RobotController

class wpilib.RobotController

Bases: pybind11_object

static getBatteryVoltage() → wpimath.units.volts

Read the battery voltage.

Returns:: The battery voltage in Volts.

static getBrownoutVoltage() → wpimath.units.volts

Get the current brownout voltage setting.

Returns:: The brownout voltage

static getCANStatus(busId: SupportsInt | SupportsIndex) → wpilib._wpilib.CANStatus

Get the current status of the CAN bus.

Parameters:: busId – The bus ID.
Returns:: The status of the CAN bus

static getCPUTemp() → wpimath.units.celsius

Get the current CPU temperature.

Returns:: current CPU temperature

static getComments() → str

Return the comments from the roboRIO web interface.

The comments string is cached after the first call to this function on the RoboRIO - restart the robot code to reload the comments string after changing it in the web interface.

Returns:: The comments from the roboRIO web interface.

static getCommsDisableCount() → int

Gets the number of times the system has been disabled due to communication errors with the Driver Station.

Returns:: number of disables due to communication errors.

static getCurrent3V3() → float

Get the current output of the 3.3V rail.

Returns:: The controller 3.3V rail output current value in Amps

static getEnabled3V3() → bool

Get the enabled state of the 3.3V rail. The rail may be disabled due to calling SetEnabled3V3(), a controller brownout, a short circuit on the rail, or controller over-voltage.

Returns:: The controller 3.3V rail enabled value. True for enabled.

static getFaultCount3V3() → int

Get the count of the total current faults on the 3.3V rail since the code started.

Returns:: The number of faults

static getInputVoltage() → float

Get the input voltage to the robot controller.

Returns:: The controller input voltage value in Volts

static getMonotonicTime() → int

Read the microsecond-resolution monotonic timer.

Returns:: The current monotonic time in microseconds.

static getRSLState() → bool

Gets the current state of the Robot Signal Light (RSL)

Returns:: The current state of the RSL- true if on, false if off

static getSerialNumber() → str

Return the serial number of the roboRIO.

Returns:: The serial number of the roboRIO.

static getTeamNumber() → int

Returns the team number configured for the robot controller.

Returns:: team number, or 0 if not found.

static getTime() → int

Read the microsecond timestamp. By default, the time is based on the monotonic clock. However, the return value of this method may be modified to use any time base, including non-monotonic and non-continuous time bases.

Returns:: The current time in microseconds.

static getVoltage3V3() → float

Get the voltage of the 3.3V rail.

Returns:: The controller 3.3V rail voltage value in Volts

static isBrownedOut() → bool

Check if the system is browned out.

Returns:: True if the system is browned out

static isSysActive() → bool

Check if 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.

Returns:: True if the FPGA outputs are enabled.

static isSystemTimeValid() → bool

Gets if the system time is valid.

Returns:: True if the system time is valid, false otherwise

static resetRailFaultCounts() → None: Reset the overcurrent fault counters for all user rails to 0.

static setBrownoutVoltage(brownoutVoltage: wpimath.units.volts) → None

Set the voltage the roboRIO will brownout and disable all outputs.

Note that this only does anything on the roboRIO 2. On the roboRIO it is a no-op.

Parameters:: brownoutVoltage – The brownout voltage

static setEnabled3V3(enabled: bool) → None

Enables or disables the 3.3V rail.

Parameters:: enabled – whether to enable the 3.3V rail.

static setTimeSource(supplier: collections.abc.Callable[[], int]) → None

Sets a new source to provide the clock time in microseconds. Changing this affects the return value of GetTime.

Parameters:: supplier – Function to return the time in microseconds.