Add Java unit support for RobotController

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java

@@ -4,12 +4,21 @@
 
 package edu.wpi.first.wpilibj;
 
+import static edu.wpi.first.units.Units.Amps;
+import static edu.wpi.first.units.Units.Celsius;
+import static edu.wpi.first.units.Units.Microseconds;
+import static edu.wpi.first.units.Units.Volts;
+
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.HALUtil;
 import edu.wpi.first.hal.LEDJNI;
 import edu.wpi.first.hal.PowerJNI;
 import edu.wpi.first.hal.can.CANJNI;
 import edu.wpi.first.hal.can.CANStatus;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Temperature;
+import edu.wpi.first.units.measure.Time;
+import edu.wpi.first.units.measure.Voltage;
 
 /** Contains functions for roboRIO functionality. */
 public final class RobotController {
@@ -76,6 +85,15 @@ public static long getFPGATime() {
     return HALUtil.getFPGATime();
   }
 
+  /**
+   * Read the microsecond timer in a measure from the FPGA.
+   *
+   * @return The current time according to the FPGA in a measure.
+   */
+  public static Time getMeasureFPGATime() {
+    return Microseconds.of(HALUtil.getFPGATime());
+  }
+
   /**
    * Get the state of the "USER" button on the roboRIO.
    *
@@ -98,6 +116,15 @@ public static double getBatteryVoltage() {
     return PowerJNI.getVinVoltage();
   }
 
+  /**
+   * Read the battery voltage in a measure.
+   *
+   * @return The battery voltage in a measure.
+   */
+  public static Voltage getMeasureBatteryVoltage() {
+    return Volts.of(PowerJNI.getVinVoltage());
+  }
+
   /**
    * Gets a value indicating whether 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.
@@ -154,6 +181,15 @@ public static double getInputVoltage() {
     return PowerJNI.getVinVoltage();
   }
 
+  /**
+   * Get the input voltage to the robot controller in a measure.
+   *
+   * @return The controller input voltage value in a measure.
+   */
+  public static Voltage getMeasureInputVoltage() {
+    return Volts.of(PowerJNI.getVinVoltage());
+  }
+
   /**
    * Get the input current to the robot controller.
    *
@@ -163,6 +199,15 @@ public static double getInputCurrent() {
     return PowerJNI.getVinCurrent();
   }
 
+  /**
+   * Get the input current to the robot controller in a measure.
+   *
+   * @return The controller input current value in a measure.
+   */
+  public static Current getMeasureInputCurrent() {
+    return Amps.of(PowerJNI.getVinCurrent());
+  }
+
   /**
    * Get the voltage of the 3.3V rail.
    *
@@ -172,6 +217,15 @@ public static double getVoltage3V3() {
     return PowerJNI.getUserVoltage3V3();
   }
 
+  /**
+   * Get the voltage in a measure of the 3.3V rail.
+   *
+   * @return The controller 3.3V rail voltage value in a measure.
+   */
+  public static Voltage getMeasureVoltage3V3() {
+    return Volts.of(PowerJNI.getUserVoltage3V3());
+  }
+
   /**
    * Get the current output of the 3.3V rail.
    *
@@ -181,6 +235,15 @@ public static double getCurrent3V3() {
     return PowerJNI.getUserCurrent3V3();
   }
 
+  /**
+   * Get the current output in a measure of the 3.3V rail.
+   *
+   * @return The controller 3.3V rail output current value in a measure.
+   */
+  public static Current getMeasureCurrent3V3() {
+    return Amps.of(PowerJNI.getUserCurrent3V3());
+  }
+
   /**
    * Enables or disables the 3.3V rail.
    *
@@ -218,6 +281,15 @@ public static double getVoltage5V() {
     return PowerJNI.getUserVoltage5V();
   }
 
+  /**
+   * Get the voltage in a measure of the 5V rail.
+   *
+   * @return The controller 5V rail voltage value in a measure.
+   */
+  public static Voltage getMeasureVoltage5V() {
+    return Volts.of(PowerJNI.getUserVoltage5V());
+  }
+
   /**
    * Get the current output of the 5V rail.
    *
@@ -227,6 +299,15 @@ public static double getCurrent5V() {
     return PowerJNI.getUserCurrent5V();
   }
 
+  /**
+   * Get the current output in a measure of the 5V rail.
+   *
+   * @return The controller 5V rail output current value in a measure.
+   */
+  public static Current getMeasureCurrent5V() {
+    return Amps.of(PowerJNI.getUserCurrent5V());
+  }
+
   /**
    * Enables or disables the 5V rail.
    *
@@ -264,6 +345,15 @@ public static double getVoltage6V() {
     return PowerJNI.getUserVoltage6V();
   }
 
+  /**
+   * Get the voltage in a measure of the 6V rail.
+   *
+   * @return The controller 6V rail voltage value in a measure.
+   */
+  public static Voltage getMeasureVoltage6V() {
+    return Volts.of(PowerJNI.getUserVoltage6V());
+  }
+
   /**
    * Get the current output of the 6V rail.
    *
@@ -273,6 +363,15 @@ public static double getCurrent6V() {
     return PowerJNI.getUserCurrent6V();
   }
 
+  /**
+   * Get the current output in a measure of the 6V rail.
+   *
+   * @return The controller 6V rail output current value in a measure.
+   */
+  public static Current getMeasureCurrent6V() {
+    return Amps.of(PowerJNI.getUserCurrent6V());
+  }
+
   /**
    * Enables or disables the 6V rail.
    *
@@ -315,6 +414,15 @@ public static double getBrownoutVoltage() {
     return PowerJNI.getBrownoutVoltage();
   }
 
+  /**
+   * Get the current brownout voltage setting in a measure.
+   *
+   * @return The brownout voltage in a measure.
+   */
+  public static Voltage getMeasureBrownoutVoltage() {
+    return Volts.of(PowerJNI.getBrownoutVoltage());
+  }
+
   /**
    * Set the voltage the roboRIO will brownout and disable all outputs.
    *
@@ -326,6 +434,17 @@ public static void setBrownoutVoltage(double brownoutVoltage) {
     PowerJNI.setBrownoutVoltage(brownoutVoltage);
   }
 
+  /**
+   * Set the voltage in a measure the roboRIO will brownout and disable all outputs.
+   *
+   * <p>Note that this only does anything on the roboRIO 2. On the roboRIO it is a no-op.
+   *
+   * @param brownoutVoltage The brownout voltage in a measure
+   */
+  public static void setBrownoutVoltage(Voltage brownoutVoltage) {
+    PowerJNI.setBrownoutVoltage(brownoutVoltage.baseUnitMagnitude());
+  }
+
   /**
    * Get the current CPU temperature in degrees Celsius.
    *
@@ -335,6 +454,15 @@ public static double getCPUTemp() {
     return PowerJNI.getCPUTemp();
   }
 
+  /**
+   * Get the current CPU temperature in a measure.
+   *
+   * @return current CPU temperature in a measure.
+   */
+  public static Temperature getMeasureCPUTemp() {
+    return Celsius.of(PowerJNI.getCPUTemp());
+  }
+
   /** State for the radio led. */
   public enum RadioLEDState {
     /** Off. */