Enums¶

Phase¶

Phase reports the current match or setup state.

from helm import Phase

Member	Value	Meaning
`Phase.CONFIGURING`	`"configuring"`	Local hardware declaration is not complete
`Phase.CONFIGURED`	`"configured"`	Configuration was verified
`Phase.PREMATCH`	`"prematch"`	Pre-match preparation
`Phase.AUTON`	`"auton"`	Autonomous callback phase
`Phase.PAUSE`	`"pause"`	Outputs should remain idle between run phases
`Phase.DRIVER`	`"driver"`	Driver callback phase
`Phase.ESTOP`	`"estop"`	E-Stop is active
`Phase.POSTMATCH`	`"postmatch"`	Match session has ended

Compare enum members directly:

if robot.phase is Phase.DRIVER:
    print("Driver control")

Student code reads phases but does not set them.

Tag¶

Tag is an advanced integer enum describing the mode stored in each effector command word.

from helm import Tag

Member	Value	Command value
`Tag.IDLE`	0	Ignored
`Tag.THRUSTER_DUTY`	1	Duty percentage
`Tag.THRUSTER_CURRENT`	2	Current in 0.01 A steps
`Tag.SERVO_POSITION`	3	Position in 0.1-degree steps
`Tag.SERVO_MICROS`	4	Pulse width in microseconds
`Tag.RESERVED_5`	5	Reserved
`Tag.RESERVED_6`	6	Reserved
`Tag.RESERVED_7`	7	Reserved

Normal student programs do not use Tag directly. Call Thruster and Servo methods instead. Command encoding and transport helpers are private implementation details and are not part of the supported student API.