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https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
[wpilib, hal] Add support for getting faults and versions from power distribution (#3794)
This commit is contained in:
Thad House
123
hal/src/main/java/edu/wpi/first/hal/PowerDistributionFaults.java
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123
hal/src/main/java/edu/wpi/first/hal/PowerDistributionFaults.java
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@@ -0,0 +1,123 @@
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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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package edu.wpi.first.hal;
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public class PowerDistributionFaults {
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@SuppressWarnings("MemberName")
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public final boolean Channel0BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel1BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel2BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel3BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel4BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel5BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel6BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel7BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel8BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel9BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel10BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel11BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel12BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel13BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel14BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel15BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel16BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel17BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel18BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel19BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel20BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel21BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel22BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel23BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Brownout;
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@SuppressWarnings("MemberName")
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public final boolean CanWarning;
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@SuppressWarnings("MemberName")
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public final boolean HardwareFault;
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/**
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* Constructs from a bitfield.
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*
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* @param faults faults
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*/
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public PowerDistributionFaults(int faults) {
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Channel0BreakerFault = (faults & 0x1) != 0;
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Channel1BreakerFault = (faults & 0x2) != 0;
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Channel2BreakerFault = (faults & 0x4) != 0;
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Channel3BreakerFault = (faults & 0x8) != 0;
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Channel4BreakerFault = (faults & 0x10) != 0;
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Channel5BreakerFault = (faults & 0x20) != 0;
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Channel6BreakerFault = (faults & 0x40) != 0;
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Channel7BreakerFault = (faults & 0x80) != 0;
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Channel8BreakerFault = (faults & 0x100) != 0;
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Channel9BreakerFault = (faults & 0x200) != 0;
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Channel10BreakerFault = (faults & 0x400) != 0;
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Channel11BreakerFault = (faults & 0x800) != 0;
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Channel12BreakerFault = (faults & 0x1000) != 0;
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Channel13BreakerFault = (faults & 0x2000) != 0;
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Channel14BreakerFault = (faults & 0x4000) != 0;
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Channel15BreakerFault = (faults & 0x8000) != 0;
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Channel16BreakerFault = (faults & 0x10000) != 0;
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Channel17BreakerFault = (faults & 0x20000) != 0;
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Channel18BreakerFault = (faults & 0x40000) != 0;
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Channel19BreakerFault = (faults & 0x80000) != 0;
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Channel20BreakerFault = (faults & 0x100000) != 0;
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Channel21BreakerFault = (faults & 0x200000) != 0;
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Channel22BreakerFault = (faults & 0x400000) != 0;
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Channel23BreakerFault = (faults & 0x800000) != 0;
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Brownout = (faults & 0x1000000) != 0;
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CanWarning = (faults & 0x2000000) != 0;
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HardwareFault = (faults & 0x4000000) != 0;
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}
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}
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@@ -56,4 +56,18 @@ public class PowerDistributionJNI extends JNIWrapper {
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public static native boolean getSwitchableChannelNoError(int handle);
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public static native void setSwitchableChannelNoError(int handle, boolean enabled);
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public static native int getFaultsNative(int handle);
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public static PowerDistributionFaults getFaults(int handle) {
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return new PowerDistributionFaults(getFaultsNative(handle));
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}
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public static native int getStickyFaultsNative(int handle);
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public static PowerDistributionStickyFaults getStickyFaults(int handle) {
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return new PowerDistributionStickyFaults(getStickyFaultsNative(handle));
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}
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public static native PowerDistributionVersion getVersion(int handle);
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}
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@@ -0,0 +1,127 @@
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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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package edu.wpi.first.hal;
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public class PowerDistributionStickyFaults {
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@SuppressWarnings("MemberName")
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public final boolean Channel0BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel1BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel2BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel3BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel4BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel5BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel6BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel7BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel8BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel9BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel10BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel11BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel12BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel13BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel14BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel15BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel16BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel17BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel18BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel19BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel20BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel21BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel22BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Channel23BreakerFault;
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@SuppressWarnings("MemberName")
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public final boolean Brownout;
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@SuppressWarnings("MemberName")
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public final boolean CanWarning;
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@SuppressWarnings("MemberName")
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public final boolean CanBusOff;
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@SuppressWarnings("MemberName")
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public final boolean HasReset;
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/**
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* Constructs from a bitfield.
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*
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* @param faults faults
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*/
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public PowerDistributionStickyFaults(int faults) {
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Channel0BreakerFault = (faults & 0x1) != 0;
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Channel1BreakerFault = (faults & 0x2) != 0;
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Channel2BreakerFault = (faults & 0x4) != 0;
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Channel3BreakerFault = (faults & 0x8) != 0;
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Channel4BreakerFault = (faults & 0x10) != 0;
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Channel5BreakerFault = (faults & 0x20) != 0;
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Channel6BreakerFault = (faults & 0x40) != 0;
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Channel7BreakerFault = (faults & 0x80) != 0;
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Channel8BreakerFault = (faults & 0x100) != 0;
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Channel9BreakerFault = (faults & 0x200) != 0;
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Channel10BreakerFault = (faults & 0x400) != 0;
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Channel11BreakerFault = (faults & 0x800) != 0;
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Channel12BreakerFault = (faults & 0x1000) != 0;
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Channel13BreakerFault = (faults & 0x2000) != 0;
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Channel14BreakerFault = (faults & 0x4000) != 0;
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Channel15BreakerFault = (faults & 0x8000) != 0;
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Channel16BreakerFault = (faults & 0x10000) != 0;
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Channel17BreakerFault = (faults & 0x20000) != 0;
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Channel18BreakerFault = (faults & 0x40000) != 0;
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Channel19BreakerFault = (faults & 0x80000) != 0;
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Channel20BreakerFault = (faults & 0x100000) != 0;
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Channel21BreakerFault = (faults & 0x200000) != 0;
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Channel22BreakerFault = (faults & 0x400000) != 0;
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Channel23BreakerFault = (faults & 0x800000) != 0;
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Brownout = (faults & 0x1000000) != 0;
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CanWarning = (faults & 0x2000000) != 0;
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CanBusOff = (faults & 0x4000000) != 0;
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HasReset = (faults & 0x8000000) != 0;
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}
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}
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@@ -0,0 +1,50 @@
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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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package edu.wpi.first.hal;
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public class PowerDistributionVersion {
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@SuppressWarnings("MemberName")
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public final int firmwareMajor;
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@SuppressWarnings("MemberName")
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public final int firmwareMinor;
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@SuppressWarnings("MemberName")
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public final int firmwareFix;
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@SuppressWarnings("MemberName")
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public final int hardwareMinor;
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@SuppressWarnings("MemberName")
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public final int hardwareMajor;
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@SuppressWarnings("MemberName")
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public final int uniqueId;
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/**
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* Constructs a power distribution version (Called from the HAL).
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*
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* @param firmwareMajor firmware major
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* @param firmwareMinor firmware minor
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* @param firmwareFix firmware fix
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* @param hardwareMinor hardware minor
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* @param hardwareMajor hardware major
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* @param uniqueId unique id
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*/
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public PowerDistributionVersion(
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int firmwareMajor,
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int firmwareMinor,
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int firmwareFix,
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int hardwareMinor,
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int hardwareMajor,
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int uniqueId) {
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this.firmwareMajor = firmwareMajor;
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this.firmwareMinor = firmwareMinor;
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this.firmwareFix = firmwareFix;
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this.hardwareMinor = hardwareMinor;
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this.hardwareMajor = hardwareMajor;
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this.uniqueId = uniqueId;
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}
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}
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