FMS to Driver Station

UDP

Sent to the DS every 500ms on UDP port 1121 by the normal FMS, or to UDP port 1120 by the offseason FMS. Sending to 1120 causes the DS to display a prompt asking to approve FMS control, whereas sending to 1121 starts FMS control immediatley.

Field	Length	Type	Comment
Sequence Num	2	uint16
Comm Version	1	uint8	Only 0x00 has been observed
Control Byte	1	Control	Contains control bits
Request Byte	1	Request	Stays at 0x00, not used
Alliance Station	1	Alliance Station	Represents the station the DS connects to
Tournament Level	1	Tournament Level	What level of competition this is
Match Number	2	uint16	Represents the number of current match
Play Number	1	uint8	Increments if there’s a replay
Date	10	Date
Remaining Time	2	uint16	Time left in current mode
Tags	n	Tags	Offseason FMS has code for sending tags but none to send

Control

Field	Mask	Comment
E-Stop	x.......	0: Normal, 1: Emergency Stopped
Enabled	.....x..	0: Disabled, 1: Enabled
Mode	......xx	0: TeloOp, 1: Test, 2: Autonomous

Alliance Station

Computed by taking station [1, 3] and subtracting 1 for red, or adding 2 for blue. Color is Red if value < 3, else Blue. Position is value % 3 + 1

Tournament Level

Level	Value	Comment
Match Test	0	Only used during FMS setup for testing purposes
Practice	1
Qualification	2
Playoff	3

Date

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)

TCP

10.0.100.5, listening on TCP port 1750.

Field	Length	Type	Comment
Size	2	uint16	Including ID
ID	1	uint8	See table below (only of Size > 0)
Tags	n		Depends on tag type

Tags

ID	Tag
0x00	WPILib Version
0x01	RIO Version
0x02	DS Version
0x03	PDP Version
0x04	PCM Version
0x05	CANJag Version
0x06	CANTalon Version
0x07	Third Party Device Version
0x14	Event Code
0x19	Station Info
0x1a	Challenge Question
0x1c	Game Data

Versions all take the same format

Version

See above table for devices and their associated tag IDs. Seems only the “preferred” DS version is sent to the Driver Station.

Field	Length	Type	Comment
Status	n	string	<bad>, <good>, or <preferred>
Version	n	string

Event Code (0x14)

Field	Length	Type	Comment
Event Code	1 + n	string	Event name

Station Info (0x19)

Field	Length	Type	Comment
Alliance Station	1	Alliance Station
Station Status	1	Station Status

Station Status

Num	Status	Comment
0	Good	Sent if FMS Driver Station context is valid. Causes the DS to display “FMS Connected”
1	Bad	Sent if the Driver Station is plugged into the wrong station. Causes the DS to display “Wrong station. Go to X”
2	Waiting	Sent if FMS Driver Station context is invalid. Causes the DS to display “FMS Waiting”

Challenge Question (0x1a)

Field	Length	Type	Comment
Question	1 + n	string	Coolest robot EVER!!??
Random Value	2	uint16	Random number [1000, 2000] associated with the FMS Driver Station context

Offseason FMS allows for sending multiple questions, but the responses are only checked against the first one (as of 2018).

See the Challenge Response for possible responses.

Game Data (0x1c)

Field	Length	Type	Comment
Data	1 + n	string