Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/src/ControllerPower.cpp b/wpilibc/Athena/src/ControllerPower.cpp
new file mode 100644
index 0000000..ea508af
--- /dev/null
+++ b/wpilibc/Athena/src/ControllerPower.cpp
@@ -0,0 +1,176 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011. All Rights Reserved.
+ */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "ControllerPower.h"
+
+#include <stdint.h>
+#include <HAL/Power.hpp>
+#include <HAL/HAL.hpp>
+#include "ErrorBase.h"
+
+/**
+ * Get the input voltage to the robot controller
+ * @return The controller input voltage value in Volts
+ */
+double ControllerPower::GetInputVoltage() {
+ int32_t status = 0;
+ double retVal = getVinVoltage(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the input current to the robot controller
+ * @return The controller input current value in Amps
+ */
+double ControllerPower::GetInputCurrent() {
+ int32_t status = 0;
+ double retVal = getVinCurrent(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the voltage of the 6V rail
+ * @return The controller 6V rail voltage value in Volts
+ */
+double ControllerPower::GetVoltage6V() {
+ int32_t status = 0;
+ double retVal = getUserVoltage6V(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the current output of the 6V rail
+ * @return The controller 6V rail output current value in Amps
+ */
+double ControllerPower::GetCurrent6V() {
+ int32_t status = 0;
+ double retVal = getUserCurrent6V(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * 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 The controller 6V rail enabled value. True for enabled.
+ */
+bool ControllerPower::GetEnabled6V() {
+ int32_t status = 0;
+ bool retVal = getUserActive6V(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 6V rail since the controller
+ * has booted
+ * @return The number of faults.
+ */
+int ControllerPower::GetFaultCount6V() {
+ int32_t status = 0;
+ int retVal = getUserCurrentFaults6V(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the voltage of the 5V rail
+ * @return The controller 5V rail voltage value in Volts
+ */
+double ControllerPower::GetVoltage5V() {
+ int32_t status = 0;
+ double retVal = getUserVoltage5V(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the current output of the 5V rail
+ * @return The controller 5V rail output current value in Amps
+ */
+double ControllerPower::GetCurrent5V() {
+ int32_t status = 0;
+ double retVal = getUserCurrent5V(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * 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 The controller 5V rail enabled value. True for enabled.
+ */
+bool ControllerPower::GetEnabled5V() {
+ int32_t status = 0;
+ bool retVal = getUserActive5V(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 5V rail since the controller
+ * has booted
+ * @return The number of faults
+ */
+int ControllerPower::GetFaultCount5V() {
+ int32_t status = 0;
+ int retVal = getUserCurrentFaults5V(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the voltage of the 3.3V rail
+ * @return The controller 3.3V rail voltage value in Volts
+ */
+double ControllerPower::GetVoltage3V3() {
+ int32_t status = 0;
+ double retVal = getUserVoltage3V3(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the current output of the 3.3V rail
+ * @return The controller 3.3V rail output current value in Amps
+ */
+double ControllerPower::GetCurrent3V3() {
+ int32_t status = 0;
+ double retVal = getUserCurrent3V3(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * 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 The controller 3.3V rail enabled value. True for enabled.
+ */
+bool ControllerPower::GetEnabled3V3() {
+ int32_t status = 0;
+ bool retVal = getUserActive3V3(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 3.3V rail since the
+ * controller has booted
+ * @return The number of faults
+ */
+int ControllerPower::GetFaultCount3V3() {
+ int32_t status = 0;
+ int retVal = getUserCurrentFaults3V3(&status);
+ wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
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