Package edu.wpi.first.hal

Class PowerDistributionJNI

java.lang.Object
edu.wpi.first.hal.JNIWrapper
edu.wpi.first.hal.PowerDistributionJNI
public class PowerDistributionJNI extends JNIWrapper
Power Distribution JNI Functions.
See Also:
  • "hal/PowerDistribution.h"

  • Nested Class Summary

    Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper

    JNIWrapper.Helper

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final int
    AUTOMATIC_TYPE
    Automatically determines the module type.
    static final int
    CTRE_TYPE
    CTRE (Cross The Road Electronics) Power Distribution Panel (PDP).
    static final int
    DEFAULT_MODULE
    Use the default module number for the selected module type.
    static final int
    REV_TYPE
    REV Power Distribution Hub (PDH).

  • Method Summary

    Modifier and Type
    Method
    Description
    static boolean
    checkChannel(int handle, int channel)
    Checks if a PowerDistribution channel is valid.
    static boolean
    checkModule(int module, int type)
    Checks if a PowerDistribution module is valid.
    static void
    clearStickyFaults(int handle)
    Clears any PowerDistribution sticky faults.
    static void
    free(int handle)
    Cleans a PowerDistribution module.
    static void
    getAllCurrents(int handle, double[] currents)
    Gets the current of all channels on the PowerDistribution.
    static double
    getChannelCurrent(int handle, int channel)
    Gets the current of a specific PowerDistribution channel.
    static double
    getChannelCurrentNoError(int handle, int channel)
    Gets the current of a specific PowerDistribution channel without throwing any errors.
    static PowerDistributionFaults
    getFaults(int handle)
    Get the current faults of the PowerDistribution.
    static int
    getFaultsNative(int handle)
    Get the current faults of the PowerDistribution.
    static int
    getModuleNumber(int handle)
    Gets the module number for a specific handle.
    static int
    getNumChannels(int handle)
    Gets the number of channels for this handle.
    static PowerDistributionStickyFaults
    getStickyFaults(int handle)
    Gets the sticky faults of the PowerDistribution.
    static int
    getStickyFaultsNative(int handle)
    Gets the sticky faults of the PowerDistribution.
    static boolean
    getSwitchableChannel(int handle)
    Returns true if switchable channel is powered on.
    static boolean
    getSwitchableChannelNoError(int handle)
    Returns true if switchable channel is powered on without throwing any errors.
    static double
    getTemperature(int handle)
    Gets the temperature of the PowerDistribution.
    static double
    getTotalCurrent(int handle)
    Gets the total current of the PowerDistribution.
    static double
    getTotalCurrentNoError(int handle)
    Gets the total current of the PowerDistribution without throwing any errors.
    static double
    getTotalEnergy(int handle)
    Gets the total energy of the Power Distribution Panel.
    static double
    getTotalPower(int handle)
    Gets the total power of the Power Distribution Panel.
    static int
    getType(int handle)
    Gets the type of PowerDistribution module.
    static PowerDistributionVersion
    getVersion(int handle)
    Get the version of the PowerDistribution.
    static double
    getVoltage(int handle)
    Gets the PowerDistribution input voltage.
    static double
    getVoltageNoError(int handle)
    Gets the PowerDistribution input voltage without throwing any errors.
    static int
    initialize(int module, int type)
    Initializes a Power Distribution Panel.
    static void
    resetTotalEnergy(int handle)
    Resets the Power Distribution Panel accumulated energy.
    static void
    setSwitchableChannel(int handle, boolean enabled)
    Power on/off switchable channel.
    static void
    setSwitchableChannelNoError(int handle, boolean enabled)
    Power on/off switchable channel without throwing any errors.

    Methods inherited from class edu.wpi.first.hal.JNIWrapper

    forceLoad, suppressUnused

    Methods inherited from class java.lang.Object

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

  • Field Details

  • Method Details

    • initialize

      public static int initialize(int module, int type)
      Initializes a Power Distribution Panel.
      Parameters:
      module - the module number to initialize
      type - the type of module to initialize
      Returns:
      the created PowerDistribution handle
      See Also:
      • "HAL_InitializePowerDistribution"

    • free

      public static void free(int handle)
      Cleans a PowerDistribution module.
      Parameters:
      handle - the module handle
      See Also:
      • "HAL_CleanPowerDistribution"

    • getModuleNumber

      public static int getModuleNumber(int handle)
      Gets the module number for a specific handle.
      Parameters:
      handle - the module handle
      Returns:
      the module number
      See Also:
      • "HAL_GetPowerDistributionModuleNumber"

    • checkModule

      public static boolean checkModule(int module, int type)
      Checks if a PowerDistribution module is valid.
      Parameters:
      module - the module to check
      type - the type of module
      Returns:
      true if the module is valid, otherwise false
      See Also:
      • "HAL_CheckPowerDistributionModule"

    • checkChannel

      public static boolean checkChannel(int handle, int channel)
      Checks if a PowerDistribution channel is valid.
      Parameters:
      handle - the module handle
      channel - the channel to check
      Returns:
      true if the channel is valid, otherwise false
      See Also:
      • "HAL_CheckPowerDistributionChannel"

    • getType

      public static int getType(int handle)
      Gets the type of PowerDistribution module.
      Parameters:
      handle - the module handle
      Returns:
      the type of module
      See Also:
      • "HAL_GetPowerDistributionType"

    • getNumChannels

      public static int getNumChannels(int handle)
      Gets the number of channels for this handle.
      Parameters:
      handle - the handle
      Returns:
      number of channels
      See Also:
      • "HAL_GetPowerDistributionNumChannels"

    • getTemperature

      public static double getTemperature(int handle)
      Gets the temperature of the PowerDistribution.

      Not supported on the Rev PDH and returns 0.

      Parameters:
      handle - the module handle
      Returns:
      the module temperature (celsius)
      See Also:
      • "HAL_GetPowerDistributionTemperature"

    • getVoltage

      public static double getVoltage(int handle)
      Gets the PowerDistribution input voltage.
      Parameters:
      handle - the module handle
      Returns:
      the input voltage (volts)
      See Also:
      • "HAL_GetPowerDistributionVoltage"

    • getChannelCurrent

      public static double getChannelCurrent(int handle, int channel)
      Gets the current of a specific PowerDistribution channel.
      Parameters:
      handle - the module handle
      channel - the channel
      Returns:
      the channel current (amps)
      See Also:
      • "HAL_GetPowerDistributionChannelCurrent"

    • getAllCurrents

      public static void getAllCurrents(int handle, double[] currents)
      Gets the current of all channels on the PowerDistribution.

      The array must be large enough to hold all channels.

      Parameters:
      handle - the module handle
      currents - the currents
      See Also:
      • "HAL_GetPowerDistributionAllChannelCurrents"

    • getTotalCurrent

      public static double getTotalCurrent(int handle)
      Gets the total current of the PowerDistribution.
      Parameters:
      handle - the module handle
      Returns:
      the total current (amps)
      See Also:
      • "HAL_GetPowerDistributionTotalCurrent"

    • getTotalPower

      public static double getTotalPower(int handle)
      Gets the total power of the Power Distribution Panel.

      Not supported on the Rev PDH and returns 0.

      Parameters:
      handle - the module handle
      Returns:
      the total power (watts)
      See Also:
      • "HAL_GetPowerDistributionTotalPower"

    • getTotalEnergy

      public static double getTotalEnergy(int handle)
      Gets the total energy of the Power Distribution Panel.

      Not supported on the Rev PDH and does nothing.

      Parameters:
      handle - the module handle
      Returns:
      the total energy (joules)
      See Also:
      • "HAL_GetPowerDistributionTotalEnergy"

    • resetTotalEnergy

      public static void resetTotalEnergy(int handle)
      Resets the Power Distribution Panel accumulated energy.

      Not supported on the Rev PDH and returns 0.

      Parameters:
      handle - the module handle
      See Also:
      • "HAL_ClearPowerDistributionStickyFaults"

    • clearStickyFaults

      public static void clearStickyFaults(int handle)
      Clears any PowerDistribution sticky faults.
      Parameters:
      handle - the module handle
      See Also:
      • "HAL_ClearPowerDistributionStickyFaults"

    • getSwitchableChannel

      public static boolean getSwitchableChannel(int handle)
      Returns true if switchable channel is powered on.

      This is a REV PDH-specific function. This function will no-op on CTRE PDP.

      Parameters:
      handle - the module handle
      Returns:
      the state of the switchable channel
      See Also:
      • "HAL_GetPowerDistributionSwitchableChannel"

    • setSwitchableChannel

      public static void setSwitchableChannel(int handle, boolean enabled)
      Power on/off switchable channel.

      This is a REV PDH-specific function. This function will no-op on CTRE PDP.

      Parameters:
      handle - the module handle
      enabled - true to turn on switchable channel
      See Also:
      • "HAL_SetPowerDistributionSwitchableChannel"

    • getVoltageNoError

      public static double getVoltageNoError(int handle)
      Gets the PowerDistribution input voltage without throwing any errors.
      Parameters:
      handle - the module handle
      Returns:
      the input voltage (volts)
      See Also:
      • "HAL_GetPowerDistributionVoltage"

    • getChannelCurrentNoError

      public static double getChannelCurrentNoError(int handle, int channel)
      Gets the current of a specific PowerDistribution channel without throwing any errors.
      Parameters:
      handle - the module handle
      channel - the channel
      Returns:
      the channel current (amps)
      See Also:
      • "HAL_GetPowerDistributionChannelCurrent"

    • getTotalCurrentNoError

      public static double getTotalCurrentNoError(int handle)
      Gets the total current of the PowerDistribution without throwing any errors.
      Parameters:
      handle - the module handle
      Returns:
      the total current (amps)
      See Also:
      • "HAL_GetPowerDistributionTotalCurrent"

    • getSwitchableChannelNoError

      public static boolean getSwitchableChannelNoError(int handle)
      Returns true if switchable channel is powered on without throwing any errors.

      This is a REV PDH-specific function. This function will no-op on CTRE PDP.

      Parameters:
      handle - the module handle
      Returns:
      the state of the switchable channel
      See Also:
      • "HAL_GetPowerDistributionSwitchableChannel"

    • setSwitchableChannelNoError

      public static void setSwitchableChannelNoError(int handle, boolean enabled)
      Power on/off switchable channel without throwing any errors.

      This is a REV PDH-specific function. This function will no-op on CTRE PDP.

      Parameters:
      handle - the module handle
      enabled - true to turn on switchable channel
      See Also:
      • "HAL_SetPowerDistributionSwitchableChannel"

    • getFaultsNative

      public static int getFaultsNative(int handle)
      Get the current faults of the PowerDistribution.
      Parameters:
      handle - the module handle
      Returns:
      the current faults
      See Also:
      • "HAL_GetPowerDistributionFaults"

    • getFaults

      public static PowerDistributionFaults getFaults(int handle)
      Get the current faults of the PowerDistribution.
      Parameters:
      handle - the module handle
      Returns:
      the current faults
      See Also:
      • "HAL_GetPowerDistributionFaults"

    • getStickyFaultsNative

      public static int getStickyFaultsNative(int handle)
      Gets the sticky faults of the PowerDistribution.
      Parameters:
      handle - the module handle
      Returns:
      the sticky faults
      See Also:
      • "HAL_GetPowerDistributionStickyFaults"

    • getStickyFaults

      public static PowerDistributionStickyFaults getStickyFaults(int handle)
      Gets the sticky faults of the PowerDistribution.
      Parameters:
      handle - the module handle
      Returns:
      the sticky faults
      See Also:
      • "HAL_GetPowerDistributionStickyFaults"

    • getVersion

      public static PowerDistributionVersion getVersion(int handle)
      Get the version of the PowerDistribution.
      Parameters:
      handle - the module handle
      Returns:
      version
      See Also:
      • "HAL_GetPowerDistributionVersion"