Struct RobotBase

pub struct RobotBase {}

Implementations

impl RobotBase

Though many methods are static for convenience, they will error if a a RobotBase has not already been constructed.

pub fn new() -> Result<RobotBase, RobotBaseInitError>

Create a new robot, initializing hardware in the process. Call before initializing any other wpilib stuff.

pub fn start_competition()

Call when your robot is ready to be enabled. Make sure your hardware and threads have been created, etc.

pub fn make_ds(&self) -> DriverStation<'_>

pub fn fpga_version() -> HalResult<i32>

Return the FPGA Version number.

For now, expect this to be competition year.

pub fn fpga_revision() -> HalResult<i64>

Return the FPGA Revision number.

The format of the revision is 3 numbers. The 12 most significant bits are the Major Revision. The next 8 bits are the Minor Revision. The 12 least significant bits are the Build Number.

pub fn fpga_time() -> HalResult<u64>

Read the microsecond-resolution timer on the FPGA.

Returns The current time in microseconds according to the FPGA (since FPGA reset).

pub fn fpga_time_duration() -> HalResult<Duration>

Read the microsecond-resolution timer on the FPGA as a std::time::Duration.

pub fn user_button() -> HalResult<bool>

Get the state of the “USER” button on the roboRIO.

True if the button is currently pressed.

pub fn is_browned_out() -> HalResult<bool>

Reuturns true if the robot is browned out.

pub fn is_system_active() -> HalResult<bool>

Returns true if outputs are enabled. A false result could be caused by a disabled robot or a brownout.

pub fn battery_voltage() -> HalResult<f64>

Get the robot’s current battery voltage.

Trait Implementations

impl Debug for RobotBase

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Drop for RobotBase

fn drop(&mut self)

Executes the destructor for this type.