Package edu.wpi.first.wpilibj

Class PowerDistribution

java.lang.Object

edu.wpi.first.wpilibj.PowerDistribution

All Implemented Interfaces:

Sendable, AutoCloseable

public class PowerDistribution
extends Object
implements Sendable, AutoCloseable

Class for getting voltage, current, temperature, power and energy from the CTRE Power Distribution Panel (PDP) or REV Power Distribution Hub (PDH) over CAN.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	PowerDistribution.ModuleType

Field Summary

Fields

Modifier and Type	Field	Description
static int	kDefaultModule

Constructor Summary

Constructors

Constructor	Description
PowerDistribution()	Constructs a PowerDistribution object.
PowerDistribution(int module, PowerDistribution.ModuleType moduleType)	Constructs a PowerDistribution object.

Method Summary

Modifier and Type	Method	Description
void	clearStickyFaults()	Clear all PDP/PDH sticky faults.
void	close()
double	getCurrent(int channel)	Query the current of a single channel of the PDP/PDH.
PowerDistributionFaults	getFaults()
int	getModule()	Gets module number (CAN ID).
int	getNumChannels()	Gets the number of channels for this power distribution object.
PowerDistributionStickyFaults	getStickyFaults()
boolean	getSwitchableChannel()	Gets whether the PDH switchable channel is turned on or off.
double	getTemperature()	Query the temperature of the PDP/PDH.
double	getTotalCurrent()	Query the current of all monitored channels.
double	getTotalEnergy()	Query the total energy drawn from the monitored channels.
double	getTotalPower()	Query the total power drawn from the monitored channels.
PowerDistribution.ModuleType	getType()	Gets the module type for this power distribution object.
PowerDistributionVersion	getVersion()
double	getVoltage()	Query the input voltage of the PDP/PDH.
void	initSendable(SendableBuilder builder)	Initializes this Sendable object.
void	resetTotalEnergy()	Reset the total energy to 0.
void	setSwitchableChannel(boolean enabled)	Sets the PDH switchable channel on or off.

Methods inherited from class java.lang.Object

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

Field Details

kDefaultModule

public static final int kDefaultModule

See Also:

Constant Field Values

Constructor Details

PowerDistribution

public PowerDistribution(int module, PowerDistribution.ModuleType moduleType)

Constructs a PowerDistribution object.

Parameters:

module - The CAN ID of the PDP/PDH.

moduleType - Module type (CTRE or REV).

PowerDistribution

public PowerDistribution()

Constructs a PowerDistribution object.

Detects the connected PDP/PDH using the default CAN ID (0 for CTRE and 1 for REV).

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

getNumChannels

public int getNumChannels()

Gets the number of channels for this power distribution object.

Returns:

Number of output channels (16 for PDP, 24 for PDH).

getVoltage

public double getVoltage()

Query the input voltage of the PDP/PDH.

Returns:

The voltage in volts

getTemperature

public double getTemperature()

Query the temperature of the PDP/PDH.

Returns:

The temperature in degrees Celsius

getCurrent

public double getCurrent(int channel)

Query the current of a single channel of the PDP/PDH.

Parameters:

channel - The channel (0-15 for PDP, 0-23 for PDH) to query

Returns:

The current of the channel in Amperes

getTotalCurrent

public double getTotalCurrent()

Query the current of all monitored channels.

Returns:

The current of all the channels in Amperes

getTotalPower

public double getTotalPower()

Query the total power drawn from the monitored channels.

Returns:

the total power in Watts

getTotalEnergy

public double getTotalEnergy()

Query the total energy drawn from the monitored channels.

Returns:

the total energy in Joules

resetTotalEnergy

public void resetTotalEnergy()

Reset the total energy to 0.

clearStickyFaults

public void clearStickyFaults()

Clear all PDP/PDH sticky faults.

getModule

public int getModule()

Gets module number (CAN ID).

Returns:

The module number (CAN ID).

getType

public PowerDistribution.ModuleType getType()

Gets the module type for this power distribution object.

Returns:

The module type

getSwitchableChannel

public boolean getSwitchableChannel()

Gets whether the PDH switchable channel is turned on or off. Returns false with the CTRE PDP.

Returns:

The output state of the PDH switchable channel

setSwitchableChannel

public void setSwitchableChannel(boolean enabled)

Sets the PDH switchable channel on or off. Does nothing with the CTRE PDP.

Parameters:

enabled - Whether to turn the PDH switchable channel on or off

getVersion

public PowerDistributionVersion getVersion()

getFaults

public PowerDistributionFaults getFaults()

getStickyFaults

public PowerDistributionStickyFaults getStickyFaults()

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder