mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
[hal, wpilib] Remove power rails that don't exist on systemcore (#7861)
This commit is contained in:
Thad House
@@ -112,7 +112,7 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
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}
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double analog = m_analogInput.getVoltage();
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double pos = analog / RobotController.getVoltage5V();
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double pos = analog / RobotController.getVoltage3V3();
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// Map sensor range if range isn't full
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pos = mapSensorRange(pos);
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@@ -125,7 +125,7 @@ public class AnalogPotentiometer implements Sendable, AutoCloseable {
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if (m_analogInput == null) {
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return m_offset;
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}
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return (m_analogInput.getAverageVoltage() / RobotController.getVoltage5V()) * m_fullRange
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return (m_analogInput.getAverageVoltage() / RobotController.getVoltage3V3()) * m_fullRange
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+ m_offset;
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}
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@@ -11,7 +11,6 @@ import static edu.wpi.first.units.Units.Volts;
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import edu.wpi.first.hal.HAL;
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import edu.wpi.first.hal.HALUtil;
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import edu.wpi.first.hal.LEDJNI;
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import edu.wpi.first.hal.PowerJNI;
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import edu.wpi.first.hal.can.CANJNI;
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import edu.wpi.first.hal.can.CANStatus;
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@@ -129,19 +128,6 @@ public final class RobotController {
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return Microseconds.of(HALUtil.getFPGATime());
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}
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/**
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* Get the state of the "USER" button on the roboRIO.
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*
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* <p>Warning: the User Button is used to stop user programs from automatically loading if it is
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* held for more then 5 seconds. Because of this, it's not recommended to be used by teams for any
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* other purpose.
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*
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* @return true if the button is currently pressed down
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*/
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public static boolean getUserButton() {
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return HALUtil.getFPGAButton();
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}
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/**
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* Read the battery voltage.
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*
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@@ -225,24 +211,6 @@ public final class RobotController {
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return Volts.of(PowerJNI.getVinVoltage());
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}
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/**
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* Get the input current to the robot controller.
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*
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* @return The controller input current value in Amps
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*/
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public static double getInputCurrent() {
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return PowerJNI.getVinCurrent();
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}
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/**
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* Get the input current to the robot controller in a measure.
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*
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* @return The controller input current value in a measure.
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*/
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public static Current getMeasureInputCurrent() {
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return Amps.of(PowerJNI.getVinCurrent());
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}
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/**
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* Get the voltage of the 3.3V rail.
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*
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@@ -307,134 +275,6 @@ public final class RobotController {
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return PowerJNI.getUserCurrentFaults3V3();
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}
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/**
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* Get the voltage of the 5V rail.
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*
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* @return The controller 5V rail voltage value in Volts
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*/
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public static double getVoltage5V() {
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return PowerJNI.getUserVoltage5V();
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}
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/**
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* Get the voltage in a measure of the 5V rail.
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*
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* @return The controller 5V rail voltage value in a measure.
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*/
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public static Voltage getMeasureVoltage5V() {
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return Volts.of(PowerJNI.getUserVoltage5V());
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}
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/**
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* Get the current output of the 5V rail.
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*
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* @return The controller 5V rail output current value in Amps
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*/
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public static double getCurrent5V() {
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return PowerJNI.getUserCurrent5V();
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}
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/**
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* Get the current output in a measure of the 5V rail.
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*
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* @return The controller 5V rail output current value in a measure.
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*/
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public static Current getMeasureCurrent5V() {
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return Amps.of(PowerJNI.getUserCurrent5V());
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}
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/**
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* Enables or disables the 5V rail.
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*
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* @param enabled whether to enable the 5V rail.
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*/
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public static void setEnabled5V(boolean enabled) {
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PowerJNI.setUserEnabled5V(enabled);
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}
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/**
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* Get the enabled state of the 5V rail. The rail may be disabled due to a controller brownout, a
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* short circuit on the rail, or controller over-voltage.
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*
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* @return The controller 5V rail enabled value
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*/
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public static boolean getEnabled5V() {
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return PowerJNI.getUserActive5V();
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}
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/**
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* Get the count of the total current faults on the 5V rail since the code started.
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*
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* @return The number of faults
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*/
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public static int getFaultCount5V() {
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return PowerJNI.getUserCurrentFaults5V();
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}
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/**
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* Get the voltage of the 6V rail.
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*
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* @return The controller 6V rail voltage value in Volts
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*/
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public static double getVoltage6V() {
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return PowerJNI.getUserVoltage6V();
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}
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/**
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* Get the voltage in a measure of the 6V rail.
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*
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* @return The controller 6V rail voltage value in a measure.
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*/
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public static Voltage getMeasureVoltage6V() {
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return Volts.of(PowerJNI.getUserVoltage6V());
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}
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/**
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* Get the current output of the 6V rail.
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*
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* @return The controller 6V rail output current value in Amps
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*/
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public static double getCurrent6V() {
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return PowerJNI.getUserCurrent6V();
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}
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/**
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* Get the current output in a measure of the 6V rail.
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*
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* @return The controller 6V rail output current value in a measure.
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*/
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public static Current getMeasureCurrent6V() {
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return Amps.of(PowerJNI.getUserCurrent6V());
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}
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/**
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* Enables or disables the 6V rail.
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*
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* @param enabled whether to enable the 6V rail.
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*/
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public static void setEnabled6V(boolean enabled) {
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PowerJNI.setUserEnabled6V(enabled);
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}
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/**
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* Get the enabled state of the 6V rail. The rail may be disabled due to a controller brownout, a
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* short circuit on the rail, or controller over-voltage.
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*
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* @return The controller 6V rail enabled value
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*/
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public static boolean getEnabled6V() {
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return PowerJNI.getUserActive6V();
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}
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/**
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* Get the count of the total current faults on the 6V rail since the code started.
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*
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* @return The number of faults
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*/
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public static int getFaultCount6V() {
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return PowerJNI.getUserCurrentFaults6V();
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}
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/** Reset the overcurrent fault counters for all user rails to 0. */
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public static void resetRailFaultCounts() {
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PowerJNI.resetUserCurrentFaults();
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@@ -498,61 +338,6 @@ public final class RobotController {
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return Celsius.of(PowerJNI.getCPUTemp());
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}
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/** State for the radio led. */
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public enum RadioLEDState {
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/** Off. */
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kOff(LEDJNI.RADIO_LED_STATE_OFF),
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/** Green. */
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kGreen(LEDJNI.RADIO_LED_STATE_GREEN),
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/** Red. */
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kRed(LEDJNI.RADIO_LED_STATE_RED),
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/** Orange. */
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kOrange(LEDJNI.RADIO_LED_STATE_ORANGE);
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/** The native value for this state. */
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public final int value;
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RadioLEDState(int value) {
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this.value = value;
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}
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/**
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* Gets a state from an int value.
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*
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* @param value int value
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* @return state
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*/
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public static RadioLEDState fromValue(int value) {
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return switch (value) {
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case LEDJNI.RADIO_LED_STATE_OFF -> RadioLEDState.kOff;
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case LEDJNI.RADIO_LED_STATE_GREEN -> RadioLEDState.kGreen;
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case LEDJNI.RADIO_LED_STATE_RED -> RadioLEDState.kRed;
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case LEDJNI.RADIO_LED_STATE_ORANGE -> RadioLEDState.kOrange;
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default -> RadioLEDState.kOff;
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};
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}
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}
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/**
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* Set the state of the "Radio" LED. On the RoboRIO, this writes to sysfs, so this function should
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* not be called multiple times per loop cycle to avoid overruns.
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*
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* @param state The state to set the LED to.
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*/
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public static void setRadioLEDState(RadioLEDState state) {
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LEDJNI.setRadioLEDState(state.value);
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}
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/**
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* Get the state of the "Radio" LED. On the RoboRIO, this reads from sysfs, so this function
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* should not be called multiple times per loop cycle to avoid overruns.
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*
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* @return The state of the LED.
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*/
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public static RadioLEDState getRadioLEDState() {
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return RadioLEDState.fromValue(LEDJNI.getRadioLEDState());
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}
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/**
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* Get the current status of the CAN bus.
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*
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@@ -6,8 +6,6 @@ package edu.wpi.first.wpilibj.simulation;
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import edu.wpi.first.hal.simulation.NotifyCallback;
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import edu.wpi.first.hal.simulation.RoboRioDataJNI;
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import edu.wpi.first.wpilibj.RobotController;
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import edu.wpi.first.wpilibj.RobotController.RadioLEDState;
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/** A utility class to control a simulated RoboRIO. */
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public final class RoboRioSim {
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@@ -15,37 +13,6 @@ public final class RoboRioSim {
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// Utility class
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}
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/**
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* Register a callback to be run when the FPGA button state changes.
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*
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* @param callback the callback
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* @param initialNotify whether to run the callback with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public static CallbackStore registerFPGAButtonCallback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerFPGAButtonCallback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelFPGAButtonCallback);
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}
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/**
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* Query the state of the FPGA button.
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*
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* @return the FPGA button state
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*/
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public static boolean getFPGAButton() {
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return RoboRioDataJNI.getFPGAButton();
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}
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/**
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* Define the state of the FPGA button.
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*
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* @param fpgaButton the new state
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*/
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public static void setFPGAButton(boolean fpgaButton) {
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RoboRioDataJNI.setFPGAButton(fpgaButton);
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}
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/**
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* Register a callback to be run whenever the Vin voltage changes.
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*
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@@ -77,223 +44,6 @@ public final class RoboRioSim {
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RoboRioDataJNI.setVInVoltage(vInVoltage);
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}
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/**
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* Register a callback to be run whenever the Vin current changes.
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*
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* @param callback the callback
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* @param initialNotify whether the callback should be called with the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public static CallbackStore registerVInCurrentCallback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerVInCurrentCallback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelVInCurrentCallback);
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}
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/**
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* Measure the Vin current.
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*
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* @return the Vin current
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*/
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public static double getVInCurrent() {
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return RoboRioDataJNI.getVInCurrent();
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}
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/**
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* Define the Vin current.
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*
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* @param vInCurrent the new current
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*/
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public static void setVInCurrent(double vInCurrent) {
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RoboRioDataJNI.setVInCurrent(vInCurrent);
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}
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/**
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* Register a callback to be run whenever the 6V rail voltage changes.
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*
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* @param callback the callback
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* @param initialNotify whether the callback should be called with the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public static CallbackStore registerUserVoltage6VCallback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerUserVoltage6VCallback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelUserVoltage6VCallback);
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}
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/**
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* Measure the 6V rail voltage.
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*
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* @return the 6V rail voltage
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*/
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public static double getUserVoltage6V() {
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return RoboRioDataJNI.getUserVoltage6V();
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}
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/**
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* Define the 6V rail voltage.
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*
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* @param userVoltage6V the new voltage
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*/
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public static void setUserVoltage6V(double userVoltage6V) {
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RoboRioDataJNI.setUserVoltage6V(userVoltage6V);
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}
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/**
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* Register a callback to be run whenever the 6V rail current changes.
|
||||
*
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||||
* @param callback the callback
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* @param initialNotify whether the callback should be called with the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public static CallbackStore registerUserCurrent6VCallback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerUserCurrent6VCallback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelUserCurrent6VCallback);
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}
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/**
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* Measure the 6V rail current.
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*
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* @return the 6V rail current
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*/
|
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public static double getUserCurrent6V() {
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return RoboRioDataJNI.getUserCurrent6V();
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}
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/**
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* Define the 6V rail current.
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||||
*
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||||
* @param userCurrent6V the new current
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*/
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public static void setUserCurrent6V(double userCurrent6V) {
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RoboRioDataJNI.setUserCurrent6V(userCurrent6V);
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}
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|
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/**
|
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* Register a callback to be run whenever the 6V rail active state changes.
|
||||
*
|
||||
* @param callback the callback
|
||||
* @param initialNotify whether the callback should be called with the initial state
|
||||
* @return the {@link CallbackStore} object associated with this callback.
|
||||
*/
|
||||
public static CallbackStore registerUserActive6VCallback(
|
||||
NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerUserActive6VCallback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelUserActive6VCallback);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the 6V rail active state.
|
||||
*
|
||||
* @return true if the 6V rail is active
|
||||
*/
|
||||
public static boolean getUserActive6V() {
|
||||
return RoboRioDataJNI.getUserActive6V();
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the 6V rail active state.
|
||||
*
|
||||
* @param userActive6V true to make rail active
|
||||
*/
|
||||
public static void setUserActive6V(boolean userActive6V) {
|
||||
RoboRioDataJNI.setUserActive6V(userActive6V);
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a callback to be run whenever the 5V rail voltage changes.
|
||||
*
|
||||
* @param callback the callback
|
||||
* @param initialNotify whether the callback should be called with the initial value
|
||||
* @return the {@link CallbackStore} object associated with this callback.
|
||||
*/
|
||||
public static CallbackStore registerUserVoltage5VCallback(
|
||||
NotifyCallback callback, boolean initialNotify) {
|
||||
int uid = RoboRioDataJNI.registerUserVoltage5VCallback(callback, initialNotify);
|
||||
return new CallbackStore(uid, RoboRioDataJNI::cancelUserVoltage5VCallback);
|
||||
}
|
||||
|
||||
/**
|
||||
* Measure the 5V rail voltage.
|
||||
*
|
||||
* @return the 5V rail voltage
|
||||
*/
|
||||
public static double getUserVoltage5V() {
|
||||
return RoboRioDataJNI.getUserVoltage5V();
|
||||
}
|
||||
|
||||
/**
|
||||
* Define the 5V rail voltage.
|
||||
*
|
||||
* @param userVoltage5V the new voltage
|
||||
*/
|
||||
public static void setUserVoltage5V(double userVoltage5V) {
|
||||
RoboRioDataJNI.setUserVoltage5V(userVoltage5V);
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a callback to be run whenever the 5V rail current changes.
|
||||
*
|
||||
* @param callback the callback
|
||||
* @param initialNotify whether the callback should be called with the initial value
|
||||
* @return the {@link CallbackStore} object associated with this callback.
|
||||
*/
|
||||
public static CallbackStore registerUserCurrent5VCallback(
|
||||
NotifyCallback callback, boolean initialNotify) {
|
||||
int uid = RoboRioDataJNI.registerUserCurrent5VCallback(callback, initialNotify);
|
||||
return new CallbackStore(uid, RoboRioDataJNI::cancelUserCurrent5VCallback);
|
||||
}
|
||||
|
||||
/**
|
||||
* Measure the 5V rail current.
|
||||
*
|
||||
* @return the 5V rail current
|
||||
*/
|
||||
public static double getUserCurrent5V() {
|
||||
return RoboRioDataJNI.getUserCurrent5V();
|
||||
}
|
||||
|
||||
/**
|
||||
* Define the 5V rail current.
|
||||
*
|
||||
* @param userCurrent5V the new current
|
||||
*/
|
||||
public static void setUserCurrent5V(double userCurrent5V) {
|
||||
RoboRioDataJNI.setUserCurrent5V(userCurrent5V);
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a callback to be run whenever the 5V rail active state changes.
|
||||
*
|
||||
* @param callback the callback
|
||||
* @param initialNotify whether the callback should be called with the initial state
|
||||
* @return the {@link CallbackStore} object associated with this callback.
|
||||
*/
|
||||
public static CallbackStore registerUserActive5VCallback(
|
||||
NotifyCallback callback, boolean initialNotify) {
|
||||
int uid = RoboRioDataJNI.registerUserActive5VCallback(callback, initialNotify);
|
||||
return new CallbackStore(uid, RoboRioDataJNI::cancelUserActive5VCallback);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the 5V rail active state.
|
||||
*
|
||||
* @return true if the 5V rail is active
|
||||
*/
|
||||
public static boolean getUserActive5V() {
|
||||
return RoboRioDataJNI.getUserActive5V();
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the 5V rail active state.
|
||||
*
|
||||
* @param userActive5V true to make rail active
|
||||
*/
|
||||
public static void setUserActive5V(boolean userActive5V) {
|
||||
RoboRioDataJNI.setUserActive5V(userActive5V);
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a callback to be run whenever the 3.3V rail voltage changes.
|
||||
*
|
||||
@@ -387,68 +137,6 @@ public final class RoboRioSim {
|
||||
RoboRioDataJNI.setUserActive3V3(userActive3V3);
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a callback to be run whenever the 6V rail number of faults changes.
|
||||
*
|
||||
* @param callback the callback
|
||||
* @param initialNotify whether the callback should be called with the initial value
|
||||
* @return the {@link CallbackStore} object associated with this callback.
|
||||
*/
|
||||
public static CallbackStore registerUserFaults6VCallback(
|
||||
NotifyCallback callback, boolean initialNotify) {
|
||||
int uid = RoboRioDataJNI.registerUserFaults6VCallback(callback, initialNotify);
|
||||
return new CallbackStore(uid, RoboRioDataJNI::cancelUserFaults6VCallback);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the 6V rail number of faults.
|
||||
*
|
||||
* @return number of faults
|
||||
*/
|
||||
public static int getUserFaults6V() {
|
||||
return RoboRioDataJNI.getUserFaults6V();
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the 6V rail number of faults.
|
||||
*
|
||||
* @param userFaults6V number of faults
|
||||
*/
|
||||
public static void setUserFaults6V(int userFaults6V) {
|
||||
RoboRioDataJNI.setUserFaults6V(userFaults6V);
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a callback to be run whenever the 5V rail number of faults changes.
|
||||
*
|
||||
* @param callback the callback
|
||||
* @param initialNotify whether the callback should be called with the initial value
|
||||
* @return the {@link CallbackStore} object associated with this callback.
|
||||
*/
|
||||
public static CallbackStore registerUserFaults5VCallback(
|
||||
NotifyCallback callback, boolean initialNotify) {
|
||||
int uid = RoboRioDataJNI.registerUserFaults5VCallback(callback, initialNotify);
|
||||
return new CallbackStore(uid, RoboRioDataJNI::cancelUserFaults5VCallback);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the 5V rail number of faults.
|
||||
*
|
||||
* @return number of faults
|
||||
*/
|
||||
public static int getUserFaults5V() {
|
||||
return RoboRioDataJNI.getUserFaults5V();
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the 5V rail number of faults.
|
||||
*
|
||||
* @param userFaults5V number of faults
|
||||
*/
|
||||
public static void setUserFaults5V(int userFaults5V) {
|
||||
RoboRioDataJNI.setUserFaults5V(userFaults5V);
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a callback to be run whenever the 3.3V rail number of faults changes.
|
||||
*
|
||||
@@ -609,37 +297,6 @@ public final class RoboRioSim {
|
||||
RoboRioDataJNI.setComments(comments);
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a callback to be run whenever the Radio led state changes.
|
||||
*
|
||||
* @param callback the callback
|
||||
* @param initialNotify whether to call the callback with the initial state
|
||||
* @return the {@link CallbackStore} object associated with this callback.
|
||||
*/
|
||||
public static CallbackStore registerRadioLEDStateCallback(
|
||||
NotifyCallback callback, boolean initialNotify) {
|
||||
int uid = RoboRioDataJNI.registerRadioLEDStateCallback(callback, initialNotify);
|
||||
return new CallbackStore(uid, RoboRioDataJNI::cancelRadioLEDStateCallback);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the state of the radio led.
|
||||
*
|
||||
* @return The state of the radio led.
|
||||
*/
|
||||
public static RadioLEDState getRadioLEDState() {
|
||||
return RadioLEDState.fromValue(RoboRioDataJNI.getRadioLEDState());
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the state of the radio led.
|
||||
*
|
||||
* @param state The state of the radio led.
|
||||
*/
|
||||
public static void setRadioLEDState(RobotController.RadioLEDState state) {
|
||||
RoboRioDataJNI.setRadioLEDState(state.value);
|
||||
}
|
||||
|
||||
/** Reset all simulation data. */
|
||||
public static void resetData() {
|
||||
RoboRioDataJNI.resetData();
|
||||
|
||||
Reference in New Issue
Block a user