FMS Server

The FMS server runs the FMS software, and is connected directly to the Score Switch. The FMS server is responsible for managing field play, scoring, field control, as well as the Audience and Pit displays. It also dispatches messages that drive the video displays at the event. The FMS also manages the Driver Stations of each alliance.

The FMS server does not communicate directly with the robots. All communication is between the FMS server and the Driver Station, including states (Enabled, Disabled, Teleop, Auto, etc), Emergency Stop status, Match Time, and more. If the Driver Station loses connection with the FMS software, the watchdog function onboard the robot halts control and disables the robot.

The FMS server also collects diagnostic status from Driver Stations, field electronics, robot radios, and the National Instruments roboRIO to diagnose issues and log match play. This data includes, but is not limited to, ping status, robot code status, packet trip time, bandwidth utilization and battery voltage. All robot data is first communicated from the robot to the driver station, and then from the driver station to the FMS server.