[wpilib] Add getVoltage to PWMMotorController (#6044)

wpilibsuite · Sep 8, 2024 · cd9922a · cd9922a
1 parent 6e8feb1
commit cd9922a
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Showing 3 changed files with 23 additions and 0 deletions.
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
@@ -37,6 +37,10 @@ double PWMMotorController::Get() const {
   return m_pwm.GetSpeed() * (m_isInverted ? -1.0 : 1.0);
 }
 
+units::volt_t PWMMotorController::GetVoltage() const {
+  return Get() * RobotController::GetBatteryVoltage();
+}
+
 void PWMMotorController::SetInverted(bool isInverted) {
   m_isInverted = isInverted;
 }

diff --git a/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h b/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h
@@ -72,6 +72,15 @@ class PWMMotorController : public MotorController,
    */
   double Get() const override;
 
+  /**
+   * Gets the voltage output of the motor controller, nominally between -12 V
+   * and 12 V.
+   *
+   * @return The voltage of the motor controller, nominally between -12 V and 12
+   *   V.
+   */
+  virtual units::volt_t GetVoltage() const;
+
   void SetInverted(bool isInverted) override;
 
   bool GetInverted() const override;

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
@@ -9,6 +9,7 @@
 import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.MotorSafety;
 import edu.wpi.first.wpilibj.PWM;
+import edu.wpi.first.wpilibj.RobotController;
 import java.util.ArrayList;
 
 /** Common base class for all PWM Motor Controllers. */
@@ -75,6 +76,15 @@ public double get() {
     return m_pwm.getSpeed() * (m_isInverted ? -1.0 : 1.0);
   }
 
+  /**
+   * Gets the voltage output of the motor controller, nominally between -12 V and 12 V.
+   *
+   * @return The voltage of the motor controller, nominally between -12 V and 12 V.
+   */
+  public double getVoltage() {
+    return get() * RobotController.getBatteryVoltage();
+  }
+
   @Override
   public void setInverted(boolean isInverted) {
     m_isInverted = isInverted;