Added ahal
This is a formatted copy of WPILib's default user-visible C++ API, with
a bit of completely unnecessary functionality stripped out. Most of the
stripping so far is only related to weird threading decisions.
Change-Id: Icbfd949b48cd115561862cb909bcc572aba0e753
diff --git a/frc971/wpilib/ahal/ControllerPower.cc b/frc971/wpilib/ahal/ControllerPower.cc
new file mode 100644
index 0000000..e045fdc
--- /dev/null
+++ b/frc971/wpilib/ahal/ControllerPower.cc
@@ -0,0 +1,190 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc971/wpilib/ahal/ControllerPower.h"
+
+#include <stdint.h>
+
+#include "HAL/HAL.h"
+#include "HAL/Power.h"
+#include "frc971/wpilib/ahal/ErrorBase.h"
+
+using namespace frc;
+
+/**
+ * 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 = HAL_GetVinVoltage(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetVinCurrent(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetUserVoltage6V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetUserCurrent6V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetUserActive6V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetUserCurrentFaults6V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetUserVoltage5V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetUserCurrent5V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetUserActive5V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetUserCurrentFaults5V(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetUserVoltage3V3(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetUserCurrent3V3(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetUserActive3V3(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(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 = HAL_GetUserCurrentFaults3V3(&status);
+ wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ return retVal;
+}