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[wpilib] Split DriverStation into smaller classes (#8628)

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This commit is contained in:
Thad House
2026-04-18 19:56:45 -07:00
committed by GitHub
parent 58ad633ae2
commit ab2aef2c29
108 changed files with 4406 additions and 3211 deletions
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10
robotpyExamples/DigitalCommunication/robot.py
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@@ -31,19 +31,19 @@ class MyRobot(wpilib.TimedRobot):
def robotPeriodic(self):
setAlliance = False
alliance = wpilib.DriverStation.getAlliance()
alliance = wpilib.MatchState.getAlliance()
if alliance:
setAlliance = alliance == wpilib.DriverStation.Alliance.RED
setAlliance = alliance == wpilib.Alliance.RED
# pull alliance port high if on red alliance, pull low if on blue alliance
self.allianceOutput.set(setAlliance)
# pull enabled port high if enabled, low if disabled
self.enabledOutput.set(wpilib.DriverStation.isEnabled())
self.enabledOutput.set(wpilib.RobotState.isEnabled())
# pull auto port high if in autonomous, low if in teleop (or disabled)
self.autonomousOutput.set(wpilib.DriverStation.isAutonomous())
self.autonomousOutput.set(wpilib.RobotState.isAutonomous())
# pull alert port high if match time remaining is between 30 and 25 seconds
matchTime = wpilib.DriverStation.getMatchTime()
matchTime = wpilib.MatchState.getMatchTime()
self.alertOutput.set(30 >= matchTime >= 25)

10
robotpyExamples/I2CCommunication/robot.py
View File

@@ -41,15 +41,15 @@ class MyRobot(wpilib.TimedRobot):
# For example, "RET043" would indicate that the robot is on the red
# alliance, enabled in teleop mode, with 43 seconds left in the match.
allianceString = "U"
alliance = wpilib.DriverStation.getAlliance()
alliance = wpilib.MatchState.getAlliance()
if alliance is not None:
allianceString = (
"R" if alliance == wpilib.DriverStation.Alliance.RED else "B"
"R" if alliance == wpilib.Alliance.RED else "B"
)
enabledString = "E" if wpilib.DriverStation.isEnabled() else "D"
autoString = "A" if wpilib.DriverStation.isAutonomous() else "T"
matchTime = wpilib.DriverStation.getMatchTime()
enabledString = "E" if wpilib.RobotState.isEnabled() else "D"
autoString = "A" if wpilib.RobotState.isAutonomous() else "T"
matchTime = wpilib.MatchState.getMatchTime()
stateMessage = f"{allianceString}{enabledString}{autoString}{matchTime:03f}"