Adds RobotController class (#828)

Unifies random functionality from other classes
Deprecates all old functions.

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;
     }
 
     /**