Source code

001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.wpilibj;
006
007import edu.wpi.first.hal.HAL;
008import edu.wpi.first.hal.HALUtil;
009import edu.wpi.first.hal.PowerJNI;
010import edu.wpi.first.hal.can.CANJNI;
011import edu.wpi.first.hal.can.CANStatus;
012
013/** Contains functions for roboRIO functionality. */
014public final class RobotController {
015  private RobotController() {
016    throw new UnsupportedOperationException("This is a utility class!");
017  }
018
019  /**
020   * Return the FPGA Version number. For now, expect this to be the current year.
021   *
022   * @return FPGA Version number.
023   */
024  public static int getFPGAVersion() {
025    return HALUtil.getFPGAVersion();
026  }
027
028  /**
029   * Return the FPGA Revision number. The format of the revision is 3 numbers. The 12 most
030   * significant bits are the Major Revision. the next 8 bits are the Minor Revision. The 12 least
031   * significant bits are the Build Number.
032   *
033   * @return FPGA Revision number.
034   */
035  public static long getFPGARevision() {
036    return HALUtil.getFPGARevision();
037  }
038
039  /**
040   * Return the serial number of the roboRIO.
041   *
042   * @return The serial number of the roboRIO.
043   */
044  public static String getSerialNumber() {
045    return HALUtil.getSerialNumber();
046  }
047
048  /**
049   * Return the comments from the roboRIO web interface.
050   *
051   * <p>The comments string is cached after the first call to this function on the RoboRIO - restart
052   * the robot code to reload the comments string after changing it in the web interface.
053   *
054   * @return the comments from the roboRIO web interface.
055   */
056  public static String getComments() {
057    return HALUtil.getComments();
058  }
059
060  /**
061   * Returns the team number configured for the robot controller.
062   *
063   * @return team number, or 0 if not found.
064   */
065  public static int getTeamNumber() {
066    return HALUtil.getTeamNumber();
067  }
068
069  /**
070   * Read the microsecond timer from the FPGA.
071   *
072   * @return The current time in microseconds according to the FPGA.
073   */
074  public static long getFPGATime() {
075    return HALUtil.getFPGATime();
076  }
077
078  /**
079   * Get the state of the "USER" button on the roboRIO.
080   *
081   * @return true if the button is currently pressed down
082   */
083  public static boolean getUserButton() {
084    return HALUtil.getFPGAButton();
085  }
086
087  /**
088   * Read the battery voltage.
089   *
090   * @return The battery voltage in Volts.
091   */
092  public static double getBatteryVoltage() {
093    return PowerJNI.getVinVoltage();
094  }
095
096  /**
097   * Gets a value indicating whether the FPGA outputs are enabled. The outputs may be disabled if
098   * the robot is disabled or e-stopped, the watchdog has expired, or if the roboRIO browns out.
099   *
100   * @return True if the FPGA outputs are enabled.
101   */
102  public static boolean isSysActive() {
103    return HAL.getSystemActive();
104  }
105
106  /**
107   * Check if the system is browned out.
108   *
109   * @return True if the system is browned out
110   */
111  public static boolean isBrownedOut() {
112    return HAL.getBrownedOut();
113  }
114
115  /**
116   * Gets the current state of the Robot Signal Light (RSL).
117   *
118   * @return The current state of the RSL- true if on, false if off
119   */
120  public static boolean getRSLState() {
121    return HAL.getRSLState();
122  }
123
124  /**
125   * Gets if the system time is valid.
126   *
127   * @return True if the system time is valid, false otherwise
128   */
129  public static boolean isSystemTimeValid() {
130    return HAL.getSystemTimeValid();
131  }
132
133  /**
134   * Get the input voltage to the robot controller.
135   *
136   * @return The controller input voltage value in Volts
137   */
138  public static double getInputVoltage() {
139    return PowerJNI.getVinVoltage();
140  }
141
142  /**
143   * Get the input current to the robot controller.
144   *
145   * @return The controller input current value in Amps
146   */
147  public static double getInputCurrent() {
148    return PowerJNI.getVinCurrent();
149  }
150
151  /**
152   * Get the voltage of the 3.3V rail.
153   *
154   * @return The controller 3.3V rail voltage value in Volts
155   */
156  public static double getVoltage3V3() {
157    return PowerJNI.getUserVoltage3V3();
158  }
159
160  /**
161   * Get the current output of the 3.3V rail.
162   *
163   * @return The controller 3.3V rail output current value in Amps
164   */
165  public static double getCurrent3V3() {
166    return PowerJNI.getUserCurrent3V3();
167  }
168
169  /**
170   * Enables or disables the 3.3V rail.
171   *
172   * @param enabled whether to enable the 3.3V rail.
173   */
174  public static void setEnabled3V3(boolean enabled) {
175    PowerJNI.setUserEnabled3V3(enabled);
176  }
177
178  /**
179   * Get the enabled state of the 3.3V rail. The rail may be disabled due to a controller brownout,
180   * a short circuit on the rail, or controller over-voltage.
181   *
182   * @return The controller 3.3V rail enabled value
183   */
184  public static boolean getEnabled3V3() {
185    return PowerJNI.getUserActive3V3();
186  }
187
188  /**
189   * Get the count of the total current faults on the 3.3V rail since the controller has booted.
190   *
191   * @return The number of faults
192   */
193  public static int getFaultCount3V3() {
194    return PowerJNI.getUserCurrentFaults3V3();
195  }
196
197  /**
198   * Get the voltage of the 5V rail.
199   *
200   * @return The controller 5V rail voltage value in Volts
201   */
202  public static double getVoltage5V() {
203    return PowerJNI.getUserVoltage5V();
204  }
205
206  /**
207   * Get the current output of the 5V rail.
208   *
209   * @return The controller 5V rail output current value in Amps
210   */
211  public static double getCurrent5V() {
212    return PowerJNI.getUserCurrent5V();
213  }
214
215  /**
216   * Enables or disables the 5V rail.
217   *
218   * @param enabled whether to enable the 5V rail.
219   */
220  public static void setEnabled5V(boolean enabled) {
221    PowerJNI.setUserEnabled5V(enabled);
222  }
223
224  /**
225   * Get the enabled state of the 5V rail. The rail may be disabled due to a controller brownout, a
226   * short circuit on the rail, or controller over-voltage.
227   *
228   * @return The controller 5V rail enabled value
229   */
230  public static boolean getEnabled5V() {
231    return PowerJNI.getUserActive5V();
232  }
233
234  /**
235   * Get the count of the total current faults on the 5V rail since the controller has booted.
236   *
237   * @return The number of faults
238   */
239  public static int getFaultCount5V() {
240    return PowerJNI.getUserCurrentFaults5V();
241  }
242
243  /**
244   * Get the voltage of the 6V rail.
245   *
246   * @return The controller 6V rail voltage value in Volts
247   */
248  public static double getVoltage6V() {
249    return PowerJNI.getUserVoltage6V();
250  }
251
252  /**
253   * Get the current output of the 6V rail.
254   *
255   * @return The controller 6V rail output current value in Amps
256   */
257  public static double getCurrent6V() {
258    return PowerJNI.getUserCurrent6V();
259  }
260
261  /**
262   * Enables or disables the 6V rail.
263   *
264   * @param enabled whether to enable the 6V rail.
265   */
266  public static void setEnabled6V(boolean enabled) {
267    PowerJNI.setUserEnabled6V(enabled);
268  }
269
270  /**
271   * Get the enabled state of the 6V rail. The rail may be disabled due to a controller brownout, a
272   * short circuit on the rail, or controller over-voltage.
273   *
274   * @return The controller 6V rail enabled value
275   */
276  public static boolean getEnabled6V() {
277    return PowerJNI.getUserActive6V();
278  }
279
280  /**
281   * Get the count of the total current faults on the 6V rail since the controller has booted.
282   *
283   * @return The number of faults
284   */
285  public static int getFaultCount6V() {
286    return PowerJNI.getUserCurrentFaults6V();
287  }
288
289  /**
290   * Get the current brownout voltage setting.
291   *
292   * @return The brownout voltage
293   */
294  public static double getBrownoutVoltage() {
295    return PowerJNI.getBrownoutVoltage();
296  }
297
298  /**
299   * Set the voltage the roboRIO will brownout and disable all outputs.
300   *
301   * <p>Note that this only does anything on the roboRIO 2. On the roboRIO it is a no-op.
302   *
303   * @param brownoutVoltage The brownout voltage
304   */
305  public static void setBrownoutVoltage(double brownoutVoltage) {
306    PowerJNI.setBrownoutVoltage(brownoutVoltage);
307  }
308
309  /**
310   * Get the current CPU temperature in degrees Celsius.
311   *
312   * @return current CPU temperature in degrees Celsius
313   */
314  public static double getCPUTemp() {
315    return PowerJNI.getCPUTemp();
316  }
317
318  /**
319   * Get the current status of the CAN bus.
320   *
321   * @return The status of the CAN bus
322   */
323  public static CANStatus getCANStatus() {
324    CANStatus status = new CANStatus();
325    CANJNI.getCANStatus(status);
326    return status;
327  }
328}