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https://github.com/wpilibsuite/allwpilib
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57 lines
2.2 KiB
Python
57 lines
2.2 KiB
Python
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#!/usr/bin/env python3
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#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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import wpilib
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class MyRobot(wpilib.TimedRobot):
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"""
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This is a sample program showing how to retrieve information from the Power
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Distribution Panel via CAN. The information will be displayed under variables
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through the SmartDashboard.
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"""
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def __init__(self):
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"""Robot initialization function"""
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super().__init__()
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# Object for dealing with the Power Distribution Panel (PDP).
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self.pdp = wpilib.PowerDistribution(0)
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# Put the PDP itself to the dashboard
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wpilib.SmartDashboard.putData("PDP", self.pdp)
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def robotPeriodic(self):
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# Get the current going through channel 7, in Amperes.
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# The PDP returns the current in increments of 0.125A.
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# At low currents the current readings tend to be less accurate.
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current7 = self.pdp.getCurrent(7)
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wpilib.SmartDashboard.putNumber("Current Channel 7", current7)
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# Get the voltage going into the PDP, in Volts.
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# The PDP returns the voltage in increments of 0.05 Volts.
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voltage = self.pdp.getVoltage()
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wpilib.SmartDashboard.putNumber("Voltage", voltage)
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# Retrieves the temperature of the PDP, in degrees Celsius.
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temperatureCelsius = self.pdp.getTemperature()
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wpilib.SmartDashboard.putNumber("Temperature", temperatureCelsius)
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# Get the total current of all channels.
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totalCurrent = self.pdp.getTotalCurrent()
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wpilib.SmartDashboard.putNumber("Total Current", totalCurrent)
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# Get the total power of all channels.
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# Power is the bus voltage multiplied by the current with the units Watts.
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totalPower = self.pdp.getTotalPower()
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wpilib.SmartDashboard.putNumber("Total Power", totalPower)
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# Get the total energy of all channels.
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# Energy is the power summed over time with units Joules.
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totalEnergy = self.pdp.getTotalEnergy()
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wpilib.SmartDashboard.putNumber("Total Energy", totalEnergy)
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