Class RobotController

java.lang.Object
org.wpilib.system.RobotController
public final class RobotController extends Object
Contains functions for roboRIO functionality.

  • Method Details

    • 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 nanoseconds. Changing this affects the return value of getTime in Java.
      Parameters:
      supplier - Function to return the time in nanoseconds.

    • getTime

      public static long getTime()
      Read the nanosecond timestamp. By default, the time is based on the monotonic clock. 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 nanoseconds.

    • getMeasureTime

      public static Time getMeasureTime()
      Read the nanosecond timestamp. By default, the time is based on the monotonic clock. 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.

    • getMonotonicTime

      public static long getMonotonicTime()
      Read the nanosecond monotonic timer.
      Returns:
      The current monotonic time in nanoseconds.

    • getMeasureMonotonicTime

      public static Time getMeasureMonotonicTime()
      Read the nanosecond monotonic timer in a measure.
      Returns:
      The current monotonic time in a measure.

    • 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.

    • 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

    • resetRailFaultCounts

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

    • setBrownoutVoltages

      public static void setBrownoutVoltages(double brownoutVoltage, double recoveryVoltage)
      Set the voltages where the robot will enter and recover from brownout.

      The brownout voltage must be between 5 V and 8 V, inclusive. The recovery voltage must be no greater than 8.5 V and at least 0.5 V above the brownout voltage.

      Parameters:
      brownoutVoltage - the voltage where the robot will enter brownout
      recoveryVoltage - the voltage where the robot will recover from brownout

    • setBrownoutVoltages

      public static void setBrownoutVoltages(Voltage brownoutVoltage, Voltage recoveryVoltage)
      Set the voltages in measures where the robot will enter and recover from brownout.

      The brownout voltage must be between 5 V and 8 V, inclusive. The recovery voltage must be no greater than 8.5 V and at least 0.5 V above the brownout voltage.

      Parameters:
      brownoutVoltage - the voltage where the robot will enter brownout
      recoveryVoltage - the voltage where the robot will recover from brownout

    • 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.

    • getCANStatus

      public static CANStatus getCANStatus(CANPort busId)
      Get the current status of the CAN bus.
      Parameters:
      busId - The bus ID
      Returns:
      The status of the CAN bus