Package frclib.sensor

Class FrcPdp

java.lang.Object
edu.wpi.first.wpilibj.PowerDistribution
frclib.sensor.FrcPdp
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, AutoCloseable
public class FrcPdp extends edu.wpi.first.wpilibj.PowerDistribution
This class extends the WPI PowerDistricbutonPanel class to provide monitoring of energy consumption of registered power channel.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static class 
    FrcPdp.Channel
    This class contains the info of a PDP channel.

    Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.PowerDistribution

    edu.wpi.first.wpilibj.PowerDistribution.ModuleType

  • Field Summary

    Fields inherited from class edu.wpi.first.wpilibj.PowerDistribution

    kDefaultModule

  • Constructor Summary

    Constructors
    Constructor
    Description
    FrcPdp(int canId, edu.wpi.first.wpilibj.PowerDistribution.ModuleType moduleType)
    Constructor: Creates an instance of the object.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    energyUsedTask(TrcTaskMgr.TaskType taskType, TrcRobot.RunMode runMode, boolean slowPeriodicLoop)
    This method is called periodically to integrate the power consumption of each channel.
    String
    getChannelName(int channel)
    This method returns the name of the registered PDP channel.
    double
    getEnergyUsed(int channel)
    This method returns the energy consumed so far by the specified channel in the unit of Watt-Hour.
    edu.wpi.first.util.sendable.Sendable
    getPdpSendable()
     
    boolean
    registerEnergyUsed(int channel, String name)
    This method registers a PDP channel for monitoring its energy used.
    boolean
    registerEnergyUsed(FrcPdp.Channel... channels)
    This method registers a PDP channel for monitoring its energy used.
    void
    registerEnergyUsedForAllUnregisteredChannels()
    This method registers all currently unregistered PDP channels for monitoring its energy used with a default name based on the channel number.
    void
    setTaskEnabled(boolean enabled)
    This method enables/disables the energy monitoring task.
    void
    unregisterAllEnergyUsed()
    This method unregisters all PDP channel for monitoring its energy used.
    boolean
    unregisterEnergyUsed(int channel)
    This method unregisters a PDP channel for monitoring its energy used.

    Methods inherited from class edu.wpi.first.wpilibj.PowerDistribution

    clearStickyFaults, close, getAllCurrents, getCurrent, getFaults, getModule, getNumChannels, getStickyFaults, getSwitchableChannel, getTemperature, getTotalCurrent, getTotalEnergy, getTotalPower, getType, getVersion, getVoltage, initSendable, resetTotalEnergy, setSwitchableChannel

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • FrcPdp

      public FrcPdp(int canId, edu.wpi.first.wpilibj.PowerDistribution.ModuleType moduleType)
      Constructor: Creates an instance of the object.
      Parameters:
      canId - specifies the CAN ID of the PDP.
      moduleType - specifies the module type (automatic, CTRE, or REV).

  • Method Details

    • setTaskEnabled

      public void setTaskEnabled(boolean enabled)
      This method enables/disables the energy monitoring task. When the task is enabled, it also clears the totalEnergyUsed array.
      Parameters:
      enabled - specifies true to enable the task, false to disable.

    • registerEnergyUsed

      public boolean registerEnergyUsed(int channel, String name)
      This method registers a PDP channel for monitoring its energy used.
      Parameters:
      channel - specifies the channel to be registered.
      name - specifies the channel name.
      Returns:
      true if registered successfully, false if channel is invalid or already registered.

    • registerEnergyUsed

      public boolean registerEnergyUsed(FrcPdp.Channel... channels)
      This method registers a PDP channel for monitoring its energy used.
      Parameters:
      channelInfo - specifies the array of channels to be registered.
      Returns:
      true if registered successfully, false if channel is invalid or already registered.

    • registerEnergyUsedForAllUnregisteredChannels

      public void registerEnergyUsedForAllUnregisteredChannels()
      This method registers all currently unregistered PDP channels for monitoring its energy used with a default name based on the channel number.

    • unregisterEnergyUsed

      public boolean unregisterEnergyUsed(int channel)
      This method unregisters a PDP channel for monitoring its energy used.
      Parameters:
      channel - specifies the channel to be unregistered.
      Returns:
      true if unregistered successfully, false if channel is not registered.

    • unregisterAllEnergyUsed

      public void unregisterAllEnergyUsed()
      This method unregisters all PDP channel for monitoring its energy used.

    • getEnergyUsed

      public double getEnergyUsed(int channel)
      This method returns the energy consumed so far by the specified channel in the unit of Watt-Hour.
      Parameters:
      channel - specifies the PDP channel.
      Returns:
      energy consumed by the channel in Watt-Hour if registered, null if not registered.

    • getChannelName

      public String getChannelName(int channel)
      This method returns the name of the registered PDP channel.
      Parameters:
      channel - specifies the PDP channel.
      Returns:
      PDP channel name if registered, null if not registered.

    • energyUsedTask

      public void energyUsedTask(TrcTaskMgr.TaskType taskType, TrcRobot.RunMode runMode, boolean slowPeriodicLoop)
      This method is called periodically to integrate the power consumption of each channel.
      Parameters:
      taskType - specifies the type of task being run.
      runMode - specifies the competition mode that is running.
      slowPeriodicLoop - specifies true if it is running the slow periodic loop on the main robot thread, false otherwise.

    • getPdpSendable

      public edu.wpi.first.util.sendable.Sendable getPdpSendable()