edu.wpi.first.wpilibj

Class RobotController

java.lang.Object

edu.wpi.first.wpilibj.RobotController

public final class RobotController
extends java.lang.Object

Contains functions for roboRIO functionality.

Method Summary

Modifier and Type	Method and Description
static double	getBatteryVoltage() Read the battery voltage.
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.

Methods inherited from class java.lang.Object

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

Method Detail

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 Volts

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

getCANStatus

public static CANStatus getCANStatus()

Get the current status of the CAN bus.

Returns:

The status of the CAN bus