From cb7f39afa1525ddc83a2a4d0c8ad80a2699f8464 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Tue, 16 Feb 2021 18:03:25 -0800
Subject: [PATCH] [wpilibc] Add RobotController::GetBatteryVoltage() to C++
 (#3179)

This function already exists in Java.
---
 wpilibc/src/main/native/cpp/RobotController.cpp       | 7 +++++++
 wpilibc/src/main/native/include/frc/RobotController.h | 9 +++++++++
 2 files changed, 16 insertions(+)

diff --git a/wpilibc/src/main/native/cpp/RobotController.cpp b/wpilibc/src/main/native/cpp/RobotController.cpp
index 9fad56c9ad..ac49cfa225 100644
--- a/wpilibc/src/main/native/cpp/RobotController.cpp
+++ b/wpilibc/src/main/native/cpp/RobotController.cpp
@@ -42,6 +42,13 @@ bool RobotController::GetUserButton() {
   return value;
 }
 
+units::volt_t RobotController::GetBatteryVoltage() {
+  int32_t status = 0;
+  double retVal = HAL_GetVinVoltage(&status);
+  wpi_setGlobalHALError(status);
+  return units::volt_t{retVal};
+}
+
 bool RobotController::IsSysActive() {
   int32_t status = 0;
   bool retVal = HAL_GetSystemActive(&status);
diff --git a/wpilibc/src/main/native/include/frc/RobotController.h b/wpilibc/src/main/native/include/frc/RobotController.h
index 6352659d88..22023d1219 100644
--- a/wpilibc/src/main/native/include/frc/RobotController.h
+++ b/wpilibc/src/main/native/include/frc/RobotController.h
@@ -6,6 +6,8 @@
 
 #include <stdint.h>
 
+#include <units/voltage.h>
+
 namespace frc {
 
 struct CANStatus {
@@ -55,6 +57,13 @@ class RobotController {
    */
   static bool GetUserButton();
 
+  /**
+   * Read the battery voltage.
+   *
+   * @return The battery voltage in Volts.
+   */
+  static units::volt_t GetBatteryVoltage();
+
   /**
    * Check if the FPGA outputs are enabled.
    *