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() → wpilib._wpilib.CANStatus

Get the current status of the CAN bus.

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 getCurrent3V3() → float

Get the current output of the 3.3V rail.

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

static getCurrent5V() → float

Get the current output of the 5V rail.

Returns:: The controller 5V rail output current value in Amps

static getCurrent6V() → float

Get the current output of the 6V rail.

Returns:: The controller 6V 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 getEnabled5V() → bool

Get the enabled state of the 5V rail. The rail may be disabled due to calling SetEnabled5V(), a controller brownout, a short circuit on the rail, or controller over-voltage.

Returns:: The controller 5V rail enabled value. True for enabled.

static getEnabled6V() → bool

Get the enabled state of the 6V rail. The rail may be disabled due to calling SetEnabled6V(), a controller brownout, a short circuit on the rail, or controller over-voltage.

Returns:: The controller 6V rail enabled value. True for enabled.

static getFPGARevision() → int

Return the FPGA Revision number.

The format of the revision is 3 numbers. The 12 most significant bits are the Major Revision. The next 8 bits are the Minor Revision. The 12 least significant bits are the Build Number.

Returns:: FPGA Revision number.

static getFPGATime() → int

Read the microsecond-resolution timer on the FPGA.

Returns:: The current time in microseconds according to the FPGA (since FPGA reset).

static getFPGAVersion() → int

Return the FPGA Version number.

For now, expect this to be competition year.

Returns:: FPGA Version number.

static getFaultCount3V3() → int

Get the count of the total current faults on the 3.3V rail since the controller has booted.

Returns:: The number of faults

static getFaultCount5V() → int

Get the count of the total current faults on the 5V rail since the controller has booted.

Returns:: The number of faults

static getFaultCount6V() → int

Get the count of the total current faults on the 6V rail since the controller has booted.

Returns:: The number of faults.

static getInputCurrent() → float

Get the input current to the robot controller.

Returns:: The controller input current value in Amps

static getInputVoltage() → float

Get the input voltage to the robot controller.

Returns:: The controller input voltage value in Volts

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 getRadioLEDState() → wpilib._wpilib.RadioLEDState

Get the state of the “Radio” LED. On the RoboRIO, this reads from sysfs, so this function should not be called multiple times per loop cycle to avoid overruns.

Returns:: The state of the LED.

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 getUserButton() → bool

Get the state of the “USER” button on the roboRIO.

@warning the User Button is used to stop user programs from automatically loading if it is held for more then 5 seconds. Because of this, it’s not recommended to be used by teams for any other purpose.

Returns:: True if the button is currently pressed down

static getVoltage3V3() → float

Get the voltage of the 3.3V rail.

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

static getVoltage5V() → float

Get the voltage of the 5V rail.

Returns:: The controller 5V rail voltage value in Volts

static getVoltage6V() → float

Get the voltage of the 6V rail.

Returns:: The controller 6V 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 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 setEnabled5V(enabled: bool) → None

Enables or disables the 5V rail.

Parameters:: enabled – whether to enable the 5V rail.

static setEnabled6V(enabled: bool) → None

Enables or disables the 6V rail.

Parameters:: enabled – whether to enable the 6V rail.

static setRadioLEDState(state: wpilib._wpilib.RadioLEDState) → None

Set the state of the “Radio” LED. On the RoboRIO, this writes to sysfs, so this function should not be called multiple times per loop cycle to avoid overruns.

Parameters:: state – The state to set the LED to.