Class RobotController

java.lang.Object
edu.wpi.first.wpilibj.RobotController

public final class RobotController
extends Object
Contains functions for roboRIO functionality.
  • Method Summary

    Modifier and Type Method Description
    static double getBatteryVoltage()
    Read the battery voltage.
    static double getBrownoutVoltage()
    Get the current brownout voltage setting.
    static CANStatus getCANStatus()
    Get the current status of the CAN bus.
    static double getCurrent3V3()
    Get the current output of the 3.3V rail.
    static double getCurrent5V()
    Get the current output of the 5V rail.
    static double getCurrent6V()
    Get the current output of the 6V rail.
    static boolean getEnabled3V3()
    Get the enabled state of the 3.3V rail.
    static boolean getEnabled5V()
    Get the enabled state of the 5V rail.
    static boolean getEnabled6V()
    Get the enabled state of the 6V rail.
    static int getFaultCount3V3()
    Get the count of the total current faults on the 3.3V rail since the controller has booted.
    static int getFaultCount5V()
    Get the count of the total current faults on the 5V rail since the controller has booted.
    static int getFaultCount6V()
    Get the count of the total current faults on the 6V rail since the controller has booted.
    static long getFPGARevision()
    Return the FPGA Revision number.
    static long getFPGATime()
    Read the microsecond timer from the FPGA.
    static int getFPGAVersion()
    Return the FPGA Version number.
    static double getInputCurrent()
    Get the input current to the robot controller.
    static double getInputVoltage()
    Get the input voltage to the robot controller.
    static boolean getUserButton()
    Get the state of the "USER" button on the roboRIO.
    static double getVoltage3V3()
    Get the voltage of the 3.3V rail.
    static double getVoltage5V()
    Get the voltage of the 5V rail.
    static double getVoltage6V()
    Get the voltage of the 6V rail.
    static boolean isBrownedOut()
    Check if the system is browned out.
    static boolean isSysActive()
    Gets a value indicating whether the FPGA outputs are enabled.
    static void setBrownoutVoltage​(double brownoutVoltage)
    Set the voltage the roboRIO will brownout and disable all outputs.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
  • Method Details

    • getFPGAVersion

      public static int getFPGAVersion()
      Return the FPGA Version number. For now, expect this to be the current year.
      Returns:
      FPGA Version number.
    • 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.
    • getFPGATime

      public static long getFPGATime()
      Read the microsecond timer from the FPGA.
      Returns:
      The current time in microseconds according to the FPGA.
    • getUserButton

      public static boolean getUserButton()
      Get the state of the "USER" button on the roboRIO.
      Returns:
      true if the button is currently pressed down
    • getBatteryVoltage

      public static double getBatteryVoltage()
      Read the battery voltage.
      Returns:
      The battery voltage in Volts.
    • 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.
    • isBrownedOut

      public static boolean isBrownedOut()
      Check if the system is browned out.
      Returns:
      True if the system is browned out
    • getInputVoltage

      public static double getInputVoltage()
      Get the input voltage to the robot controller.
      Returns:
      The controller input voltage value in Volts
    • getInputCurrent

      public static double getInputCurrent()
      Get the input current to the robot controller.
      Returns:
      The controller input current value in Amps
    • getVoltage3V3

      public static double getVoltage3V3()
      Get the voltage of the 3.3V rail.
      Returns:
      The controller 3.3V rail voltage value in Volts
    • getCurrent3V3

      public static double getCurrent3V3()
      Get the current output of the 3.3V rail.
      Returns:
      The controller 3.3V rail output current value in Amps
    • 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
    • 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
    • getVoltage5V

      public static double getVoltage5V()
      Get the voltage of the 5V rail.
      Returns:
      The controller 5V rail voltage value in Volts
    • getCurrent5V

      public static double getCurrent5V()
      Get the current output of the 5V rail.
      Returns:
      The controller 5V rail output current value in Amps
    • 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
    • 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
    • getVoltage6V

      public static double getVoltage6V()
      Get the voltage of the 6V rail.
      Returns:
      The controller 6V rail voltage value in Volts
    • getCurrent6V

      public static double getCurrent6V()
      Get the current output of the 6V rail.
      Returns:
      The controller 6V rail output current value in Amps
    • 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
    • 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
    • getBrownoutVoltage

      public static double getBrownoutVoltage()
      Get the current brownout voltage setting.
      Returns:
      The brownout voltage
    • setBrownoutVoltage

      public static void setBrownoutVoltage​(double brownoutVoltage)
      Set the voltage the roboRIO will brownout and disable all outputs.

      Note that this only does anything on the roboRIO 2. On the roboRIO it is a no-op.

      Parameters:
      brownoutVoltage - The brownout voltage
    • getCANStatus

      public static CANStatus getCANStatus()
      Get the current status of the CAN bus.
      Returns:
      The status of the CAN bus