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[wpilib] Improve PowerDistribution docs (NFC) (#3925)

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Add docs for switchable channel.
Use PDP/PDH appropriately and clarify differences.
Fix typos.
This commit is contained in:
sciencewhiz
2022-01-20 23:33:01 -08:00
committed by GitHub
parent 841174f302
commit debbd5ff4b
2 changed files with 61 additions and 38 deletions
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51
wpilibc/src/main/native/include/frc/PowerDistribution.h
View File

@@ -12,7 +12,7 @@ namespace frc {
/**
* Class for getting voltage, current, temperature, power and energy from the
* CAN PDP.
* CTRE Power Distribution Panel (PDP) or REV Power Distribution Hub (PDH).
*/
class PowerDistribution : public wpi::Sendable,
public wpi::SendableHelper<PowerDistribution> {
@@ -21,16 +21,17 @@ class PowerDistribution : public wpi::Sendable,
enum class ModuleType { kCTRE = 1, kRev = 2 };
/**
* Constructs a PowerDistribution.
* Constructs a PowerDistribution object.
*
* Uses the default CAN ID (0 for CTRE and 1 for REV).
* Detects the connected PDP/PDH using the default CAN ID (0 for CTRE and 1
* for REV).
*/
PowerDistribution();
/**
* Constructs a PowerDistribution.
* Constructs a PowerDistribution object.
*
* @param module The CAN ID of the PDP
* @param module The CAN ID of the PDP/PDH
* @param moduleType The type of module
*/
PowerDistribution(int module, ModuleType moduleType);
@@ -40,56 +41,57 @@ class PowerDistribution : public wpi::Sendable,
PowerDistribution& operator=(PowerDistribution&&) = default;
/**
* Query the input voltage of the PDP.
* Query the input voltage of the PDP/PDH.
*
* @return The voltage of the PDP in volts
* @return The input voltage in volts
*/
double GetVoltage() const;
/**
* Query the temperature of the PDP.
* Query the temperature of the PDP/PDH.
*
* @return The temperature of the PDP in degrees Celsius
* @return The temperature in degrees Celsius
*/
double GetTemperature() const;
/**
* Query the current of a single channel of the PDP.
* Query the current of a single channel of the PDP/PDH.
*
* @return The current of one of the PDP channels (channels 0-15) in Amperes
* @param channel the channel to query (0-15 for PDP, 0-23 for PDH)
* @return The current of the channel in Amperes
*/
double GetCurrent(int channel) const;
/**
* Query the total current of all monitored PDP channels (0-15).
* Query the total current of all monitored PDP/PDH channels.
*
* @return The the total current drawn from the PDP channels in Amperes
* @return The total current drawn from all channels in Amperes
*/
double GetTotalCurrent() const;
/**
* Query the total power drawn from the monitored PDP channels.
* Query the total power drawn from all monitored PDP/PDH channels.
*
* @return The the total power drawn from the PDP channels in Watts
* @return The total power drawn in Watts
*/
double GetTotalPower() const;
/**
* Query the total energy drawn from the monitored PDP channels.
* Query the total energy drawn from the monitored PDP/PDH channels.
*
* @return The the total energy drawn from the PDP channels in Joules
* @return The total energy drawn in Joules
*/
double GetTotalEnergy() const;
/**
* Reset the total energy drawn from the PDP.
* Reset the total energy drawn from the PDP/PDH.
*
* @see PowerDistribution#GetTotalEnergy
*/
void ResetTotalEnergy();
/**
* Remove all of the fault flags on the PDP.
* Remove all of the fault flags on the PDP/PDH.
*/
void ClearStickyFaults();
@@ -98,8 +100,19 @@ class PowerDistribution : public wpi::Sendable,
*/
int GetModule() const;
/**
* Gets whether the PDH switchable channel is turned on or off. Returns false
* with the CTRE PDP.
*
* @return The output state of the PDH switchable channel
*/
bool GetSwitchableChannel() const;
/**
* Sets the PDH switchable channel on or off. Does nothing with the CTRE PDP.
*
* @param enabled Whether to turn the PDH switchable channel on or off
*/
void SetSwitchableChannel(bool enabled);
struct Version {

48
wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java
View File

@@ -15,8 +15,8 @@ import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
/**
* Class for getting voltage, current, temperature, power and energy from the Power Distribution
* Panel over CAN.
* Class for getting voltage, current, temperature, power and energy from the CTRE Power
* Distribution Panel (PDP) or REV Power Distribution Hub (PDH) over CAN.
*/
public class PowerDistribution implements Sendable, AutoCloseable {
private final int m_handle;
@@ -36,9 +36,9 @@ public class PowerDistribution implements Sendable, AutoCloseable {
}
/**
* Constructs a PowerDistribution.
* Constructs a PowerDistribution object.
*
* @param module The CAN ID of the PDP.
* @param module The CAN ID of the PDP/PDH.
* @param moduleType Module type (CTRE or REV).
*/
public PowerDistribution(int module, ModuleType moduleType) {
@@ -50,9 +50,9 @@ public class PowerDistribution implements Sendable, AutoCloseable {
}
/**
* Constructs a PowerDistribution.
* Constructs a PowerDistribution object.
*
* <p>Uses the default CAN ID (0 for CTRE and 1 for REV).
* <p>Detects the connected PDP/PDH using the default CAN ID (0 for CTRE and 1 for REV).
*/
public PowerDistribution() {
m_handle = PowerDistributionJNI.initialize(kDefaultModule, PowerDistributionJNI.AUTOMATIC_TYPE);
@@ -68,37 +68,37 @@ public class PowerDistribution implements Sendable, AutoCloseable {
}
/**
* Gets the number of channel for this power distribution.
* Gets the number of channels for this power distribution object.
*
* @return Number of output channels.
* @return Number of output channels (16 for PDP, 24 for PDH).
*/
public int getNumChannels() {
return PowerDistributionJNI.getNumChannels(m_handle);
}
/**
* Query the input voltage of the PDP.
* Query the input voltage of the PDP/PDH.
*
* @return The voltage of the PDP in volts
* @return The voltage in volts
*/
public double getVoltage() {
return PowerDistributionJNI.getVoltage(m_handle);
}
/**
* Query the temperature of the PDP.
* Query the temperature of the PDP/PDH.
*
* @return The temperature of the PDP in degrees Celsius
* @return The temperature in degrees Celsius
*/
public double getTemperature() {
return PowerDistributionJNI.getTemperature(m_handle);
}
/**
* Query the current of a single channel of the PDP.
* Query the current of a single channel of the PDP/PDH.
*
* @param channel The PDP channel to query.
* @return The current of one of the PDP channels (channels 0-15) in Amperes
* @param channel The channel (0-15 for PDP, 0-23 for PDH) to query
* @return The current of the channel in Amperes
*/
public double getCurrent(int channel) {
double current = PowerDistributionJNI.getChannelCurrent(m_handle, channel);
@@ -107,7 +107,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
}
/**
* Query the current of all monitored PDP channels (0-15).
* Query the current of all monitored channels.
*
* @return The current of all the channels in Amperes
*/
@@ -116,7 +116,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
}
/**
* Query the total power drawn from the monitored PDP channels.
* Query the total power drawn from the monitored channels.
*
* @return the total power in Watts
*/
@@ -125,7 +125,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
}
/**
* Query the total energy drawn from the monitored PDP channels.
* Query the total energy drawn from the monitored channels.
*
* @return the total energy in Joules
*/
@@ -138,7 +138,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
PowerDistributionJNI.resetTotalEnergy(m_handle);
}
/** Clear all PDP sticky faults. */
/** Clear all PDP/PDH sticky faults. */
public void clearStickyFaults() {
PowerDistributionJNI.clearStickyFaults(m_handle);
}
@@ -152,10 +152,20 @@ public class PowerDistribution implements Sendable, AutoCloseable {
return m_module;
}
/**
* Gets whether the PDH switchable channel is turned on or off. Returns false with the CTRE PDP.
*
* @return The output state of the PDH switchable channel
*/
public boolean getSwitchableChannel() {
return PowerDistributionJNI.getSwitchableChannel(m_handle);
}
/**
* Sets the PDH switchable channel on or off. Does nothing with the CTRE PDP.
*
* @param enabled Whether to turn the PDH switchable channel on or off
*/
public void setSwitchableChannel(boolean enabled) {
PowerDistributionJNI.setSwitchableChannel(m_handle, enabled);
}