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[wpilib] DriverStation: Change alliance station to use optional (#5229)

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Many teams have issues trying to read the DS too early. By switching to an optional, we cause teams to check 2 things. Either 1) they explicitly check, and their code is correct, or 2) they just read .value() and their code reboots in a loop. However, because the DS will eventually connect, this 2nd case is ok, and should theoretically be undetectable on the field.
This commit is contained in:
Thad House
2023-07-22 15:19:28 -07:00
committed by GitHub
parent ef155438bd
commit fc56f8049a
17 changed files with 179 additions and 86 deletions
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20
wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
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@@ -18,14 +18,18 @@ void Robot::RobotPeriodic() {
//
// For example, "RET043" would indicate that the robot is on the red
// alliance, enabled in teleop mode, with 43 seconds left in the match.
auto string = fmt::format(
"{}{}{}{:03}",
frc::DriverStation::GetAlliance() == frc::DriverStation::Alliance::kRed
? "R"
: "B",
frc::DriverStation::IsEnabled() ? "E" : "D",
frc::DriverStation::IsAutonomous() ? "A" : "T",
static_cast<int>(frc::Timer::GetMatchTime().value()));
std::string allianceString = "U";
auto alliance = frc::DriverStation::GetAlliance();
if (alliance.has_value()) {
allianceString = alliance == frc::DriverStation::Alliance::kRed ? "R" : "B";
}
auto string =
fmt::format("{}{}{}{:03}", allianceString,
frc::DriverStation::IsEnabled() ? "E" : "D",
frc::DriverStation::IsAutonomous() ? "A" : "T",
static_cast<int>(frc::Timer::GetMatchTime().value()));
arduino.WriteBulk(reinterpret_cast<uint8_t*>(string.data()), string.size());
}