Package edu.wpi.first.wpilibj.simulation

Class RoboRioSim

java.lang.Object
edu.wpi.first.wpilibj.simulation.RoboRioSim
public final class RoboRioSim extends Object
A utility class to control a simulated RoboRIO.

  • Method Details

    • registerFPGAButtonCallback

      public static CallbackStore registerFPGAButtonCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run when the FPGA button state changes.
      Parameters:
      callback - the callback
      initialNotify - whether to run the callback with the initial state
      Returns:
      the CallbackStore object associated with this callback.

    • getFPGAButton

      public static boolean getFPGAButton()
      Query the state of the FPGA button.
      Returns:
      the FPGA button state

    • setFPGAButton

      public static void setFPGAButton(boolean fpgaButton)
      Define the state of the FPGA button.
      Parameters:
      fpgaButton - the new state

    • registerVInVoltageCallback

      public static CallbackStore registerVInVoltageCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the Vin voltage changes.
      Parameters:
      callback - the callback
      initialNotify - whether to call the callback with the initial state
      Returns:
      the CallbackStore object associated with this callback.

    • getVInVoltage

      public static double getVInVoltage()
      Measure the Vin voltage.
      Returns:
      the Vin voltage

    • setVInVoltage

      public static void setVInVoltage(double vInVoltage)
      Define the Vin voltage.
      Parameters:
      vInVoltage - the new voltage

    • registerVInCurrentCallback

      public static CallbackStore registerVInCurrentCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the Vin current changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getVInCurrent

      public static double getVInCurrent()
      Measure the Vin current.
      Returns:
      the Vin current

    • setVInCurrent

      public static void setVInCurrent(double vInCurrent)
      Define the Vin current.
      Parameters:
      vInCurrent - the new current

    • registerUserVoltage6VCallback

      public static CallbackStore registerUserVoltage6VCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the 6V rail voltage changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getUserVoltage6V

      public static double getUserVoltage6V()
      Measure the 6V rail voltage.
      Returns:
      the 6V rail voltage

    • setUserVoltage6V

      public static void setUserVoltage6V(double userVoltage6V)
      Define the 6V rail voltage.
      Parameters:
      userVoltage6V - the new voltage

    • registerUserCurrent6VCallback

      public static CallbackStore registerUserCurrent6VCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the 6V rail current changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getUserCurrent6V

      public static double getUserCurrent6V()
      Measure the 6V rail current.
      Returns:
      the 6V rail current

    • setUserCurrent6V

      public static void setUserCurrent6V(double userCurrent6V)
      Define the 6V rail current.
      Parameters:
      userCurrent6V - the new current

    • registerUserActive6VCallback

      public static CallbackStore registerUserActive6VCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the 6V rail active state changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial state
      Returns:
      the CallbackStore object associated with this callback.

    • getUserActive6V

      public static boolean getUserActive6V()
      Get the 6V rail active state.
      Returns:
      true if the 6V rail is active

    • setUserActive6V

      public static void setUserActive6V(boolean userActive6V)
      Set the 6V rail active state.
      Parameters:
      userActive6V - true to make rail active

    • registerUserVoltage5VCallback

      public static CallbackStore registerUserVoltage5VCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the 5V rail voltage changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getUserVoltage5V

      public static double getUserVoltage5V()
      Measure the 5V rail voltage.
      Returns:
      the 5V rail voltage

    • setUserVoltage5V

      public static void setUserVoltage5V(double userVoltage5V)
      Define the 5V rail voltage.
      Parameters:
      userVoltage5V - the new voltage

    • registerUserCurrent5VCallback

      public static CallbackStore registerUserCurrent5VCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the 5V rail current changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getUserCurrent5V

      public static double getUserCurrent5V()
      Measure the 5V rail current.
      Returns:
      the 5V rail current

    • setUserCurrent5V

      public static void setUserCurrent5V(double userCurrent5V)
      Define the 5V rail current.
      Parameters:
      userCurrent5V - the new current

    • registerUserActive5VCallback

      public static CallbackStore registerUserActive5VCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the 5V rail active state changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial state
      Returns:
      the CallbackStore object associated with this callback.

    • getUserActive5V

      public static boolean getUserActive5V()
      Get the 5V rail active state.
      Returns:
      true if the 5V rail is active

    • setUserActive5V

      public static void setUserActive5V(boolean userActive5V)
      Set the 5V rail active state.
      Parameters:
      userActive5V - true to make rail active

    • registerUserVoltage3V3Callback

      public static CallbackStore registerUserVoltage3V3Callback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the 3.3V rail voltage changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getUserVoltage3V3

      public static double getUserVoltage3V3()
      Measure the 3.3V rail voltage.
      Returns:
      the 3.3V rail voltage

    • setUserVoltage3V3

      public static void setUserVoltage3V3(double userVoltage3V3)
      Define the 3.3V rail voltage.
      Parameters:
      userVoltage3V3 - the new voltage

    • registerUserCurrent3V3Callback

      public static CallbackStore registerUserCurrent3V3Callback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the 3.3V rail current changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getUserCurrent3V3

      public static double getUserCurrent3V3()
      Measure the 3.3V rail current.
      Returns:
      the 3.3V rail current

    • setUserCurrent3V3

      public static void setUserCurrent3V3(double userCurrent3V3)
      Define the 3.3V rail current.
      Parameters:
      userCurrent3V3 - the new current

    • registerUserActive3V3Callback

      public static CallbackStore registerUserActive3V3Callback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the 3.3V rail active state changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial state
      Returns:
      the CallbackStore object associated with this callback.

    • getUserActive3V3

      public static boolean getUserActive3V3()
      Get the 3.3V rail active state.
      Returns:
      true if the 3.3V rail is active

    • setUserActive3V3

      public static void setUserActive3V3(boolean userActive3V3)
      Set the 3.3V rail active state.
      Parameters:
      userActive3V3 - true to make rail active

    • registerUserFaults6VCallback

      public static CallbackStore registerUserFaults6VCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the 6V rail number of faults changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getUserFaults6V

      public static int getUserFaults6V()
      Get the 6V rail number of faults.
      Returns:
      number of faults

    • setUserFaults6V

      public static void setUserFaults6V(int userFaults6V)
      Set the 6V rail number of faults.
      Parameters:
      userFaults6V - number of faults

    • registerUserFaults5VCallback

      public static CallbackStore registerUserFaults5VCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the 5V rail number of faults changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getUserFaults5V

      public static int getUserFaults5V()
      Get the 5V rail number of faults.
      Returns:
      number of faults

    • setUserFaults5V

      public static void setUserFaults5V(int userFaults5V)
      Set the 5V rail number of faults.
      Parameters:
      userFaults5V - number of faults

    • registerUserFaults3V3Callback

      public static CallbackStore registerUserFaults3V3Callback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the 3.3V rail number of faults changes.
      Parameters:
      callback - the callback
      initialNotify - whether the callback should be called with the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getUserFaults3V3

      public static int getUserFaults3V3()
      Get the 3.3V rail number of faults.
      Returns:
      number of faults

    • setUserFaults3V3

      public static void setUserFaults3V3(int userFaults3V3)
      Set the 3.3V rail number of faults.
      Parameters:
      userFaults3V3 - number of faults

    • registerBrownoutVoltageCallback

      public static CallbackStore registerBrownoutVoltageCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the Brownout voltage changes.
      Parameters:
      callback - the callback
      initialNotify - whether to call the callback with the initial state
      Returns:
      the CallbackStore object associated with this callback.

    • getBrownoutVoltage

      public static double getBrownoutVoltage()
      Measure the Brownout voltage.
      Returns:
      the Brownout voltage

    • setBrownoutVoltage

      public static void setBrownoutVoltage(double vInVoltage)
      Define the Brownout voltage.
      Parameters:
      vInVoltage - the new voltage

    • registerCPUTempCallback

      public static CallbackStore registerCPUTempCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the cpu temp changes.
      Parameters:
      callback - the callback
      initialNotify - whether to call the callback with the initial state
      Returns:
      the CallbackStore object associated with this callback.

    • getCPUTemp

      public static double getCPUTemp()
      Get the cpu temp.
      Returns:
      the cpu temp.

    • setCPUTemp

      public static void setCPUTemp(double cpuTemp)
      Set the cpu temp.
      Parameters:
      cpuTemp - the new cpu temp.

    • registerTeamNumberCallback

      public static CallbackStore registerTeamNumberCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the team number changes.
      Parameters:
      callback - the callback
      initialNotify - whether to call the callback with the initial state
      Returns:
      the CallbackStore object associated with this callback.

    • getTeamNumber

      public static int getTeamNumber()
      Get the team number.
      Returns:
      the team number.

    • setTeamNumber

      public static void setTeamNumber(int teamNumber)
      Set the team number.
      Parameters:
      teamNumber - the new team number.

    • getSerialNumber

      public static String getSerialNumber()
      Get the serial number.
      Returns:
      The serial number.

    • setSerialNumber

      public static void setSerialNumber(String serialNumber)
      Set the serial number.
      Parameters:
      serialNumber - The serial number.

    • getComments

      public static String getComments()
      Get the comments string.
      Returns:
      The comments string.

    • setComments

      public static void setComments(String comments)
      Set the comments string.
      Parameters:
      comments - The comments string.

    • registerRadioLEDStateCallback

      public static CallbackStore registerRadioLEDStateCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the Radio led state changes.
      Parameters:
      callback - the callback
      initialNotify - whether to call the callback with the initial state
      Returns:
      the CallbackStore object associated with this callback.

    • getRadioLEDState

      public static RobotController.RadioLEDState getRadioLEDState()
      Get the state of the radio led.
      Returns:
      The state of the radio led.

    • setRadioLEDState

      public static void setRadioLEDState(RobotController.RadioLEDState state)
      Set the state of the radio led.
      Parameters:
      state - The state of the radio led.

    • resetData

      public static void resetData()
      Reset all simulation data.