Add JNI/Java functions for power rail disable

hal/src/main/java/edu/wpi/first/hal/PowerJNI.java

@@ -42,6 +42,13 @@ public class PowerJNI extends JNIWrapper {
    */
   public static native double getUserCurrent6V();
 
+  /**
+   * Enables or disables the 6V rail.
+   *
+   * @param enabled whether the rail should be enabled
+   */
+  public static native void setUserEnabled6V(boolean enabled);
+
   /**
    * Gets the active state of the 6V rail.
    *
@@ -74,6 +81,13 @@ public class PowerJNI extends JNIWrapper {
    */
   public static native double getUserCurrent5V();
 
+  /**
+   * Enables or disables the 5V rail.
+   *
+   * @param enabled whether the rail should be enabled
+   */
+  public static native void setUserEnabled5V(boolean enabled);
+
   /**
    * Gets the active state of the 5V rail.
    *
@@ -106,6 +120,13 @@ public class PowerJNI extends JNIWrapper {
    */
   public static native double getUserCurrent3V3();
 
+  /**
+   * Enables or disables the 3V3 rail.
+   *
+   * @param enabled whether the rail should be enabled
+   */
+  public static native void setUserEnabled3V3(boolean enabled);
+
   /**
    * Gets the active state of the 3V3 rail.
    *

hal/src/main/native/cpp/jni/PowerJNI.cpp

@@ -72,6 +72,13 @@ Java_edu_wpi_first_hal_PowerJNI_getUserCurrent6V
   return val;
 }
 
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_setUserEnabled6V(JNIEnv* env, jclass, jboolean enabled) {
+  int32_t status = 0;
+  HAL_SetUserRailEnabled6V(enabled, &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_PowerJNI
  * Method:    getUserActive6V
@@ -132,6 +139,13 @@ Java_edu_wpi_first_hal_PowerJNI_getUserCurrent5V
   return val;
 }
 
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_setUserEnabled5V(JNIEnv* env, jclass, jboolean enabled) {
+  int32_t status = 0;
+  HAL_SetUserRailEnabled5V(enabled, &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_PowerJNI
  * Method:    getUserActive5V
@@ -192,6 +206,13 @@ Java_edu_wpi_first_hal_PowerJNI_getUserCurrent3V3
   return val;
 }
 
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_setUserEnabled3V3(JNIEnv* env, jclass, jboolean enabled) {
+  int32_t status = 0;
+  HAL_SetUserRailEnabled3V3(enabled, &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_PowerJNI
  * Method:    getUserActive3V3

wpilibc/src/main/native/cpp/RobotController.cpp

@@ -111,6 +111,12 @@ double RobotController::GetCurrent3V3() {
   return retVal;
 }
 
+void RobotController::SetEnabled3V3(bool enabled) {
+  int32_t status = 0;
+  HAL_SetUserRailEnabled3V3(enabled, &status);
+  FRC_CheckErrorStatus(status, "SetEnabled3V3");
+}
+
 bool RobotController::GetEnabled3V3() {
   int32_t status = 0;
   bool retVal = HAL_GetUserActive3V3(&status);
@@ -139,6 +145,12 @@ double RobotController::GetCurrent5V() {
   return retVal;
 }
 
+void RobotController::SetEnabled5V(bool enabled) {
+  int32_t status = 0;
+  HAL_SetUserRailEnabled5V(enabled, &status);
+  FRC_CheckErrorStatus(status, "SetEnabled5V");
+}
+
 bool RobotController::GetEnabled5V() {
   int32_t status = 0;
   bool retVal = HAL_GetUserActive5V(&status);
@@ -167,6 +179,12 @@ double RobotController::GetCurrent6V() {
   return retVal;
 }
 
+void RobotController::SetEnabled6V(bool enabled) {
+  int32_t status = 0;
+  HAL_SetUserRailEnabled6V(enabled, &status);
+  FRC_CheckErrorStatus(status, "SetEnabled6V");
+}
+
 bool RobotController::GetEnabled6V() {
   int32_t status = 0;
   bool retVal = HAL_GetUserActive6V(&status);

wpilibc/src/main/native/include/frc/RobotController.h

@@ -136,9 +136,16 @@ class RobotController {
   static double GetCurrent3V3();
 
   /**
-   * 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.
+   * Enables or disables the 3.3V rail.
+   *
+   * @param enabled whether to enable the 3.3V rail.
+   */
+  static void SetEnabled3V3(bool enabled);
+
+  /**
+   * Get the enabled state of the 3.3V rail. The rail may be disabled due to
+   * calling SetEnabled3V3(), a controller brownout, a short circuit on the
+   * rail, or controller over-voltage.
    *
    * @return The controller 3.3V rail enabled value. True for enabled.
    */
@@ -167,9 +174,16 @@ class RobotController {
   static double GetCurrent5V();
 
   /**
-   * 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.
+   * Enables or disables the 5V rail.
+   *
+   * @param enabled whether to enable the 5V rail.
+   */
+  static void SetEnabled5V(bool enabled);
+
+  /**
+   * Get the enabled state of the 5V rail. The rail may be disabled due to
+   * calling SetEnabled5V(), a controller brownout, a short circuit on the rail,
+   * or controller over-voltage.
    *
    * @return The controller 5V rail enabled value. True for enabled.
    */
@@ -198,9 +212,16 @@ class RobotController {
   static double GetCurrent6V();
 
   /**
-   * 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.
+   * Enables or disables the 6V rail.
+   *
+   * @param enabled whether to enable the 6V rail.
+   */
+  static void SetEnabled6V(bool enabled);
+
+  /**
+   * Get the enabled state of the 6V rail. The rail may be disabled due to
+   * calling SetEnabled6V(), a controller brownout, a short circuit on the rail,
+   * or controller over-voltage.
    *
    * @return The controller 6V rail enabled value. True for enabled.
    */

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

@@ -148,6 +148,15 @@ public static double getCurrent3V3() {
     return PowerJNI.getUserCurrent3V3();
   }
 
+  /**
+   * Enables or disables the 3.3V rail.
+   *
+   * @param enabled whether to enable the 3.3V rail.
+   */
+  public static void setEnabled3V3(boolean enabled) {
+    PowerJNI.setUserEnabled3V3(enabled);
+  }
+
   /**
    * 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.
@@ -185,6 +194,15 @@ public static double getCurrent5V() {
     return PowerJNI.getUserCurrent5V();
   }
 
+  /**
+   * Enables or disables the 5V rail.
+   *
+   * @param enabled whether to enable the 5V rail.
+   */
+  public static void setEnabled5V(boolean enabled) {
+    PowerJNI.setUserEnabled5V(enabled);
+  }
+
   /**
    * 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.
@@ -222,6 +240,15 @@ public static double getCurrent6V() {
     return PowerJNI.getUserCurrent6V();
   }
 
+  /**
+   * Enables or disables the 6V rail.
+   *
+   * @param enabled whether to enable the 6V rail.
+   */
+  public static void setEnabled6V(boolean enabled) {
+    PowerJNI.setUserEnabled6V(enabled);
+  }
+
   /**
    * 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.