Class RobotController


  • public final class RobotController
    extends Object
    Contains functions for roboRIO functionality.
    • Method Detail

      • 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.
      • getFPGATime

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

        public static boolean getUserButton()
        Get the state of the "USER" button on the roboRIO.
        Returns:
        true if the button is currently pressed down
      • getBatteryVoltage

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

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

        public static double getInputCurrent()
        Get the input current to the robot controller.
        Returns:
        The controller input current value in Amps
      • getVoltage3V3

        public static double getVoltage3V3()
        Get the voltage of the 3.3V rail.
        Returns:
        The controller 3.3V rail voltage value in Volts
      • getCurrent3V3

        public static double getCurrent3V3()
        Get the current output of the 3.3V rail.
        Returns:
        The controller 3.3V rail output current value in Volts
      • 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 controller has booted.
        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
      • getCurrent5V

        public static double getCurrent5V()
        Get the current output of the 5V rail.
        Returns:
        The controller 5V rail output current value in Amps
      • 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 controller has booted.
        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
      • getCurrent6V

        public static double getCurrent6V()
        Get the current output of the 6V rail.
        Returns:
        The controller 6V rail output current value in Amps
      • 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 controller has booted.
        Returns:
        The number of faults
      • getCANStatus

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