));
12    ds.restart_code();
13    loop {
14        println!("Code: {}", ds.trace().is_code_started());
15
16        thread::sleep(Duration::from_millis(20));
17    }
18}