You can query to find out what alliance you are on, an approximation of how much time is left, and some other things like that. Is there a way to request how much ‘health’ the towers have left, or which defenses are where? Thanks.
No, unfortunately not.
Greg McKaskle
The FMS won’t tell you which defenses are in what locations, but that’s something you know in advance and can enter into your dashboard for the robot to read.
Tower health can be “read” from the lights, if you want the robot to be able to know it.
As far as match time goes you could start a timer in code when the autonomous period begins.