Package edu.wpi.first.wpilibj

Class RobotController

java.lang.Object
edu.wpi.first.wpilibj.RobotController
public final class RobotController extends Object
Contains functions for roboRIO functionality.

  • Method Details

    • 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.

    • getSerialNumber

      public static String getSerialNumber()
      Return the serial number of the roboRIO.
      Returns:
      The serial number of the roboRIO.

    • getComments

      public static String getComments()
      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.

    • getTeamNumber

      public static int getTeamNumber()
      Returns the team number configured for the robot controller.
      Returns:
      team number, or 0 if not found.

    • setTimeSource

      public static void setTimeSource(LongSupplier supplier)
      Sets a new source to provide the clock time in microseconds. Changing this affects the return value of getTime in Java.
      Parameters:
      supplier - Function to return the time in microseconds.

    • getTime

      public static long getTime()
      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.

    • getMeasureTime

      public static Time getMeasureTime()
      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 a measure.

    • getFPGATime

      public static long getFPGATime()
      Read the microsecond timer from the FPGA.
      Returns:
      The current time in microseconds according to the FPGA.

    • getMeasureFPGATime

      public static Time getMeasureFPGATime()
      Read the microsecond timer in a measure from the FPGA.
      Returns:
      The current time according to the FPGA in a measure.

    • getUserButton

      public static boolean getUserButton()
      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

    • getBatteryVoltage

      public static double getBatteryVoltage()
      Read the battery voltage.
      Returns:
      The battery voltage in Volts.

    • getMeasureBatteryVoltage

      public static Voltage getMeasureBatteryVoltage()
      Read the battery voltage in a measure.
      Returns:
      The battery voltage in a measure.

    • 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

    • getCommsDisableCount

      public static int getCommsDisableCount()
      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.

    • getRSLState

      public static boolean getRSLState()
      Gets the current state of the Robot Signal Light (RSL).
      Returns:
      The current state of the RSL- true if on, false if off

    • isSystemTimeValid

      public static boolean isSystemTimeValid()
      Gets if the system time is valid.
      Returns:
      True if the system time is valid, false otherwise

    • getInputVoltage

      public static double getInputVoltage()
      Get the input voltage to the robot controller.
      Returns:
      The controller input voltage value in Volts

    • getMeasureInputVoltage

      public static Voltage getMeasureInputVoltage()
      Get the input voltage to the robot controller in a measure.
      Returns:
      The controller input voltage value in a measure.

    • getInputCurrent

      public static double getInputCurrent()
      Get the input current to the robot controller.
      Returns:
      The controller input current value in Amps

    • getMeasureInputCurrent

      public static Current getMeasureInputCurrent()
      Get the input current to the robot controller in a measure.
      Returns:
      The controller input current value in a measure.

    • getVoltage3V3

      public static double getVoltage3V3()
      Get the voltage of the 3.3V rail.
      Returns:
      The controller 3.3V rail voltage value in Volts

    • getMeasureVoltage3V3

      public static Voltage getMeasureVoltage3V3()
      Get the voltage in a measure of the 3.3V rail.
      Returns:
      The controller 3.3V rail voltage value in a measure.

    • getCurrent3V3

      public static double getCurrent3V3()
      Get the current output of the 3.3V rail.
      Returns:
      The controller 3.3V rail output current value in Amps

    • getMeasureCurrent3V3

      public static Current getMeasureCurrent3V3()
      Get the current output in a measure of the 3.3V rail.
      Returns:
      The controller 3.3V rail output current value in a measure.

    • setEnabled3V3

      public static void setEnabled3V3(boolean enabled)
      Enables or disables the 3.3V rail.
      Parameters:
      enabled - whether to enable the 3.3V rail.

    • 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 code started.
      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

    • getMeasureVoltage5V

      public static Voltage getMeasureVoltage5V()
      Get the voltage in a measure of the 5V rail.
      Returns:
      The controller 5V rail voltage value in a measure.

    • getCurrent5V

      public static double getCurrent5V()
      Get the current output of the 5V rail.
      Returns:
      The controller 5V rail output current value in Amps

    • getMeasureCurrent5V

      public static Current getMeasureCurrent5V()
      Get the current output in a measure of the 5V rail.
      Returns:
      The controller 5V rail output current value in a measure.

    • setEnabled5V

      public static void setEnabled5V(boolean enabled)
      Enables or disables the 5V rail.
      Parameters:
      enabled - whether to enable the 5V rail.

    • 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 code started.
      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

    • getMeasureVoltage6V

      public static Voltage getMeasureVoltage6V()
      Get the voltage in a measure of the 6V rail.
      Returns:
      The controller 6V rail voltage value in a measure.

    • getCurrent6V

      public static double getCurrent6V()
      Get the current output of the 6V rail.
      Returns:
      The controller 6V rail output current value in Amps

    • getMeasureCurrent6V

      public static Current getMeasureCurrent6V()
      Get the current output in a measure of the 6V rail.
      Returns:
      The controller 6V rail output current value in a measure.

    • setEnabled6V

      public static void setEnabled6V(boolean enabled)
      Enables or disables the 6V rail.
      Parameters:
      enabled - whether to enable the 6V rail.

    • 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 code started.
      Returns:
      The number of faults

    • resetRailFaultCounts

      public static void resetRailFaultCounts()
      Reset the overcurrent fault counters for all user rails to 0.

    • getBrownoutVoltage

      public static double getBrownoutVoltage()
      Get the current brownout voltage setting.
      Returns:
      The brownout voltage

    • getMeasureBrownoutVoltage

      public static Voltage getMeasureBrownoutVoltage()
      Get the current brownout voltage setting in a measure.
      Returns:
      The brownout voltage in a measure.

    • setBrownoutVoltage

      public static void setBrownoutVoltage(double brownoutVoltage)
      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

    • setBrownoutVoltage

      public static void setBrownoutVoltage(Voltage brownoutVoltage)
      Set the voltage in a measure 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 in a measure

    • getCPUTemp

      public static double getCPUTemp()
      Get the current CPU temperature in degrees Celsius.
      Returns:
      current CPU temperature in degrees Celsius

    • getMeasureCPUTemp

      public static Temperature getMeasureCPUTemp()
      Get the current CPU temperature in a measure.
      Returns:
      current CPU temperature in a measure.

    • setRadioLEDState

      public static void setRadioLEDState(RobotController.RadioLEDState state)
      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.

    • getRadioLEDState

      public static RobotController.RadioLEDState getRadioLEDState()
      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.

    • getCANStatus

      public static CANStatus getCANStatus()
      Get the current status of the CAN bus.
      Returns:
      The status of the CAN bus