valor::PowerDistribution Class Reference

#include <valkyrie/PowerDistribution.h>

Inheritance diagram for valor::PowerDistribution:

Public Types
enum class	ModuleType { kCTRE_PDP , kCTRE_PDP2_0 , kRev }

Public Member Functions
	PowerDistribution ()
	PowerDistribution (int module, ModuleType moduleType)
int	GetNumChannels () const
units::volt_t	GetVoltage () const
units::celsius_t	GetTemperature () const
units::ampere_t	GetCurrent (int channel) const
std::vector< units::ampere_t >	GetAllCurrents () const
units::ampere_t	GetTotalCurrent () const
units::watt_t	GetTotalPower () const
units::joule_t	GetTotalEnergy () const
constexpr ModuleType	GetType () const
void	InitSendable (wpi::SendableBuilder &builder) override

Detailed Description

Class for getting voltage, current, temperature, power and energy from the CTRE Power Distribution Panel (PDP), CTRE PDP 2.0, or REV Power Distribution Hub (PDH).

The PDP 2.0 does not communicate with the RoboRIO. As a result, the only function that returns meaningful data for the PDP 2.0 is GetVoltage(), which returns the RoboRIO detected battery voltage. All other functions that would normally query PDP telemetry return default values or perform no operation.

Member Enumeration Documentation

ModuleType

enum class valor::PowerDistribution::ModuleType

strong

Power distribution module type.

Enumerator
kCTRE_PDP	CTRE (Cross The Road Electronics) CTRE Power Distribution Panel (PDP).
kCTRE_PDP2_0	CTRE (Cross The Road Electronics) CTRE Power Distribution Panel 2.0 (PDP 2.0).
kRev	REV Power Distribution Hub (PDH).

Constructor & Destructor Documentation

PowerDistribution() [1/2]

valor::PowerDistribution::PowerDistribution

(

)

Constructs a PowerDistribution object.

Detects the connected PDP/PDH using the default CAN ID (0 for CTRE PDP and 1 for REV). If battery voltage is unreasonable (< 1 volt), it is assumed to be PDP 2.0 as the PDP 2.0 has no communication with the RIO

PowerDistribution() [2/2]

valor::PowerDistribution::PowerDistribution ( int module, ModuleType moduleType )

inline

Constructs a PowerDistribution object.

Parameters

module	The CAN ID of the PDP/PDH (doesn't matter for the PDP 2.0)
moduleType	The type of module

Member Function Documentation

GetAllCurrents()

std::vector< units::ampere_t > valor::PowerDistribution::GetAllCurrents

(

)

const

Query all currents of the PDP. Not supported on the PDP 2.0 and returns a vector with all zeroes.

Returns

The current of each channel in Amperes

GetCurrent()

units::ampere_t valor::PowerDistribution::GetCurrent ( int channel ) const

inline

Query the current of a single channel of the PDP/PDH. Not supported on the PDP 2.0 and retursn 0.

Parameters

channel

the channel to query (0-15 for PDP, 0-23 for PDH)

Returns

The current of the channel in Amperes

GetNumChannels()

int valor::PowerDistribution::GetNumChannels

(

)

const

Gets the number of channels for this power distribution object.

Returns

Number of output channels (16 for PDP, 24 for PDP 2.0, 24 for PDH).

GetTemperature()

units::celsius_t valor::PowerDistribution::GetTemperature ( ) const

inline

Query the temperature of the PDP.

Not supported on the Rev PDH and returns 0. Not supported on the PDP 2.0 and returns 0.

Returns

The temperature in degrees Celsius

GetTotalCurrent()

units::ampere_t valor::PowerDistribution::GetTotalCurrent ( ) const

inline

Query the total current of all monitored PDP/PDH channels. Not supported on the PDP 2.0 and returns 0.

Returns

The total current drawn from all channels in Amperes

GetTotalEnergy()

units::joule_t valor::PowerDistribution::GetTotalEnergy ( ) const

inline

Query the total energy drawn from the monitored PDP channels.

Not supported on the Rev PDH and returns 0. Not supported on the PDP 2.0 and returns 0.

Returns

The total energy drawn in Joules

GetTotalPower()

units::watt_t valor::PowerDistribution::GetTotalPower ( ) const

inline

Query the total power drawn from all monitored PDP channels.

Not supported on the Rev PDH and returns 0. Not supported on the PDP 2.0 and returns 0.

Returns

The total power drawn in Watts

GetType()

ModuleType valor::PowerDistribution::GetType ( ) const

inlineconstexpr

Gets module type.

GetVoltage()

units::volt_t valor::PowerDistribution::GetVoltage

(

)

const

Query the input voltage of the PDP/PDH. Defaults to the RIO detected battery voltage on the PDP 2.0

Returns

The input voltage in volts

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The documentation for this class was generated from the following file:

• src/main/include/valkyrie/PowerDistribution.h