Driver Station to RoboRIO

UDP

Sent every 20ms to the RoboRIO, UDP port 1110 (port 1115 when connected to FMS)

Field	Length	Type	Comment
Sequence Num	2	uint16
Comm Version	1	uint8	0x01 is currently the only observed value. Other values will invoke crash
Control	1	Control
Request	1	Request
Alliance	1	Alliance
Tags	n	Tags

Control

Field	Mask	Comment
E-Stop	x.......
FMS Connected	....x...
Enabled	.....x..
Mode	......xx	0: Teleop, 1: Test, 2: Autonomous

Request

Field	Mask	Comment
Reboot RoboRIO	....x...
Restart Code	.....x..

Alliance

Color is Red if value < 3, else Blue. Position is value % 3 + 1

Tags

Field	Length	Type	Comment
Size	1	uint8
ID	1	uint8	See table below
Data	n		Depends on tag type

ID	Tag
0x07	Countdown
0x0c	Joystick
0x0f	Date
0x10	Timezone

Countdown 0x07

Field	Length	Type	Comment
Countdown	4	float	In seconds

Joystick 0x0c

Field	Length	Type	Comment
Axis Count	1	uint8	Number of axis bytes to follow
Axes	n	int8	-128 to 127, for each axis
Button Count	1	uint8	Number of buttons
Buttons	n	Button	Bytes containing button data
POV Count	1	uint8	Number of POVs
POVs	2 * n	int16	0 to 360, -1 if not pressed

Button

1 bit per button, so the number of bytes is count / 8 + ((count == 0) ? 0 : 1)

Stored LSB 0. All bits after the specified number of buttons are 0.

Date 0x0f

This and Timezone below are sent once when the DS first connects.

Field	Length	Type	Comment
Microseconds	4	uint32
Second	1	uint8
Minute	1	uint8
Hour	1	uint8	In UTC
Day	1	uint8
Month	1	uint8	0 is January
Year	1	uint8	Year (starting at 1900)

Timezone 0x10

Field	Length	Type	Comment
Timezone	n	string	Timezone

TCP

Sent over TCP port 1740. Strings are either prefixed with a length (specified) or implied.

Field	Length	Type	Comment
Size	2	uint16	Including ID
ID	1	uint8	See table below (only if Size > 0)
Tags	n	Tags

Tags

ID	Tag
0x02	Joystick Descriptor
0x07	Match Info
0x0e	Game Data

Joystick Descriptor 0x02

Sends everything on the USB Devices tab of the DS, whether connected or not. Sent when joystick is plugged in, unplugged, or reordered.

Field	Length	Type	Comment
Index	1	uint8
Is Xbox	1	bool	True if XBox controller
Type	1	int8	See below
Name	1 + n	string
Axis Count	1	uint8
Axis Types	n	bytes	See below (one per axis)
Button Count	1	uint8
POV Count	1	uint8

Joystick Type

Num	Type	Num	Type
-1	Unknown	8	XInput Drum Kit
0	XInput Unknown	11	XInput Guitar 3
1	XInput Gamepad	19	XINput Arcade Pad
2	XInput Wheel	20	HID Joystick
3	XInput Arcade	21	HID Gamepad
4	XInput Flight Stick	22	HID Driving
5	XInput Dance Pad	23	HID Flight
6	XInput Guitar	24	HID 1st Person
7	XInput Guitar 2

Axis Type

Num	Type	Num	Type
0	X Axis	3	Twist Axis
1	Y Axis	4	Throttle Axis
2	Z Axis

Match Info 0x07

Field	Length	Type	Comment
Competition	1 + n	string
Match Type	1	enum	0:”None”, 1:Practice, 2:Qualifications, 3:Eliminations

Game Data 0x0e

Field	Length	Type	Comment
Game Data	n	string