Adds RobotController class (#828)

Unifies random functionality from other classes
Deprecates all old functions.

wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp

@@ -7,7 +7,7 @@
 
 #include "AnalogPotentiometer.h"
 
-#include "ControllerPower.h"
+#include "RobotController.h"
 #include "SmartDashboard/SendableBuilder.h"
 
 using namespace frc;
@@ -67,7 +67,7 @@ AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
  *         fullRange and offset).
  */
 double AnalogPotentiometer::Get() const {
-  return (m_analog_input->GetVoltage() / ControllerPower::GetVoltage5V()) *
+  return (m_analog_input->GetVoltage() / RobotController::GetVoltage5V()) *
              m_fullRange +
          m_offset;
 }

wpilibc/src/main/native/cpp/ControllerPower.cpp

@@ -20,6 +20,7 @@ using namespace frc;
  * Get the input voltage to the robot controller.
  *
  * @return The controller input voltage value in Volts
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetInputVoltage() {
   int32_t status = 0;
@@ -32,6 +33,7 @@ double ControllerPower::GetInputVoltage() {
  * Get the input current to the robot controller.
  *
  * @return The controller input current value in Amps
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetInputCurrent() {
   int32_t status = 0;
@@ -44,6 +46,7 @@ double ControllerPower::GetInputCurrent() {
  * Get the voltage of the 6V rail.
  *
  * @return The controller 6V rail voltage value in Volts
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetVoltage6V() {
   int32_t status = 0;
@@ -56,6 +59,7 @@ double ControllerPower::GetVoltage6V() {
  * Get the current output of the 6V rail.
  *
  * @return The controller 6V rail output current value in Amps
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetCurrent6V() {
   int32_t status = 0;
@@ -69,6 +73,7 @@ double ControllerPower::GetCurrent6V() {
  * controller brownout, a short circuit on the rail, or controller over-voltage.
  *
  * @return The controller 6V rail enabled value. True for enabled.
+ * @deprecated Use RobotController static class method
  */
 bool ControllerPower::GetEnabled6V() {
   int32_t status = 0;
@@ -82,6 +87,7 @@ bool ControllerPower::GetEnabled6V() {
  * has booted.
  *
  * @return The number of faults.
+ * @deprecated Use RobotController static class method
  */
 int ControllerPower::GetFaultCount6V() {
   int32_t status = 0;
@@ -94,6 +100,7 @@ int ControllerPower::GetFaultCount6V() {
  * Get the voltage of the 5V rail.
  *
  * @return The controller 5V rail voltage value in Volts
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetVoltage5V() {
   int32_t status = 0;
@@ -106,6 +113,7 @@ double ControllerPower::GetVoltage5V() {
  * Get the current output of the 5V rail.
  *
  * @return The controller 5V rail output current value in Amps
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetCurrent5V() {
   int32_t status = 0;
@@ -119,6 +127,7 @@ double ControllerPower::GetCurrent5V() {
  * controller brownout, a short circuit on the rail, or controller over-voltage.
  *
  * @return The controller 5V rail enabled value. True for enabled.
+ * @deprecated Use RobotController static class method
  */
 bool ControllerPower::GetEnabled5V() {
   int32_t status = 0;
@@ -132,6 +141,7 @@ bool ControllerPower::GetEnabled5V() {
  * has booted.
  *
  * @return The number of faults
+ * @deprecated Use RobotController static class method
  */
 int ControllerPower::GetFaultCount5V() {
   int32_t status = 0;
@@ -144,6 +154,7 @@ int ControllerPower::GetFaultCount5V() {
  * Get the voltage of the 3.3V rail.
  *
  * @return The controller 3.3V rail voltage value in Volts
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetVoltage3V3() {
   int32_t status = 0;
@@ -156,6 +167,7 @@ double ControllerPower::GetVoltage3V3() {
  * Get the current output of the 3.3V rail.
  *
  * @return The controller 3.3V rail output current value in Amps
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetCurrent3V3() {
   int32_t status = 0;
@@ -169,6 +181,7 @@ double ControllerPower::GetCurrent3V3() {
  * controller brownout, a short circuit on the rail, or controller over-voltage.
  *
  * @return The controller 3.3V rail enabled value. True for enabled.
+ * @deprecated Use RobotController static class method
  */
 bool ControllerPower::GetEnabled3V3() {
   int32_t status = 0;
@@ -182,6 +195,7 @@ bool ControllerPower::GetEnabled3V3() {
  * controller has booted.
  *
  * @return The number of faults
+ * @deprecated Use RobotController static class method
  */
 int ControllerPower::GetFaultCount3V3() {
   int32_t status = 0;

wpilibc/src/main/native/cpp/DriverStation.cpp

@@ -466,6 +466,7 @@ bool DriverStation::IsFMSAttached() const {
  * watchdog has expired, or if the roboRIO browns out.
  *
  * @return True if the FPGA outputs are enabled.
+ * @deprecated Use RobotController static class method
  */
 bool DriverStation::IsSysActive() const {
   int32_t status = 0;
@@ -478,6 +479,7 @@ bool DriverStation::IsSysActive() const {
  * Check if the system is browned out.
  *
  * @return True if the system is browned out
+ * @deprecated Use RobotController static class method
  */
 bool DriverStation::IsBrownedOut() const {
   int32_t status = 0;

wpilibc/src/main/native/cpp/RobotController.cpp

@@ -0,0 +1,291 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotController.h"
+
+#include <HAL/HAL.h>
+
+#include "ErrorBase.h"
+
+namespace frc {
+
+/**
+ * Return the FPGA Version number.
+ *
+ * For now, expect this to be competition year.
+ *
+ * @return FPGA Version number.
+ */
+int RobotController::GetFPGAVersion() {
+  int32_t status = 0;
+  int version = HAL_GetFPGAVersion(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return version;
+}
+
+/**
+ * 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.
+ *
+ * @return FPGA Revision number.
+ */
+int64_t RobotController::GetFPGARevision() {
+  int32_t status = 0;
+  int64_t revision = HAL_GetFPGARevision(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return revision;
+}
+
+/**
+ * Read the microsecond-resolution timer on the FPGA.
+ *
+ * @return The current time in microseconds according to the FPGA (since FPGA
+ *         reset).
+ */
+uint64_t RobotController::GetFPGATime() {
+  int32_t status = 0;
+  uint64_t time = HAL_GetFPGATime(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return time;
+}
+
+/**
+ * Get the state of the "USER" button on the roboRIO.
+ *
+ * @return True if the button is currently pressed down
+ */
+bool RobotController::GetUserButton() {
+  int32_t status = 0;
+
+  bool value = HAL_GetFPGAButton(&status);
+  wpi_setGlobalError(status);
+
+  return value;
+}
+
+/**
+ * Check if 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.
+ *
+ * @return True if the FPGA outputs are enabled.
+ */
+bool RobotController::IsSysActive() {
+  int32_t status = 0;
+  bool retVal = HAL_GetSystemActive(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Check if the system is browned out.
+ *
+ * @return True if the system is browned out
+ */
+bool RobotController::IsBrownedOut() {
+  int32_t status = 0;
+  bool retVal = HAL_GetBrownedOut(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the input voltage to the robot controller.
+ *
+ * @return The controller input voltage value in Volts
+ */
+double RobotController::GetInputVoltage() {
+  int32_t status = 0;
+  double retVal = HAL_GetVinVoltage(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the input current to the robot controller.
+ *
+ * @return The controller input current value in Amps
+ */
+double RobotController::GetInputCurrent() {
+  int32_t status = 0;
+  double retVal = HAL_GetVinCurrent(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the voltage of the 6V rail.
+ *
+ * @return The controller 6V rail voltage value in Volts
+ */
+double RobotController::GetVoltage6V() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserVoltage6V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the current output of the 6V rail.
+ *
+ * @return The controller 6V rail output current value in Amps
+ */
+double RobotController::GetCurrent6V() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserCurrent6V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * 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.
+ *
+ * @return The controller 6V rail enabled value. True for enabled.
+ */
+bool RobotController::GetEnabled6V() {
+  int32_t status = 0;
+  bool retVal = HAL_GetUserActive6V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 6V rail since the controller
+ * has booted.
+ *
+ * @return The number of faults.
+ */
+int RobotController::GetFaultCount6V() {
+  int32_t status = 0;
+  int retVal = HAL_GetUserCurrentFaults6V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the voltage of the 5V rail.
+ *
+ * @return The controller 5V rail voltage value in Volts
+ */
+double RobotController::GetVoltage5V() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserVoltage5V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the current output of the 5V rail.
+ *
+ * @return The controller 5V rail output current value in Amps
+ */
+double RobotController::GetCurrent5V() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserCurrent5V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * 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.
+ *
+ * @return The controller 5V rail enabled value. True for enabled.
+ */
+bool RobotController::GetEnabled5V() {
+  int32_t status = 0;
+  bool retVal = HAL_GetUserActive5V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 5V rail since the controller
+ * has booted.
+ *
+ * @return The number of faults
+ */
+int RobotController::GetFaultCount5V() {
+  int32_t status = 0;
+  int retVal = HAL_GetUserCurrentFaults5V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the voltage of the 3.3V rail.
+ *
+ * @return The controller 3.3V rail voltage value in Volts
+ */
+double RobotController::GetVoltage3V3() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserVoltage3V3(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the current output of the 3.3V rail.
+ *
+ * @return The controller 3.3V rail output current value in Amps
+ */
+double RobotController::GetCurrent3V3() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserCurrent3V3(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * 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.
+ *
+ * @return The controller 3.3V rail enabled value. True for enabled.
+ */
+bool RobotController::GetEnabled3V3() {
+  int32_t status = 0;
+  bool retVal = HAL_GetUserActive3V3(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 3.3V rail since the
+ * controller has booted.
+ *
+ * @return The number of faults
+ */
+int RobotController::GetFaultCount3V3() {
+  int32_t status = 0;
+  int retVal = HAL_GetUserCurrentFaults3V3(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+CANStatus RobotController::GetCANStatus() {
+  int32_t status = 0;
+  float percentBusUtilization = 0;
+  uint32_t busOffCount = 0;
+  uint32_t txFullCount = 0;
+  uint32_t receiveErrorCount = 0;
+  uint32_t transmitErrorCount = 0;
+  HAL_CAN_GetCANStatus(&percentBusUtilization, &busOffCount, &txFullCount,
+                       &receiveErrorCount, &transmitErrorCount, &status);
+  if (status != 0) {
+    wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+    return {};
+  }
+  return {percentBusUtilization, static_cast<int>(busOffCount),
+          static_cast<int>(txFullCount), static_cast<int>(receiveErrorCount),
+          static_cast<int>(transmitErrorCount)};
+}
+}  // namespace frc

wpilibc/src/main/native/cpp/Timer.cpp

@@ -13,7 +13,7 @@
 #include <HAL/HAL.h>
 
 #include "DriverStation.h"
-#include "Utility.h"
+#include "RobotController.h"
 
 namespace frc {
 
@@ -168,8 +168,7 @@ bool Timer::HasPeriodPassed(double period) {
  */
 double Timer::GetFPGATimestamp() {
   // FPGA returns the timestamp in microseconds
-  // Call the helper GetFPGATime() in Utility.cpp
-  return GetFPGATime() * 1.0e-6;
+  return RobotController::GetFPGATime() * 1.0e-6;
 }
 
 /**

wpilibc/src/main/native/cpp/Utility.cpp

@@ -145,6 +145,7 @@ namespace frc {
  * For now, expect this to be competition year.
  *
  * @return FPGA Version number.
+ * @deprecated Use RobotController static class method
  */
 int GetFPGAVersion() {
   int32_t status = 0;
@@ -161,6 +162,7 @@ int GetFPGAVersion() {
  * significant bits are the Build Number.
  *
  * @return FPGA Revision number.
+ * @deprecated Use RobotController static class method
  */
 int64_t GetFPGARevision() {
   int32_t status = 0;
@@ -174,6 +176,7 @@ int64_t GetFPGARevision() {
  *
  * @return The current time in microseconds according to the FPGA (since FPGA
  *         reset).
+ * @deprecated Use RobotController static class method
  */
 uint64_t GetFPGATime() {
   int32_t status = 0;
@@ -186,6 +189,7 @@ uint64_t GetFPGATime() {
  * Get the state of the "USER" button on the roboRIO.
  *
  * @return True if the button is currently pressed down
+ * @deprecated Use RobotController static class method
  */
 bool GetUserButton() {
   int32_t status = 0;

wpilibc/src/main/native/include/ControllerPower.h

@@ -7,23 +7,39 @@
 
 #pragma once
 
+#include <support/deprecated.h>
+
 namespace frc {
 
 class ControllerPower {
  public:
+  WPI_DEPRECATED("Use RobotController static class method")
   static double GetInputVoltage();
+  WPI_DEPRECATED("Use RobotController static class method")
   static double GetInputCurrent();
+  WPI_DEPRECATED("Use RobotController static class method")
   static double GetVoltage3V3();
+  WPI_DEPRECATED("Use RobotController static class method")
   static double GetCurrent3V3();
+  WPI_DEPRECATED("Use RobotController static class method")
   static bool GetEnabled3V3();
+  WPI_DEPRECATED("Use RobotController static class method")
   static int GetFaultCount3V3();
+  WPI_DEPRECATED("Use RobotController static class method")
   static double GetVoltage5V();
+  WPI_DEPRECATED("Use RobotController static class method")
   static double GetCurrent5V();
+  WPI_DEPRECATED("Use RobotController static class method")
   static bool GetEnabled5V();
+  WPI_DEPRECATED("Use RobotController static class method")
   static int GetFaultCount5V();
+  WPI_DEPRECATED("Use RobotController static class method")
   static double GetVoltage6V();
+  WPI_DEPRECATED("Use RobotController static class method")
   static double GetCurrent6V();
+  WPI_DEPRECATED("Use RobotController static class method")
   static bool GetEnabled6V();
+  WPI_DEPRECATED("Use RobotController static class method")
   static int GetFaultCount6V();
 };
 

wpilibc/src/main/native/include/DriverStation.h

@@ -15,6 +15,7 @@
 
 #include <HAL/DriverStation.h>
 #include <llvm/Twine.h>
+#include <support/deprecated.h>
 #include <support/mutex.h>
 
 #include "ErrorBase.h"
@@ -68,7 +69,9 @@ class DriverStation : public ErrorBase, public RobotStateInterface {
   bool IsDSAttached() const;
   bool IsNewControlData() const;
   bool IsFMSAttached() const;
+  WPI_DEPRECATED("Use RobotController static class method")
   bool IsSysActive() const;
+  WPI_DEPRECATED("Use RobotController static class method")
   bool IsBrownedOut() const;
 
   std::string GetGameSpecificMessage() const;

wpilibc/src/main/native/include/RobotController.h

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+namespace frc {
+
+struct CANStatus {
+  float percentBusUtilization;
+  int busOffCount;
+  int txFullCount;
+  int receiveErrorCount;
+  int transmitErrorCount;
+};
+
+class RobotController {
+ public:
+  RobotController() = delete;
+  static int GetFPGAVersion();
+  static int64_t GetFPGARevision();
+  static uint64_t GetFPGATime();
+  static bool GetUserButton();
+  static bool IsSysActive();
+  static bool IsBrownedOut();
+  static double GetInputVoltage();
+  static double GetInputCurrent();
+  static double GetVoltage3V3();
+  static double GetCurrent3V3();
+  static bool GetEnabled3V3();
+  static int GetFaultCount3V3();
+  static double GetVoltage5V();
+  static double GetCurrent5V();
+  static bool GetEnabled5V();
+  static int GetFaultCount5V();
+  static double GetVoltage6V();
+  static double GetCurrent6V();
+  static bool GetEnabled6V();
+  static int GetFaultCount6V();
+  static CANStatus GetCANStatus();
+};
+}  // namespace frc

wpilibc/src/main/native/include/Utility.h

@@ -17,6 +17,7 @@
 
 #include <llvm/StringRef.h>
 #include <llvm/Twine.h>
+#include <support/deprecated.h>
 
 #define wpi_assert(condition) \
   wpi_assert_impl(condition, #condition, "", __FILE__, __LINE__, __FUNCTION__)
@@ -54,9 +55,13 @@ void wpi_suspendOnAssertEnabled(bool enabled);
 
 namespace frc {
 
+WPI_DEPRECATED("Use RobotController static class method")
 int GetFPGAVersion();
+WPI_DEPRECATED("Use RobotController static class method")
 int64_t GetFPGARevision();
+WPI_DEPRECATED("Use RobotController static class method")
 uint64_t GetFPGATime();
+WPI_DEPRECATED("Use RobotController static class method")
 bool GetUserButton();
 std::string GetStackTrace(int offset);
 

wpilibc/src/main/native/include/WPILib.h

@@ -67,6 +67,7 @@
 #include "Preferences.h"
 #include "Relay.h"
 #include "RobotBase.h"
+#include "RobotController.h"
 #include "RobotDrive.h"
 #include "SD540.h"
 #include "SPI.h"

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java

@@ -121,7 +121,7 @@ public class AnalogPotentiometer extends SensorBase implements Potentiometer, Se
     if (m_analogInput == null) {
       return m_offset;
     }
-    return (m_analogInput.getVoltage() / ControllerPower.getVoltage5V()) * m_fullRange + m_offset;
+    return (m_analogInput.getVoltage() / RobotController.getVoltage5V()) * m_fullRange + m_offset;
   }
 
   @Override

wpilibj/src/main/java/edu/wpi/first/wpilibj/ControllerPower.java

@@ -9,12 +9,18 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.wpilibj.hal.PowerJNI;
 
+/**
+ * Old Controller PR class.
+ * @deprecated Use RobotController class instead
+ */
+@Deprecated
 public class ControllerPower {
   /**
    * Get the input voltage to the robot controller.
    *
    * @return The controller input voltage value in Volts
    */
+  @Deprecated
   public static double getInputVoltage() {
     return PowerJNI.getVinVoltage();
   }
@@ -24,6 +30,7 @@ public class ControllerPower {
    *
    * @return The controller input current value in Amps
    */
+  @Deprecated
   public static double getInputCurrent() {
     return PowerJNI.getVinCurrent();
   }
@@ -33,6 +40,7 @@ public class ControllerPower {
    *
    * @return The controller 3.3V rail voltage value in Volts
    */
+  @Deprecated
   public static double getVoltage3V3() {
     return PowerJNI.getUserVoltage3V3();
   }
@@ -42,6 +50,7 @@ public class ControllerPower {
    *
    * @return The controller 3.3V rail output current value in Volts
    */
+  @Deprecated
   public static double getCurrent3V3() {
     return PowerJNI.getUserCurrent3V3();
   }
@@ -52,6 +61,7 @@ public class ControllerPower {
    *
    * @return The controller 3.3V rail enabled value
    */
+  @Deprecated
   public static boolean getEnabled3V3() {
     return PowerJNI.getUserActive3V3();
   }
@@ -61,6 +71,7 @@ public class ControllerPower {
    *
    * @return The number of faults
    */
+  @Deprecated
   public static int getFaultCount3V3() {
     return PowerJNI.getUserCurrentFaults3V3();
   }
@@ -70,6 +81,7 @@ public class ControllerPower {
    *
    * @return The controller 5V rail voltage value in Volts
    */
+  @Deprecated
   public static double getVoltage5V() {
     return PowerJNI.getUserVoltage5V();
   }
@@ -79,6 +91,7 @@ public class ControllerPower {
    *
    * @return The controller 5V rail output current value in Amps
    */
+  @Deprecated
   public static double getCurrent5V() {
     return PowerJNI.getUserCurrent5V();
   }
@@ -89,6 +102,7 @@ public class ControllerPower {
    *
    * @return The controller 5V rail enabled value
    */
+  @Deprecated
   public static boolean getEnabled5V() {
     return PowerJNI.getUserActive5V();
   }
@@ -98,6 +112,7 @@ public class ControllerPower {
    *
    * @return The number of faults
    */
+  @Deprecated
   public static int getFaultCount5V() {
     return PowerJNI.getUserCurrentFaults5V();
   }
@@ -107,6 +122,7 @@ public class ControllerPower {
    *
    * @return The controller 6V rail voltage value in Volts
    */
+  @Deprecated
   public static double getVoltage6V() {
     return PowerJNI.getUserVoltage6V();
   }
@@ -116,6 +132,7 @@ public class ControllerPower {
    *
    * @return The controller 6V rail output current value in Amps
    */
+  @Deprecated
   public static double getCurrent6V() {
     return PowerJNI.getUserCurrent6V();
   }
@@ -126,6 +143,7 @@ public class ControllerPower {
    *
    * @return The controller 6V rail enabled value
    */
+  @Deprecated
   public static boolean getEnabled6V() {
     return PowerJNI.getUserActive6V();
   }
@@ -135,6 +153,7 @@ public class ControllerPower {
    *
    * @return The number of faults
    */
+  @Deprecated
   public static int getFaultCount6V() {
     return PowerJNI.getUserCurrentFaults6V();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -642,7 +642,9 @@ public class DriverStation implements RobotState.Interface {
    * the robot is disabled or e-stopped, the watchdog has expired, or if the roboRIO browns out.
    *
    * @return True if the FPGA outputs are enabled.
+   * @deprecated Use RobotController.isSysActive()
    */
+  @Deprecated
   public boolean isSysActive() {
     return HAL.getSystemActive();
   }
@@ -651,7 +653,9 @@ public class DriverStation implements RobotState.Interface {
    * Check if the system is browned out.
    *
    * @return True if the system is browned out
+   * @deprecated Use RobotController.isBrownedOut()
    */
+  @Deprecated
   public boolean isBrownedOut() {
     return HAL.getBrownedOut();
   }
@@ -812,7 +816,9 @@ public class DriverStation implements RobotState.Interface {
    * Read the battery voltage.
    *
    * @return The battery voltage in Volts.
+   * @deprecated Use RobotController.getBatteryVoltage
    */
+  @Deprecated
   public double getBatteryVoltage() {
     return PowerJNI.getVinVoltage();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java

@@ -128,7 +128,7 @@ public class Notifier {
     try {
       m_periodic = false;
       m_period = delay;
-      m_expirationTime = Utility.getFPGATime() * 1e-6 + delay;
+      m_expirationTime = RobotController.getFPGATime() * 1e-6 + delay;
       updateAlarm();
     } finally {
       m_processLock.unlock();
@@ -148,7 +148,7 @@ public class Notifier {
     try {
       m_periodic = true;
       m_period = period;
-      m_expirationTime = Utility.getFPGATime() * 1e-6 + period;
+      m_expirationTime = RobotController.getFPGATime() * 1e-6 + period;
       updateAlarm();
     } finally {
       m_processLock.unlock();

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java

@@ -0,0 +1,231 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.wpilibj.can.CANJNI;
+import edu.wpi.first.wpilibj.can.CANStatus;
+import edu.wpi.first.wpilibj.hal.HAL;
+import edu.wpi.first.wpilibj.hal.HALUtil;
+import edu.wpi.first.wpilibj.hal.PowerJNI;
+
+/**
+ * Contains functions for roboRIO functionality.
+ */
+public final class RobotController {
+  private RobotController() {
+  }
+
+  /**
+   * Return the FPGA Version number. For now, expect this to be the current
+   * year.
+   *
+   * @return FPGA Version number.
+   */
+  @SuppressWarnings("AbbreviationAsWordInName")
+  int getFPGAVersion() {
+    return HALUtil.getFPGAVersion();
+  }
+
+  /**
+   * 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.
+   *
+   * @return FPGA Revision number.
+   */
+  @SuppressWarnings("AbbreviationAsWordInName")
+  long getFPGARevision() {
+    return (long) HALUtil.getFPGARevision();
+  }
+
+  /**
+   * Read the microsecond timer from the FPGA.
+   *
+   * @return The current time in microseconds according to the FPGA.
+   */
+  public static long getFPGATime() {
+    return HALUtil.getFPGATime();
+  }
+
+  /**
+   * Get the state of the "USER" button on the roboRIO.
+   *
+   * @return true if the button is currently pressed down
+   */
+  public static boolean getUserButton() {
+    return HALUtil.getFPGAButton();
+  }
+
+  /**
+   * Read the battery voltage.
+   *
+   * @return The battery voltage in Volts.
+   */
+  public double getBatteryVoltage() {
+    return PowerJNI.getVinVoltage();
+  }
+
+  /**
+   * 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.
+   *
+   * @return True if the FPGA outputs are enabled.
+   */
+  public boolean isSysActive() {
+    return HAL.getSystemActive();
+  }
+
+  /**
+   * Check if the system is browned out.
+   *
+   * @return True if the system is browned out
+   */
+  public boolean isBrownedOut() {
+    return HAL.getBrownedOut();
+  }
+
+  /**
+   * Get the input voltage to the robot controller.
+   *
+   * @return The controller input voltage value in Volts
+   */
+  public static double getInputVoltage() {
+    return PowerJNI.getVinVoltage();
+  }
+
+  /**
+   * Get the input current to the robot controller.
+   *
+   * @return The controller input current value in Amps
+   */
+  public static double getInputCurrent() {
+    return PowerJNI.getVinCurrent();
+  }
+
+  /**
+   * Get the voltage of the 3.3V rail.
+   *
+   * @return The controller 3.3V rail voltage value in Volts
+   */
+  public static double getVoltage3V3() {
+    return PowerJNI.getUserVoltage3V3();
+  }
+
+  /**
+   * Get the current output of the 3.3V rail.
+   *
+   * @return The controller 3.3V rail output current value in Volts
+   */
+  public static double getCurrent3V3() {
+    return PowerJNI.getUserCurrent3V3();
+  }
+
+  /**
+   * 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.
+   *
+   * @return The controller 3.3V rail enabled value
+   */
+  public static boolean getEnabled3V3() {
+    return PowerJNI.getUserActive3V3();
+  }
+
+  /**
+   * Get the count of the total current faults on the 3.3V rail since the controller has booted.
+   *
+   * @return The number of faults
+   */
+  public static int getFaultCount3V3() {
+    return PowerJNI.getUserCurrentFaults3V3();
+  }
+
+  /**
+   * Get the voltage of the 5V rail.
+   *
+   * @return The controller 5V rail voltage value in Volts
+   */
+  public static double getVoltage5V() {
+    return PowerJNI.getUserVoltage5V();
+  }
+
+  /**
+   * Get the current output of the 5V rail.
+   *
+   * @return The controller 5V rail output current value in Amps
+   */
+  public static double getCurrent5V() {
+    return PowerJNI.getUserCurrent5V();
+  }
+
+  /**
+   * 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.
+   *
+   * @return The controller 5V rail enabled value
+   */
+  public static boolean getEnabled5V() {
+    return PowerJNI.getUserActive5V();
+  }
+
+  /**
+   * Get the count of the total current faults on the 5V rail since the controller has booted.
+   *
+   * @return The number of faults
+   */
+  public static int getFaultCount5V() {
+    return PowerJNI.getUserCurrentFaults5V();
+  }
+
+  /**
+   * Get the voltage of the 6V rail.
+   *
+   * @return The controller 6V rail voltage value in Volts
+   */
+  public static double getVoltage6V() {
+    return PowerJNI.getUserVoltage6V();
+  }
+
+  /**
+   * Get the current output of the 6V rail.
+   *
+   * @return The controller 6V rail output current value in Amps
+   */
+  public static double getCurrent6V() {
+    return PowerJNI.getUserCurrent6V();
+  }
+
+  /**
+   * 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.
+   *
+   * @return The controller 6V rail enabled value
+   */
+  public static boolean getEnabled6V() {
+    return PowerJNI.getUserActive6V();
+  }
+
+  /**
+   * Get the count of the total current faults on the 6V rail since the controller has booted.
+   *
+   * @return The number of faults
+   */
+  public static int getFaultCount6V() {
+    return PowerJNI.getUserCurrentFaults6V();
+  }
+
+  /**
+   * Get the current status of the CAN bus.
+   *
+   * @return The status of the CAN bus
+   */
+  public static CANStatus getCANStatus() {
+    CANStatus status = new CANStatus();
+    CANJNI.GetCANStatus(status);
+    return status;
+  }
+}

wpilibj/src/main/java/edu/wpi/first/wpilibj/Utility.java

@@ -11,7 +11,9 @@ import edu.wpi.first.wpilibj.hal.HALUtil;
 
 /**
  * Contains global utility functions.
+ * @deprecated Use RobotController class instead
  */
+@Deprecated
 public final class Utility {
 
   private Utility() {
@@ -21,8 +23,10 @@ public final class Utility {
    * Return the FPGA Version number. For now, expect this to be 2009.
    *
    * @return FPGA Version number.
+   * @deprecated Use RobotController.getFPGAVersion()
    */
   @SuppressWarnings("AbbreviationAsWordInName")
+  @Deprecated
   int getFPGAVersion() {
     return HALUtil.getFPGAVersion();
   }
@@ -33,8 +37,10 @@ public final class Utility {
    * significant bits are the Build Number.
    *
    * @return FPGA Revision number.
+   * @deprecated Use RobotController.getFPGARevision()
    */
   @SuppressWarnings("AbbreviationAsWordInName")
+  @Deprecated
   long getFPGARevision() {
     return (long) HALUtil.getFPGARevision();
   }
@@ -43,7 +49,10 @@ public final class Utility {
    * Read the microsecond timer from the FPGA.
    *
    * @return The current time in microseconds according to the FPGA.
+   * @deprecated Use RobotController.getFPGATime()
    */
+  @Deprecated
+  @SuppressWarnings("AbbreviationAsWordInName")
   public static long getFPGATime() {
     return HALUtil.getFPGATime();
   }
@@ -52,7 +61,9 @@ public final class Utility {
    * Get the state of the "USER" button on the roboRIO.
    *
    * @return true if the button is currently pressed down
+   * @deprecated Use RobotController.getUserButton()
    */
+  @Deprecated
   public static boolean getUserButton() {
     return HALUtil.getFPGAButton();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/internal/HardwareTimer.java

@@ -8,8 +8,8 @@
 package edu.wpi.first.wpilibj.internal;
 
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.Utility;
 
 /**
  * Timer objects measure accumulated time in milliseconds. The timer object functions like a
@@ -43,7 +43,7 @@ public class HardwareTimer implements Timer.StaticInterface {
    */
   @Override
   public double getFPGATimestamp() {
-    return Utility.getFPGATime() / 1000000.0;
+    return RobotController.getFPGATime() / 1000000.0;
   }
 
   @Override
@@ -70,7 +70,7 @@ public class HardwareTimer implements Timer.StaticInterface {
     }
 
     private double getMsClock() {
-      return Utility.getFPGATime() / 1000.0;
+      return RobotController.getFPGATime() / 1000.0;
     }
 
     /**

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java

@@ -99,7 +99,7 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
 
     @Override
     public void interruptFired(int interruptAssertedMask, InterruptCounter param) {
-      m_interruptFireTime.set(Utility.getFPGATime());
+      m_interruptFireTime.set(RobotController.getFPGATime());
       m_counter.increment();
       try {
         // This won't cause the test to fail
@@ -132,7 +132,7 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
     Timer.delay(0.01);
     // Note: Utility.getFPGATime() is used because double values can turn over
     // after the robot has been running for a long time
-    final long interruptTriggerTime = Utility.getFPGATime();
+    final long interruptTriggerTime = RobotController.getFPGATime();
     setInterruptHigh();
 
     // Delay until the interrupt is complete
@@ -205,11 +205,11 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
 
     // Note: the long time value is used because doubles can flip if the robot
     // is left running for long enough
-    final long startTimeStamp = Utility.getFPGATime();
+    final long startTimeStamp = RobotController.getFPGATime();
     new Thread(runnable).start();
     // Delay for twice as long as the timeout so the test should fail first
     getInterruptable().waitForInterrupt(synchronousTimeout * 2);
-    final long stopTimeStamp = Utility.getFPGATime();
+    final long stopTimeStamp = RobotController.getFPGATime();
 
     // Then
     // The test will not have timed out and:

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DriverStationTest.java

@@ -28,13 +28,13 @@ public class DriverStationTest extends AbstractComsSetup {
 
   @Test
   public void waitForDataTest() {
-    long startTime = Utility.getFPGATime();
+    long startTime = RobotController.getFPGATime();
 
     // Wait for data 50 times
     for (int i = 0; i < 50; i++) {
       DriverStation.getInstance().waitForData();
     }
-    long endTime = Utility.getFPGATime();
+    long endTime = RobotController.getFPGATime();
     long difference = endTime - startTime;
 
     assertEquals("DriverStation waitForData did not wait long enough", TIMER_RUNTIME, difference,

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/TimerTest.java

@@ -29,11 +29,11 @@ public class TimerTest extends AbstractComsSetup {
   @Test
   public void delayTest() {
     // Given
-    long startTime = Utility.getFPGATime();
+    long startTime = RobotController.getFPGATime();
 
     // When
     Timer.delay(TIMER_RUNTIME / 1000000);
-    long endTime = Utility.getFPGATime();
+    long endTime = RobotController.getFPGATime();
     long difference = endTime - startTime;
 
     // Then