Java DriverStation類代碼示例

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
/**
 * Prints error to specified devices
 *
 * @param errorMessage
 *            the message to be printed.
 * @param attatchTimeStamp
 *            whether or not to include a time stamp.
 */
public void printError (String errorMessage,
        boolean attatchTimeStamp)
{
    String appendedErrorMessage;
    rioTime = getDate();
    matchTime = Hardware.driverStation.getMatchTime();

    if (appendTimeStamp == true)
        appendedErrorMessage = appendErrorMessage(errorMessage);
    else
        appendedErrorMessage = errorMessage;

    // if the error must print to the Drivers' Station
    if (defaultPrintDevice == PrintsTo.driverStation ||
            defaultPrintDevice == PrintsTo.driverStationAndRoboRIO)
        {
        final String dsReport = appendErrorMessage(errorMessage);
        DriverStation.reportError(dsReport, false);
        }
    // if the error must print to the errorlog on the rio.
    if (defaultPrintDevice == PrintsTo.roboRIO ||
            defaultPrintDevice == PrintsTo.driverStationAndRoboRIO)
        PrintsToRIO(appendedErrorMessage);
}
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
public NavX() {
	try {
	/***********************************************************************
	 * navX-MXP: 
	 * - Communication via RoboRIO MXP (SPI, I2C, TTL UART) and USB.            
	 * - See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface.
	 * 
	 * navX-Micro:
	 * - Communication via I2C (RoboRIO MXP or Onboard) and USB.
	 * - See http://navx-micro.kauailabs.com/guidance/selecting-an-interface.
	 * 
	 * Multiple navX-model devices on a single robot are supported.
	 ************************************************************************/

		ahrs = new AHRS(SerialPort.Port.kUSB);
	} catch (RuntimeException ex ) {
		DriverStation.reportError("Error instantiating navX MXP:  " + ex.getMessage(), true);
	}

}
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
/**
 * Creates a JsonAutonomous from the specified file
 * @param file The location of the file to parse
 */
public JsonAutonomous(String file)
{
	ap_ds = DriverStation.getInstance();
	turn = new PIDController(0.02, 0, 0, Robot.navx, this);
	turn.setInputRange(-180, 180);
	turn.setOutputRange(-0.7, 0.7);
	turn.setAbsoluteTolerance(0.5);
	turn.setContinuous(true);
	
	straighten = new PIDController(0.01, 0, 0, Robot.navx, this);
	straighten.setInputRange(-180, 180);
	straighten.setOutputRange(-0.7, 0.7);
	straighten.setAbsoluteTolerance(0);
	straighten.setContinuous(true);
	
	turn.setPID(Config.getSetting("auto_turn_p", 0.02), 
			Config.getSetting("auto_turn_i", 0.00001),
			Config.getSetting("auto_turn_d", 0));
	straighten.setPID(Config.getSetting("auto_straight_p", 0.2), 
			Config.getSetting("auto_straight_i", 0),
			Config.getSetting("auto_straight_d", 0));
	parseFile(file);
}
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
public NavX() {
     try {
/***********************************************************************
 * navX-MXP:
 * - Communication via RoboRIO MXP (SPI, I2C, TTL UART) and USB.            
 * - See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface.
 * 
 * navX-Micro:
 * - Communication via I2C (RoboRIO MXP or Onboard) and USB.
 * - See http://navx-micro.kauailabs.com/guidance/selecting-an-interface.
 * 
 * Multiple navX-model devices on a single robot are supported.
 ************************************************************************/
         ahrs = new AHRS(SPI.Port.kMXP); // Use SPI!!!
         //ahrs = new AHRS(I2C.Port.kMXP);
     } catch (RuntimeException ex ) {
         DriverStation.reportError("Error instantiating navX MXP:  " + ex.getMessage(), true);
     }
 }
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
public IMU() {
 	try {
/***********************************************************************
 * navX-MXP:
 * - Communication via RoboRIO MXP (SPI, I2C, TTL UART) and USB.            
 * - See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface.
 * 
 * navX-Micro:
 * - Communication via I2C (RoboRIO MXP or Onboard) and USB.
 * - See http://navx-micro.kauailabs.com/guidance/selecting-an-interface.
 * 
 * Multiple navX-model devices on a single robot are supported.
 ************************************************************************/
         ahrs = new AHRS(SPI.Port.kMXP);
     } catch (RuntimeException ex ) {
         DriverStation.reportError("Error instantiating navX MXP:  " + ex.getMessage(), true);
     }
 }
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
private void logPeriodic() {
		mLogger.logRobotThread("Match time", DriverStation.getInstance().getMatchTime());
		mLogger.logRobotThread("DS Connected", DriverStation.getInstance().isDSAttached());
		mLogger.logRobotThread("DS Voltage", DriverStation.getInstance().getBatteryVoltage());
//		mLogger.logRobotThread("Battery current", HardwareAdapter.getInstance().kPDP.getTotalCurrent());
//		mLogger.logRobotThread("Battery watts drawn", HardwareAdapter.getInstance().kPDP.getTotalPower());
		mLogger.logRobotThread("Outputs disabled", DriverStation.getInstance().isSysActive());
		mLogger.logRobotThread("FMS connected: "+DriverStation.getInstance().isFMSAttached());
		if (DriverStation.getInstance().isAutonomous()) {
			mLogger.logRobotThread("Game period: Auto");
		} else if (DriverStation.getInstance().isDisabled()) {
			mLogger.logRobotThread("Game period: Disabled");
		} else if (DriverStation.getInstance().isOperatorControl()) {
			mLogger.logRobotThread("Game period: Teleop");
		} else if (DriverStation.getInstance().isTest()) {
			mLogger.logRobotThread("Game period: Test");
		}
		if (DriverStation.getInstance().isBrownedOut()) mLogger.logRobotThread("Browned out");
		if (!DriverStation.getInstance().isNewControlData()) mLogger.logRobotThread("Didn't receive new control packet!");
	}
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
/**
 * Constructor.
 *
 * @param port
 *            (the SPI port that the gyro is connected to)
 */
public ADXRS453_Gyro(SPI.Port port) {
    m_spi = new SPI(port);
    m_spi.setClockRate(3000000);
    m_spi.setMSBFirst();
    m_spi.setSampleDataOnRising();
    m_spi.setClockActiveHigh();
    m_spi.setChipSelectActiveLow();

    /** Validate the part ID */
    if ((readRegister(kPIDRegister) & 0xff00) != 0x5200) {
        m_spi.free();
        m_spi = null;
        DriverStation.reportError("Could not find ADXRS453 gyro on SPI port " + port.value, false);
        return;
    }

    m_spi.initAccumulator(kSamplePeriod, 0x20000000, 4, 0x0c00000E, 0x04000000, 10, 16, true, true);

    calibrate();

    LiveWindow.addSensor("ADXRS453_Gyro", port.value, this);
}
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
public void disabledPeriodic() {
    RobotMap.lightRing.set(Relay.Value.kOff);
    Scheduler.getInstance().run();
    
    recordedID = (String) (oi.index.getSelected());
    recordedAuton = SmartDashboard.getBoolean("Use Recorded Autonomous");
    
    Aimer.toPositionMode();
    RobotMap.winchMotor.setEncPosition(0);
    RobotMap.winchMotor.setPosition(0);
    RobotMap.winchMotor.set(0);
    DashboardOutput.putPeriodicData();

    isBlue = (DriverStation.getInstance().getAlliance() == Alliance.Blue);
      
    sendStateToLights(false, false);
}
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
/**
 * Clears the IO buffer in memory and forces things to file. Generally a good idea to use this
 * as infrequently as possible (because it increases logging overhead), but definitely use it
 * before the roboRIO might crash without a proper call to the close() method (ie, during
 * brownout)
 * 
 * @return 0 on flush success or -1 on failure.
 */
public static int forceSync() {
    if (log_open == false) {
        DriverStation.reportError("Error - Log is not yet opened, cannot sync!", false);
        return -1;
    }
    try {
        log_file.flush();
    }
    // Catch ALL the errors!!!
    catch (IOException e) {
    	DriverStation.reportError("Error flushing IO stream file: " + e.getMessage(), false);
        return -1;
    }

    return 0;

}
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
/**
 * Closes the log file and ensures everything is written to disk. init() must be called again in
 * order to write to the file.
 * 
 * @return -1 on failure to close, 0 on success
 */
public static int close() {

    if (log_open == false) {
        return 0;
    }

    try {
        log_file.close();
        log_open = false;
    }
    // Catch ALL the errors!!!
    catch (IOException e) {
    	DriverStation.reportError("Error Closing Log File: " + e.getMessage(), false);
        return -1;
    }
    return 0;

}
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
/**
 * Logs data for all stored method handles. Methods that are not considered "simple" should be
 * handled accordingly within this method. This method should be called once per loop.
 * 
 * @param forceSync set true if a forced write is desired (i.e. brownout conditions)
 * @return 0 if log successful, -1 if log is not open, and -2 on other errors
 */
public static int logData(boolean forceSync) {
    if (!log_open) {
        //System.out.println("ERROR - Log is not yet opened, cannot write!");
        return -1;
    }

    if (forceSync)
        forceSync();

    try {
        for (int i = 0; i < methodHandles.size(); i++) {
            MethodHandle mh = methodHandles.get(i);
            String fieldName = dataFieldNames.get(i);
            Vector<Object> mhArgs = mhReferenceObjects.get(i);
            log_file.write(getStandardLogData(mh, mhArgs,fieldName) + ", ");
        }
        log_file.write("\n");
    } catch (Exception ex) {
    	DriverStation.reportError("Error writing to log file: " + ex.getMessage(), false);
        return -2;
    }

    return 0;
}
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
/**
 * Constructor.
 *
 * @param port
 *            (the SPI port that the gyro is connected to)
 */
public ADXRS453_Gyro(SPI.Port port) {
    m_spi = new SPI(port);
    m_spi.setClockRate(3000000);
    m_spi.setMSBFirst();
    m_spi.setSampleDataOnRising();
    m_spi.setClockActiveHigh();
    m_spi.setChipSelectActiveLow();

    /** Validate the part ID */
    if ((readRegister(kPIDRegister) & 0xff00) != 0x5200) {
        m_spi.free();
        m_spi = null;
        DriverStation.reportError("Could not find ADXRS453 gyro on SPI port " + port.name(), false);
        return;
    }

    m_spi.initAccumulator(kSamplePeriod, 0x20000000, 4, 0x0c00000E, 0x04000000, 10, 16, true, true);

    calibrate();


}
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
/**
 * Prints error to specified devices.
 *
 * @param errorMessage
 *            to be printed
 */
public void printError (String errorMessage)
{
    String appendedErrorMessage;
    rioTime = getDate();
    matchTime = Hardware.driverStation.getMatchTime();

    if (appendTimeStamp == true)
        appendedErrorMessage = appendErrorMessage(errorMessage);
    else
        appendedErrorMessage = errorMessage;

    // if the error must print to the Drivers' Station
    if (defaultPrintDevice == PrintsTo.driverStation ||
            defaultPrintDevice == PrintsTo.driverStationAndRoboRIO)
        {
        final String dsReport = appendErrorMessage(errorMessage);
        DriverStation.reportError(dsReport, false);
        }
    // if the error must print to the errorlog on the rio.
    if (defaultPrintDevice == PrintsTo.roboRIO ||
            defaultPrintDevice == PrintsTo.driverStationAndRoboRIO)
        PrintsToRIO(appendedErrorMessage);
}
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
/**
 * Runs the pipeline one time, giving it the next image from the video source specified
 * in the constructor. This will block until the source either has an image or throws an error.
 * If the source successfully supplied a frame, the pipeline's image input will be set,
 * the pipeline will run, and the listener specified in the constructor will be called to notify
 * it that the pipeline ran.
 *
 * <p>This method is exposed to allow teams to add additional functionality or have their own
 * ways to run the pipeline. Most teams, however, should just use {@link #runForever} in its own
 * thread using a {@link VisionThread}.</p>
 */
public void runOnce() {
  if (Thread.currentThread().getId() == RobotBase.MAIN_THREAD_ID) {
    throw new IllegalStateException(
        "VisionRunner.runOnce() cannot be called from the main robot thread");
  }
  long frameTime = m_cvSink.grabFrame(m_image);
  if (frameTime == 0) {
    // There was an error, report it
    String error = m_cvSink.getError();
    DriverStation.reportError(error, true);
  } else {
    // No errors, process the image
    m_pipeline.process(m_image);
    m_listener.copyPipelineOutputs(m_pipeline);
  }
}
 

import edu.wpi.first.wpilibj.DriverStation; //導入依賴的package包/類
@Override
public void autonomousInit() {

	System.out.println("Auto INIT");

	Auto am = (Auto) a.getSelected();
	Auto bm = (Auto) b.getSelected();
	Auto cm = (Auto) c.getSelected();
	String picked = "We picked: ";
	picked += am.getClass().getName() + ", ";
	picked += bm.getClass().getName() + ", ";
	picked += cm.getClass().getName();
	DriverStation.reportError(picked, false);
	Auto[] m = { am, bm, cm };

	RobotMap.arm1.setSetpoint(RobotMap.arm1.getPosition());

	move = new ConfigMove(m);
	//move = new TimedStraightMove(0.3, 10);
	move.init();
}