Package edu.wpi.first.wpilibj.drive
Class RobotDriveBase
- java.lang.Object
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- edu.wpi.first.wpilibj.MotorSafety
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- edu.wpi.first.wpilibj.drive.RobotDriveBase
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- Direct Known Subclasses:
DifferentialDrive,KilloughDrive,MecanumDrive
public abstract class RobotDriveBase extends MotorSafety
Common base class for drive platforms.
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Nested Class Summary
Nested Classes Modifier and Type Class Description static classRobotDriveBase.MotorTypeThe location of a motor on the robot for the purpose of driving.
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Field Summary
Fields Modifier and Type Field Description static doublekDefaultDeadbandstatic doublekDefaultMaxOutputprotected doublem_deadbandprotected doublem_maxOutput
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Constructor Summary
Constructors Constructor Description RobotDriveBase()RobotDriveBase constructor.
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Method Summary
All Methods Instance Methods Abstract Methods Concrete Methods Modifier and Type Method Description protected doubleapplyDeadband(double value, double deadband)Returns 0.0 if the given value is within the specified range around zero.voidfeedWatchdog()Feed the motor safety object.abstract StringgetDescription()protected voidnormalize(double[] wheelSpeeds)Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.voidsetDeadband(double deadband)Sets the deadband applied to the drive inputs (e.g., joystick values).voidsetMaxOutput(double maxOutput)Configure the scaling factor for using drive methods with motor controllers in a mode other than PercentVbus or to limit the maximum output.abstract voidstopMotor()-
Methods inherited from class edu.wpi.first.wpilibj.MotorSafety
check, checkMotors, feed, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled
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Field Detail
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kDefaultDeadband
public static final double kDefaultDeadband
- See Also:
- Constant Field Values
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kDefaultMaxOutput
public static final double kDefaultMaxOutput
- See Also:
- Constant Field Values
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m_deadband
protected double m_deadband
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m_maxOutput
protected double m_maxOutput
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Method Detail
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setDeadband
public void setDeadband(double deadband)
Sets the deadband applied to the drive inputs (e.g., joystick values).The default value is 0.02. Inputs smaller than the deadband are set to 0.0 while inputs larger than the deadband are scaled from 0.0 to 1.0. See
applyDeadband(double, double).- Parameters:
deadband- The deadband to set.
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setMaxOutput
public void setMaxOutput(double maxOutput)
Configure the scaling factor for using drive methods with motor controllers in a mode other than PercentVbus or to limit the maximum output.The default value is 1.0.
- Parameters:
maxOutput- Multiplied with the output percentage computed by the drive functions.
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feedWatchdog
public void feedWatchdog()
Feed the motor safety object. Resets the timer that will stop the motors if it completes.- See Also:
MotorSafety.feed()
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stopMotor
public abstract void stopMotor()
- Specified by:
stopMotorin classMotorSafety
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getDescription
public abstract String getDescription()
- Specified by:
getDescriptionin classMotorSafety
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applyDeadband
protected double applyDeadband(double value, double deadband)Returns 0.0 if the given value is within the specified range around zero. The remaining range between the deadband and 1.0 is scaled from 0.0 to 1.0.- Parameters:
value- value to clipdeadband- range around zero
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normalize
protected void normalize(double[] wheelSpeeds)
Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
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