frc::RobotController Class Reference

#include <frc/RobotController.h>

Public Member Functions
	RobotController ()=delete

Static Public Member Functions
static int	GetFPGAVersion ()
	Return the FPGA Version number.
static int64_t	GetFPGARevision ()
	Return the FPGA Revision number.
static std::string	GetSerialNumber ()
	Return the serial number of the roboRIO.
static std::string	GetComments ()
	Return the comments from the roboRIO web interface.
static int32_t	GetTeamNumber ()
	Returns the team number configured for the robot controller.
static void	SetTimeSource (std::function< uint64_t()> supplier)
	Sets a new source to provide the clock time in microseconds.
static uint64_t	GetTime ()
	Read the microsecond timestamp.
static uint64_t	GetFPGATime ()
	Read the microsecond-resolution timer on the FPGA.
static bool	GetUserButton ()
	Get the state of the "USER" button on the roboRIO.
static units::volt_t	GetBatteryVoltage ()
	Read the battery voltage.
static bool	IsSysActive ()
	Check if the FPGA outputs are enabled.
static bool	IsBrownedOut ()
	Check if the system is browned out.
static int	GetCommsDisableCount ()
	Gets the number of times the system has been disabled due to communication errors with the Driver Station.
static bool	GetRSLState ()
	Gets the current state of the Robot Signal Light (RSL)
static bool	IsSystemTimeValid ()
	Gets if the system time is valid.
static double	GetInputVoltage ()
	Get the input voltage to the robot controller.
static double	GetInputCurrent ()
	Get the input current to the robot controller.
static double	GetVoltage3V3 ()
	Get the voltage of the 3.3V rail.
static double	GetCurrent3V3 ()
	Get the current output of the 3.3V rail.
static void	SetEnabled3V3 (bool enabled)
	Enables or disables the 3.3V rail.
static bool	GetEnabled3V3 ()
	Get the enabled state of the 3.3V rail.
static int	GetFaultCount3V3 ()
	Get the count of the total current faults on the 3.3V rail since the code started.
static double	GetVoltage5V ()
	Get the voltage of the 5V rail.
static double	GetCurrent5V ()
	Get the current output of the 5V rail.
static void	SetEnabled5V (bool enabled)
	Enables or disables the 5V rail.
static bool	GetEnabled5V ()
	Get the enabled state of the 5V rail.
static int	GetFaultCount5V ()
	Get the count of the total current faults on the 5V rail since the code started.
static double	GetVoltage6V ()
	Get the voltage of the 6V rail.
static double	GetCurrent6V ()
	Get the current output of the 6V rail.
static void	SetEnabled6V (bool enabled)
	Enables or disables the 6V rail.
static bool	GetEnabled6V ()
	Get the enabled state of the 6V rail.
static int	GetFaultCount6V ()
	Get the count of the total current faults on the 6V rail since the code started.
static void	ResetRailFaultCounts ()
	Reset the overcurrent fault counters for all user rails to 0.
static units::volt_t	GetBrownoutVoltage ()
	Get the current brownout voltage setting.
static void	SetBrownoutVoltage (units::volt_t brownoutVoltage)
	Set the voltage the roboRIO will brownout and disable all outputs.
static units::celsius_t	GetCPUTemp ()
	Get the current CPU temperature.
static void	SetRadioLEDState (RadioLEDState state)
	Set the state of the "Radio" LED.
static RadioLEDState	GetRadioLEDState ()
	Get the state of the "Radio" LED.
static CANStatus	GetCANStatus ()
	Get the current status of the CAN bus.

Constructor & Destructor Documentation

RobotController()

frc::RobotController::RobotController ( )

delete

Member Function Documentation

GetBatteryVoltage()

static units::volt_t frc::RobotController::GetBatteryVoltage ( )

static

Read the battery voltage.

Returns

The battery voltage in Volts.

GetBrownoutVoltage()

static units::volt_t frc::RobotController::GetBrownoutVoltage ( )

static

Get the current brownout voltage setting.

Returns

The brownout voltage

GetCANStatus()

static CANStatus frc::RobotController::GetCANStatus ( )

static

Get the current status of the CAN bus.

Returns

The status of the CAN bus

GetComments()

static std::string frc::RobotController::GetComments ( )

static

Return the comments from the roboRIO web interface.

The comments string is cached after the first call to this function on the RoboRIO - restart the robot code to reload the comments string after changing it in the web interface.

Returns

The comments from the roboRIO web interface.

GetCommsDisableCount()

static int frc::RobotController::GetCommsDisableCount ( )

static

Gets the number of times the system has been disabled due to communication errors with the Driver Station.

Returns

number of disables due to communication errors.

GetCPUTemp()

static units::celsius_t frc::RobotController::GetCPUTemp ( )

static

Get the current CPU temperature.

Returns

current CPU temperature

GetCurrent3V3()

static double frc::RobotController::GetCurrent3V3 ( )

static

Get the current output of the 3.3V rail.

Returns

The controller 3.3V rail output current value in Amps

GetCurrent5V()

static double frc::RobotController::GetCurrent5V ( )

static

Get the current output of the 5V rail.

Returns

The controller 5V rail output current value in Amps

GetCurrent6V()

static double frc::RobotController::GetCurrent6V ( )

static

Get the current output of the 6V rail.

Returns

The controller 6V rail output current value in Amps

GetEnabled3V3()

static bool frc::RobotController::GetEnabled3V3 ( )

static

Get the enabled state of the 3.3V rail.

The rail may be disabled due to calling SetEnabled3V3(), a controller brownout, a short circuit on the rail, or controller over-voltage.

Returns

The controller 3.3V rail enabled value. True for enabled.

GetEnabled5V()

static bool frc::RobotController::GetEnabled5V ( )

static

Get the enabled state of the 5V rail.

The rail may be disabled due to calling SetEnabled5V(), a controller brownout, a short circuit on the rail, or controller over-voltage.

Returns

The controller 5V rail enabled value. True for enabled.

GetEnabled6V()

static bool frc::RobotController::GetEnabled6V ( )

static

Get the enabled state of the 6V rail.

The rail may be disabled due to calling SetEnabled6V(), a controller brownout, a short circuit on the rail, or controller over-voltage.

Returns

The controller 6V rail enabled value. True for enabled.

GetFaultCount3V3()

static int frc::RobotController::GetFaultCount3V3 ( )

static

Get the count of the total current faults on the 3.3V rail since the code started.

Returns

The number of faults

GetFaultCount5V()

static int frc::RobotController::GetFaultCount5V ( )

static

Get the count of the total current faults on the 5V rail since the code started.

Returns

The number of faults

GetFaultCount6V()

static int frc::RobotController::GetFaultCount6V ( )

static

Get the count of the total current faults on the 6V rail since the code started.

Returns

The number of faults.

GetFPGARevision()

static int64_t frc::RobotController::GetFPGARevision ( )

static

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()

static uint64_t frc::RobotController::GetFPGATime ( )

static

Read the microsecond-resolution timer on the FPGA.

Returns

The current time in microseconds according to the FPGA (since FPGA reset).

GetFPGAVersion()

static int frc::RobotController::GetFPGAVersion ( )

static

Return the FPGA Version number.

For now, expect this to be competition year.

Returns

FPGA Version number.

GetInputCurrent()

static double frc::RobotController::GetInputCurrent ( )

static

Get the input current to the robot controller.

Returns

The controller input current value in Amps

GetInputVoltage()

static double frc::RobotController::GetInputVoltage ( )

static

Get the input voltage to the robot controller.

Returns

The controller input voltage value in Volts

GetRadioLEDState()

static RadioLEDState frc::RobotController::GetRadioLEDState ( )

static

Get the state of the "Radio" LED.

On the RoboRIO, this reads from sysfs, so this function should not be called multiple times per loop cycle to avoid overruns.

Returns

The state of the LED.

GetRSLState()

static bool frc::RobotController::GetRSLState ( )

static

Gets the current state of the Robot Signal Light (RSL)

Returns

The current state of the RSL- true if on, false if off

GetSerialNumber()

static std::string frc::RobotController::GetSerialNumber ( )

static

Return the serial number of the roboRIO.

Returns

The serial number of the roboRIO.

GetTeamNumber()

static int32_t frc::RobotController::GetTeamNumber ( )

static

Returns the team number configured for the robot controller.

Returns

team number, or 0 if not found.

GetTime()

static uint64_t frc::RobotController::GetTime ( )

static

Read the microsecond timestamp.

By default, the time is based on the FPGA hardware clock in microseconds since the FPGA started. However, the return value of this method may be modified to use any time base, including non-monotonic and non-continuous time bases.

Returns

The current time in microseconds.

GetUserButton()

static bool frc::RobotController::GetUserButton ( )

static

Get the state of the "USER" button on the roboRIO.

Warning

the User Button is used to stop user programs from automatically loading if it is held for more then 5 seconds. Because of this, it's not recommended to be used by teams for any other purpose.

Returns

True if the button is currently pressed down

GetVoltage3V3()

static double frc::RobotController::GetVoltage3V3 ( )

static

Get the voltage of the 3.3V rail.

Returns

The controller 3.3V rail voltage value in Volts

GetVoltage5V()

static double frc::RobotController::GetVoltage5V ( )

static

Get the voltage of the 5V rail.

Returns

The controller 5V rail voltage value in Volts

GetVoltage6V()

static double frc::RobotController::GetVoltage6V ( )

static

Get the voltage of the 6V rail.

Returns

The controller 6V rail voltage value in Volts

IsBrownedOut()

static bool frc::RobotController::IsBrownedOut ( )

static

Check if the system is browned out.

Returns

True if the system is browned out

IsSysActive()

static bool frc::RobotController::IsSysActive ( )

static

Check if 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.

IsSystemTimeValid()

static bool frc::RobotController::IsSystemTimeValid ( )

static

Gets if the system time is valid.

Returns

True if the system time is valid, false otherwise

ResetRailFaultCounts()

static void frc::RobotController::ResetRailFaultCounts ( )

static

Reset the overcurrent fault counters for all user rails to 0.

SetBrownoutVoltage()

static void frc::RobotController::SetBrownoutVoltage ( units::volt_t brownoutVoltage )

static

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

SetEnabled3V3()

static void frc::RobotController::SetEnabled3V3 ( bool enabled )

static

Enables or disables the 3.3V rail.

Parameters

enabled

whether to enable the 3.3V rail.

SetEnabled5V()

static void frc::RobotController::SetEnabled5V ( bool enabled )

static

Enables or disables the 5V rail.

Parameters

enabled

whether to enable the 5V rail.

SetEnabled6V()

static void frc::RobotController::SetEnabled6V ( bool enabled )

static

Enables or disables the 6V rail.

Parameters

enabled

whether to enable the 6V rail.

SetRadioLEDState()

static void frc::RobotController::SetRadioLEDState ( RadioLEDState state )

static

Set the state of the "Radio" LED.

On the RoboRIO, this writes to sysfs, so this function should not be called multiple times per loop cycle to avoid overruns.

Parameters

state

The state to set the LED to.

SetTimeSource()

static void frc::RobotController::SetTimeSource ( std::function< uint64_t()> supplier )

static

Sets a new source to provide the clock time in microseconds.

Changing this affects the return value of GetTime.

Parameters

supplier

Function to return the time in microseconds.

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

• frc/RobotController.h