Class for getting voltage, current, temperature, power and energy from the CTRE Power Distribution Panel (PDP) or REV Power Distribution Hub (PDH). More...

#include <wpi/hardware/power/PowerDistribution.hpp>

Inheritance diagram for wpi::PowerDistribution:

Classes
struct	Version
	Version and device data received from a PowerDistribution device. More...
struct	Faults
	Faults for a PowerDistribution device. More...
struct	StickyFaults
	Sticky faults for a PowerDistribution device. More...

Public Types
enum class	ModuleType { kCTRE = 1 , kRev = 2 }
	Power distribution module type. More...

Public Member Functions
	PowerDistribution (int busId)
	Constructs a PowerDistribution object.
	PowerDistribution (int busId, int module, ModuleType moduleType)
	Constructs a PowerDistribution object.
	PowerDistribution (PowerDistribution &&)=default
PowerDistribution &	operator= (PowerDistribution &&)=default
	~PowerDistribution () override=default
int	GetNumChannels () const
	Gets the number of channels for this power distribution object.
double	GetVoltage () const
	Query the input voltage of the PDP/PDH.
double	GetTemperature () const
	Query the temperature of the PDP.
double	GetCurrent (int channel) const
	Query the current of a single channel of the PDP/PDH.
std::vector< double >	GetAllCurrents () const
	Query all currents of the PDP.
double	GetTotalCurrent () const
	Query the total current of all monitored PDP/PDH channels.
double	GetTotalPower () const
	Query the total power drawn from all monitored PDP channels.
double	GetTotalEnergy () const
	Query the total energy drawn from the monitored PDP channels.
void	ResetTotalEnergy ()
	Reset the total energy drawn from the PDP.
void	ClearStickyFaults ()
	Remove all of the fault flags on the PDP/PDH.
int	GetModule () const
	Gets module number (CAN ID).
ModuleType	GetType () const
	Gets module type.
bool	GetSwitchableChannel () const
	Gets whether the PDH switchable channel is turned on or off.
void	SetSwitchableChannel (bool enabled)
	Sets the PDH switchable channel on or off.
Version	GetVersion () const
Faults	GetFaults () const
	Returns the power distribution faults.
StickyFaults	GetStickyFaults () const
	Returns the power distribution sticky faults.
void	InitSendable (wpi::util::SendableBuilder &builder) override
	Initializes this Sendable object.
Public Member Functions inherited from wpi::util::Sendable
virtual constexpr	~Sendable ()=default
Public Member Functions inherited from wpi::util::SendableHelper< PowerDistribution >
constexpr	SendableHelper (const SendableHelper &rhs)=default
constexpr SendableHelper &	operator= (const SendableHelper &rhs)=default

Static Public Attributes
static constexpr int	kDefaultModule = -1
	Default module number.

Additional Inherited Members
Protected Member Functions inherited from wpi::util::SendableHelper< PowerDistribution >
constexpr	~SendableHelper ()

Detailed Description

Class for getting voltage, current, temperature, power and energy from the CTRE Power Distribution Panel (PDP) or REV Power Distribution Hub (PDH).

Member Enumeration Documentation

◆ ModuleType

enum class wpi::PowerDistribution::ModuleType

strong

Power distribution module type.

Enumerator
kCTRE	CTRE (Cross The Road Electronics) CTRE Power Distribution Panel (PDP).
kRev	REV Power Distribution Hub (PDH).

Constructor & Destructor Documentation

◆ PowerDistribution() [1/3]

wpi::PowerDistribution::PowerDistribution ( int busId )

explicit

Constructs a PowerDistribution object.

Detects the connected PDP/PDH using the default CAN ID (0 for CTRE and 1 for REV).

Parameters

busId The bus ID.

◆ PowerDistribution() [2/3]

wpi::PowerDistribution::PowerDistribution	(	int	busId,
		int	module,
		ModuleType	moduleType )

Constructs a PowerDistribution object.

Parameters

busId	The bus ID.
module	The CAN ID of the PDP/PDH
moduleType	The type of module

◆ PowerDistribution() [3/3]

wpi::PowerDistribution::PowerDistribution ( PowerDistribution && )

default

◆ ~PowerDistribution()

wpi::PowerDistribution::~PowerDistribution ( )

overridedefault

Member Function Documentation

◆ ClearStickyFaults()

void wpi::PowerDistribution::ClearStickyFaults ( )

Remove all of the fault flags on the PDP/PDH.

◆ GetAllCurrents()

std::vector< double > wpi::PowerDistribution::GetAllCurrents ( ) const

Query all currents of the PDP.

Returns: The current of each channel in Amperes

◆ GetCurrent()

double wpi::PowerDistribution::GetCurrent ( int channel ) const

Query the current of a single channel of the PDP/PDH.

Parameters

channel the channel to query (0-15 for PDP, 0-23 for PDH)

Returns: The current of the channel in Amperes

◆ GetFaults()

Faults wpi::PowerDistribution::GetFaults ( ) const

Returns the power distribution faults.

On a CTRE PDP, this will return an object with no faults active.

Returns: The power distribution faults.

◆ GetModule()

int wpi::PowerDistribution::GetModule ( ) const

Gets module number (CAN ID).

◆ GetNumChannels()

int wpi::PowerDistribution::GetNumChannels ( ) const

Gets the number of channels for this power distribution object.

Returns: Number of output channels (16 for PDP, 24 for PDH).

◆ GetStickyFaults()

StickyFaults wpi::PowerDistribution::GetStickyFaults ( ) const

Returns the power distribution sticky faults.

On a CTRE PDP, this will return an object with no faults active.

Returns: The power distribution sticky faults.

◆ GetSwitchableChannel()

bool wpi::PowerDistribution::GetSwitchableChannel ( ) const

Gets whether the PDH switchable channel is turned on or off.

Returns false with the CTRE PDP.

Returns: The output state of the PDH switchable channel

◆ GetTemperature()

double wpi::PowerDistribution::GetTemperature ( ) const

Query the temperature of the PDP.

Not supported on the Rev PDH and returns 0.

Returns: The temperature in degrees Celsius

◆ GetTotalCurrent()

double wpi::PowerDistribution::GetTotalCurrent ( ) const

Query the total current of all monitored PDP/PDH channels.

Returns: The total current drawn from all channels in Amperes

◆ GetTotalEnergy()

double wpi::PowerDistribution::GetTotalEnergy ( ) const

Query the total energy drawn from the monitored PDP channels.

Not supported on the Rev PDH and returns 0.

Returns: The total energy drawn in Joules

◆ GetTotalPower()

double wpi::PowerDistribution::GetTotalPower ( ) const

Query the total power drawn from all monitored PDP channels.

Not supported on the Rev PDH and returns 0.

Returns: The total power drawn in Watts

◆ GetType()

ModuleType wpi::PowerDistribution::GetType ( ) const

Gets module type.

◆ GetVersion()

Version wpi::PowerDistribution::GetVersion ( ) const

◆ GetVoltage()

double wpi::PowerDistribution::GetVoltage ( ) const

Query the input voltage of the PDP/PDH.

Returns: The input voltage in volts

◆ InitSendable()

void wpi::PowerDistribution::InitSendable ( wpi::util::SendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder sendable builder

Implements wpi::util::Sendable.

◆ operator=()

PowerDistribution & wpi::PowerDistribution::operator= ( PowerDistribution && )

default

◆ ResetTotalEnergy()

void wpi::PowerDistribution::ResetTotalEnergy ( )

Reset the total energy drawn from the PDP.

Not supported on the Rev PDH and does nothing.

See also: PowerDistribution::GetTotalEnergy

◆ SetSwitchableChannel()

void wpi::PowerDistribution::SetSwitchableChannel ( bool enabled )

Sets the PDH switchable channel on or off.

Does nothing with the CTRE PDP.

Parameters

enabled Whether to turn the PDH switchable channel on or off

Member Data Documentation

◆ kDefaultModule

int wpi::PowerDistribution::kDefaultModule = -1

staticconstexpr

Default module number.

The documentation for this class was generated from the following file:

wpi/hardware/power/PowerDistribution.hpp

Classes

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ModuleType

Constructor & Destructor Documentation

◆ PowerDistribution() [1/3]

◆ PowerDistribution() [2/3]

◆ PowerDistribution() [3/3]

◆ ~PowerDistribution()

Member Function Documentation

◆ ClearStickyFaults()

◆ GetAllCurrents()

◆ GetCurrent()

◆ GetFaults()

◆ GetModule()

◆ GetNumChannels()

◆ GetStickyFaults()

◆ GetSwitchableChannel()

◆ GetTemperature()

◆ GetTotalCurrent()

◆ GetTotalEnergy()

◆ GetTotalPower()

◆ GetType()

◆ GetVersion()

◆ GetVoltage()

◆ InitSendable()

◆ operator=()

◆ ResetTotalEnergy()

◆ SetSwitchableChannel()

Member Data Documentation

◆ kDefaultModule