12 #include <wpi/ArrayRef.h>
13 #include <wpi/raw_ostream.h>
15 #include "frc/MotorSafety.h"
19 class SpeedController;
73 void StopMotor()
override = 0;
92 double m_deadband = 0.02;
93 double m_maxOutput = 1.0;
void Normalize(wpi::MutableArrayRef< double > wheelSpeeds)
Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
void SetDeadband(double deadband)
Sets the deadband applied to the drive inputs (e.g., joystick values).
Common base class for drive platforms.
Definition: RobotDriveBase.h:24
This base class runs a watchdog timer and calls the subclass's StopMotor() function if the timeout ex...
Definition: MotorSafety.h:24
void FeedWatchdog()
Feed the motor safety object.
double ApplyDeadband(double number, double deadband)
Returns 0.0 if the given value is within the specified range around zero.
MotorType
The location of a motor on the robot for the purpose of driving.
Definition: RobotDriveBase.h:29
MutableArrayRef - Represent a mutable reference to an array (0 or more elements consecutively in memo...
Definition: ArrayRef.h:287
void SetMaxOutput(double maxOutput)
Configure the scaling factor for using RobotDrive with motor controllers in a mode other than Percent...
A class that enforces constraints on the differential drive kinematics.
Definition: SPIAccelerometerSim.h:16
This class implements an extremely fast bulk output stream that can only output to a stream.
Definition: raw_ostream.h:47