Package edu.wpi.first.wpilibj

Class PowerDistribution

java.lang.Object

edu.wpi.first.wpilibj.PowerDistribution

All Implemented Interfaces:

Sendable, AutoCloseable

public class PowerDistribution
extends Object
implements Sendable, AutoCloseable

Class for getting voltage, current, temperature, power and energy from the Power Distribution Panel over CAN.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	PowerDistribution.ModuleType

Field Summary

Fields

Modifier and Type	Field	Description
static int	kDefaultModule

Constructor Summary

Constructors

Constructor	Description
PowerDistribution()	Constructs a PowerDistribution.
PowerDistribution(int module, PowerDistribution.ModuleType moduleType)	Constructs a PowerDistribution.

Method Summary

Modifier and Type	Method	Description
void	clearStickyFaults()	Clear all PDP sticky faults.
void	close()
double	getCurrent(int channel)	Query the current of a single channel of the PDP.
int	getModule()	Gets module number (CAN ID).
int	getNumChannels()	Gets the number of channel for this power distribution.
boolean	getSwitchableChannel()
double	getTemperature()	Query the temperature of the PDP.
double	getTotalCurrent()	Query the current of all monitored PDP channels (0-15).
double	getTotalEnergy()	Query the total energy drawn from the monitored PDP channels.
double	getTotalPower()	Query the total power drawn from the monitored PDP channels.
double	getVoltage()	Query the input voltage of the PDP.
void	initSendable(SendableBuilder builder)	Initializes this Sendable object.
void	resetTotalEnergy()	Reset the total energy to 0.
void	setSwitchableChannel(boolean enabled)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

kDefaultModule

public static final int kDefaultModule

See Also:

Constant Field Values

Constructor Details

PowerDistribution

public PowerDistribution(int module, PowerDistribution.ModuleType moduleType)

Constructs a PowerDistribution.

Parameters:

module - The CAN ID of the PDP.

moduleType - Module type (CTRE or REV).

PowerDistribution

public PowerDistribution()

Constructs a PowerDistribution.

Uses the default CAN ID (0 for CTRE and 1 for REV).

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

getNumChannels

public int getNumChannels()

Gets the number of channel for this power distribution.

Returns:

Number of output channels.

getVoltage

public double getVoltage()

Query the input voltage of the PDP.

Returns:

The voltage of the PDP in volts

getTemperature

public double getTemperature()

Query the temperature of the PDP.

Returns:

The temperature of the PDP in degrees Celsius

getCurrent

public double getCurrent(int channel)

Query the current of a single channel of the PDP.

Parameters:

channel - The PDP channel to query.

Returns:

The current of one of the PDP channels (channels 0-15) in Amperes

getTotalCurrent

public double getTotalCurrent()

Query the current of all monitored PDP channels (0-15).

Returns:

The current of all the channels in Amperes

getTotalPower

public double getTotalPower()

Query the total power drawn from the monitored PDP channels.

Returns:

the total power in Watts

getTotalEnergy

public double getTotalEnergy()

Query the total energy drawn from the monitored PDP channels.

Returns:

the total energy in Joules

resetTotalEnergy

public void resetTotalEnergy()

Reset the total energy to 0.

clearStickyFaults

public void clearStickyFaults()

Clear all PDP sticky faults.

getModule

public int getModule()

Gets module number (CAN ID).

Returns:

The module number (CAN ID).

getSwitchableChannel

public boolean getSwitchableChannel()

setSwitchableChannel

public void setSwitchableChannel(boolean enabled)

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder