edu.wpi.first.wpilibj.RobotController

public final class RobotController
extends Object

Contains functions for roboRIO functionality.

Method Summary

Modifier and Type	Method	Description
`static double`	`getBatteryVoltage()`	Read the battery voltage.
`static double`	`getBrownoutVoltage()`	Get the current brownout voltage setting.
`static CANStatus`	`getCANStatus()`	Get the current status of the CAN bus.
`static String`	`getComments()`	Return the comments from the roboRIO web interface.
`static double`	`getCurrent3V3()`	Get the current output of the 3.3V rail.
`static double`	`getCurrent5V()`	Get the current output of the 5V rail.
`static double`	`getCurrent6V()`	Get the current output of the 6V rail.
`static boolean`	`getEnabled3V3()`	Get the enabled state of the 3.3V rail.
`static boolean`	`getEnabled5V()`	Get the enabled state of the 5V rail.
`static boolean`	`getEnabled6V()`	Get the enabled state of the 6V rail.
`static int`	`getFaultCount3V3()`	Get the count of the total current faults on the 3.3V rail since the controller has booted.
`static int`	`getFaultCount5V()`	Get the count of the total current faults on the 5V rail since the controller has booted.
`static int`	`getFaultCount6V()`	Get the count of the total current faults on the 6V rail since the controller has booted.
`static long`	`getFPGARevision()`	Return the FPGA Revision number.
`static long`	`getFPGATime()`	Read the microsecond timer from the FPGA.
`static int`	`getFPGAVersion()`	Return the FPGA Version number.
`static double`	`getInputCurrent()`	Get the input current to the robot controller.
`static double`	`getInputVoltage()`	Get the input voltage to the robot controller.
`static String`	`getSerialNumber()`	Return the serial number of the roboRIO.
`static boolean`	`getUserButton()`	Get the state of the "USER" button on the roboRIO.
`static double`	`getVoltage3V3()`	Get the voltage of the 3.3V rail.
`static double`	`getVoltage5V()`	Get the voltage of the 5V rail.
`static double`	`getVoltage6V()`	Get the voltage of the 6V rail.
`static boolean`	`isBrownedOut()`	Check if the system is browned out.
`static boolean`	`isSysActive()`	Gets a value indicating whether the FPGA outputs are enabled.
`static void`	`setBrownoutVoltage(double brownoutVoltage)`	Set the voltage the roboRIO will brownout and disable all outputs.

Methods inherited from class java.lang.Object

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

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.
- 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 Amps
- 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
- getBrownoutVoltage
  
  public static double getBrownoutVoltage()
  
  Get the current brownout voltage setting.
  
  Returns:
  
  The brownout voltage
- 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
- getCANStatus
  
  public static CANStatus getCANStatus()
  
  Get the current status of the CAN bus.
  
  Returns:
  
  The status of the CAN bus

Class RobotController

Method Summary

Methods inherited from class java.lang.Object

Method Details