Package edu.wpi.first.wpilibj
Class RobotController
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- edu.wpi.first.wpilibj.RobotController
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public final class RobotController extends Object
Contains functions for roboRIO functionality.
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Method Summary
All Methods Static Methods Concrete Methods Modifier and Type Method Description static doublegetBatteryVoltage()Read the battery voltage.static CANStatusgetCANStatus()Get the current status of the CAN bus.static doublegetCurrent3V3()Get the current output of the 3.3V rail.static doublegetCurrent5V()Get the current output of the 5V rail.static doublegetCurrent6V()Get the current output of the 6V rail.static booleangetEnabled3V3()Get the enabled state of the 3.3V rail.static booleangetEnabled5V()Get the enabled state of the 5V rail.static booleangetEnabled6V()Get the enabled state of the 6V rail.static intgetFaultCount3V3()Get the count of the total current faults on the 3.3V rail since the controller has booted.static intgetFaultCount5V()Get the count of the total current faults on the 5V rail since the controller has booted.static intgetFaultCount6V()Get the count of the total current faults on the 6V rail since the controller has booted.static longgetFPGARevision()Return the FPGA Revision number.static longgetFPGATime()Read the microsecond timer from the FPGA.static intgetFPGAVersion()Return the FPGA Version number.static doublegetInputCurrent()Get the input current to the robot controller.static doublegetInputVoltage()Get the input voltage to the robot controller.static booleangetUserButton()Get the state of the "USER" button on the roboRIO.static doublegetVoltage3V3()Get the voltage of the 3.3V rail.static doublegetVoltage5V()Get the voltage of the 5V rail.static doublegetVoltage6V()Get the voltage of the 6V rail.static booleanisBrownedOut()Check if the system is browned out.static booleanisSysActive()Gets a value indicating whether the FPGA outputs are enabled.
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Method Detail
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getFPGAVersion
public static int getFPGAVersion()
Return the FPGA Version number. For now, expect this to be the current year.- Returns:
- FPGA Version number.
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getFPGARevision
public static long getFPGARevision()
Return the FPGA Revision number. The format of the revision is 3 numbers. The 12 most significant bits are the Major Revision. the next 8 bits are the Minor Revision. The 12 least significant bits are the Build Number.- Returns:
- FPGA Revision number.
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getFPGATime
public static long getFPGATime()
Read the microsecond timer from the FPGA.- Returns:
- The current time in microseconds according to the FPGA.
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getUserButton
public static boolean getUserButton()
Get the state of the "USER" button on the roboRIO.- Returns:
- true if the button is currently pressed down
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getBatteryVoltage
public static double getBatteryVoltage()
Read the battery voltage.- Returns:
- The battery voltage in Volts.
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isSysActive
public static boolean isSysActive()
Gets a value indicating whether the FPGA outputs are enabled. The outputs may be disabled if the robot is disabled or e-stopped, the watchdog has expired, or if the roboRIO browns out.- Returns:
- True if the FPGA outputs are enabled.
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isBrownedOut
public static boolean isBrownedOut()
Check if the system is browned out.- Returns:
- True if the system is browned out
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getInputVoltage
public static double getInputVoltage()
Get the input voltage to the robot controller.- Returns:
- The controller input voltage value in Volts
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getInputCurrent
public static double getInputCurrent()
Get the input current to the robot controller.- Returns:
- The controller input current value in Amps
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getVoltage3V3
public static double getVoltage3V3()
Get the voltage of the 3.3V rail.- Returns:
- The controller 3.3V rail voltage value in Volts
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getCurrent3V3
public static double getCurrent3V3()
Get the current output of the 3.3V rail.- Returns:
- The controller 3.3V rail output current value in Volts
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getEnabled3V3
public static boolean getEnabled3V3()
Get the enabled state of the 3.3V rail. The rail may be disabled due to a controller brownout, a short circuit on the rail, or controller over-voltage.- Returns:
- The controller 3.3V rail enabled value
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getFaultCount3V3
public static int getFaultCount3V3()
Get the count of the total current faults on the 3.3V rail since the controller has booted.- Returns:
- The number of faults
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getVoltage5V
public static double getVoltage5V()
Get the voltage of the 5V rail.- Returns:
- The controller 5V rail voltage value in Volts
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getCurrent5V
public static double getCurrent5V()
Get the current output of the 5V rail.- Returns:
- The controller 5V rail output current value in Amps
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getEnabled5V
public static boolean getEnabled5V()
Get the enabled state of the 5V rail. The rail may be disabled due to a controller brownout, a short circuit on the rail, or controller over-voltage.- Returns:
- The controller 5V rail enabled value
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getFaultCount5V
public static int getFaultCount5V()
Get the count of the total current faults on the 5V rail since the controller has booted.- Returns:
- The number of faults
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getVoltage6V
public static double getVoltage6V()
Get the voltage of the 6V rail.- Returns:
- The controller 6V rail voltage value in Volts
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getCurrent6V
public static double getCurrent6V()
Get the current output of the 6V rail.- Returns:
- The controller 6V rail output current value in Amps
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getEnabled6V
public static boolean getEnabled6V()
Get the enabled state of the 6V rail. The rail may be disabled due to a controller brownout, a short circuit on the rail, or controller over-voltage.- Returns:
- The controller 6V rail enabled value
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getFaultCount6V
public static int getFaultCount6V()
Get the count of the total current faults on the 6V rail since the controller has booted.- Returns:
- The number of faults
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getCANStatus
public static CANStatus getCANStatus()
Get the current status of the CAN bus.- Returns:
- The status of the CAN bus
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