Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/digitalcommunication/Robot.java
View File

@@ -7,6 +7,7 @@ package edu.wpi.first.wpilibj.examples.digitalcommunication;
import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.TimedRobot;
import java.util.Optional;
/**
* This is a sample program demonstrating how to communicate to a light controller from the robot
@@ -26,8 +27,14 @@ public class Robot extends TimedRobot {
@Override
public void robotPeriodic() {
boolean setAlliance = false;
Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
if (alliance.isPresent()) {
setAlliance = alliance.get() == DriverStation.Alliance.Red;
}
// pull alliance port high if on red alliance, pull low if on blue alliance
m_allianceOutput.set(DriverStation.getAlliance() == DriverStation.Alliance.Red);
m_allianceOutput.set(setAlliance);
// pull enabled port high if enabled, low if disabled
m_enabledOutput.set(DriverStation.isEnabled());

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/i2ccommunication/Robot.java
View File

@@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.I2C.Port;
import edu.wpi.first.wpilibj.TimedRobot;
import java.util.Optional;
/**
* This is a sample program demonstrating how to communicate to a light controller from the robot
@@ -48,8 +49,14 @@ public class Robot extends TimedRobot {
// alliance, enabled in teleop mode, with 43 seconds left in the match.
StringBuilder stateMessage = new StringBuilder(6);
String allianceString = "U";
Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
if (alliance.isPresent()) {
allianceString = alliance.get() == DriverStation.Alliance.Red ? "R" : "B";
}
stateMessage
.append(DriverStation.getAlliance() == DriverStation.Alliance.Red ? "R" : "B")
.append(allianceString)
.append(DriverStation.isEnabled() ? "E" : "D")
.append(DriverStation.isAutonomous() ? "A" : "T")
.append(String.format("%03d", (int) DriverStation.getMatchTime()));

3
wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/i2ccommunication/I2CCommunicationTest.java
View File

@@ -73,6 +73,9 @@ class I2CCommunicationTest {
String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> m_future.get());
char expected = alliance.name().startsWith("Red") ? 'R' : 'B';
if (alliance.name().startsWith("Unknown")) {
expected = 'U';
}
assertEquals(expected, str.charAt(0));
}