RobotController

class wpilib.RobotController

Bases: pybind11_builtins.pybind11_object

static getBatteryVoltage() volts

Read the battery voltage.

Returns

The battery voltage in Volts.

static getBrownoutVoltage() 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 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 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 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 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 getUserButton() bool

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

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 setBrownoutVoltage(brownoutVoltage: 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