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[wpilib, hal] Add support for getting faults and versions from power distribution (#3794)

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This commit is contained in:
Thad House
2021-12-19 13:42:49 -08:00
committed by GitHub
parent 34b2d0dae1
commit 9778626f34
15 changed files with 743 additions and 165 deletions
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15
wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java
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@@ -6,7 +6,10 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.PowerDistributionFaults;
import edu.wpi.first.hal.PowerDistributionJNI;
import edu.wpi.first.hal.PowerDistributionStickyFaults;
import edu.wpi.first.hal.PowerDistributionVersion;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
@@ -157,6 +160,18 @@ public class PowerDistribution implements Sendable, AutoCloseable {
PowerDistributionJNI.setSwitchableChannel(m_handle, enabled);
}
PowerDistributionVersion getVersion() {
return PowerDistributionJNI.getVersion(m_handle);
}
PowerDistributionFaults getFaults() {
return PowerDistributionJNI.getFaults(m_handle);
}
PowerDistributionStickyFaults getStickyFaults() {
return PowerDistributionJNI.getStickyFaults(m_handle);
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("PowerDistribution");