RobotController

class wpilib.RobotController

Bases: object

Contains functions for roboRIO functionality.

static getBatteryVoltage()

Read the battery voltage.

Return type:float Returns:The battery voltage in Volts.

static getCANStatus()

Get the current status of the CAN bus.

Returns:The status of the CAN bus as a tuple: “percentBusUtilization”, “busOffCount”, “txFullCount”, “receiveErrorCount”, “transmitErrorCount”

static getCurrent3V3()

Get the current output of the 3.3V rail.

Return type:float Returns:The controller 3.3V rail output current value in Volts

static getCurrent5V()

Get the current output of the 5V rail.

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

static getCurrent6V()

Get the current output of the 6V rail.

Return type:float Returns:The controller 6V rail output current value in Amps

static getEnabled3V3()

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

Return type:bool Returns:The controller 3.3V rail enabled value

static getEnabled5V()

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

Return type:bool Returns:The controller 5V rail enabled value

static getEnabled6V()

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

Return type:bool Returns:The controller 6V rail enabled value

static getFPGARevision()

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.

Return type:int Returns:FPGA Revision number.

static getFPGATime()

Read the microsecond timer from the FPGA.

Return type:int Returns:The current time in microseconds according to the FPGA.

static getFPGAVersion()

Return the FPGA Version number. For now, expect this to be the current year.

Return type:int Returns:FPGA Version number.

static getFaultCount3V3()

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

Return type:int Returns:The number of faults

static getFaultCount5V()

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

Return type:int Returns:The number of faults

static getFaultCount6V()

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

Return type:int Returns:The number of faults

static getInputCurrent()

Get the input current to the robot controller.

Return type:float Returns:The controller input current value in Amps

static getInputVoltage()

Get the input voltage to the robot controller.

Return type:float Returns:The controller input voltage value in Volts

static getUserButton()

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

Return type:bool Returns:true if the button is currently pressed down

static getVoltage3V3()

Get the voltage of the 3.3V rail.

Return type:float Returns:The controller 3.3V rail voltage value in Volts

static getVoltage5V()

Get the voltage of the 5V rail.

Return type:float Returns:The controller 5V rail voltage value in Volts

static getVoltage6V()

Get the voltage of the 6V rail.

Return type:float Returns:The controller 6V rail voltage value in Volts

static isBrownedOut()

Check if the system is browned out.

Return type:bool Returns:True if the system is browned out

static isSysActive()

Gets a value indicating whether 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.

Return type:bool Returns:True if the FPGA outputs are enabled.