Package edu.wpi.first.wpilibj.drive

Class RobotDriveBase

java.lang.Object

edu.wpi.first.wpilibj.MotorSafety

edu.wpi.first.wpilibj.drive.RobotDriveBase

Direct Known Subclasses:

DifferentialDrive, KilloughDrive, MecanumDrive

public abstract class RobotDriveBase
extends MotorSafety

Common base class for drive platforms.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	RobotDriveBase.MotorType	The location of a motor on the robot for the purpose of driving.

Field Summary

Fields

Modifier and Type	Field	Description
static double	kDefaultDeadband
static double	kDefaultMaxOutput
protected double	m_deadband
protected double	m_maxOutput

Constructor Summary

Constructors

Constructor	Description
RobotDriveBase()	RobotDriveBase constructor.

Method Summary

Modifier and Type	Method	Description
protected static double	applyDeadband(double value, double deadband)	Deprecated, for removal: This API element is subject to removal in a future version. Use MathUtil.applyDeadband(double,double).
void	feedWatchdog()	Feed the motor safety object.
abstract String	getDescription()
protected static void	normalize(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).
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.
abstract void	stopMotor()

Methods inherited from class edu.wpi.first.wpilibj.MotorSafety

check, checkMotors, feed, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

kDefaultDeadband

public static final double kDefaultDeadband

See Also:

Constant Field Values

kDefaultMaxOutput

public static final double kDefaultMaxOutput

See Also:

Constant Field Values

m_deadband

protected double m_deadband

m_maxOutput

protected double m_maxOutput

Constructor Details

RobotDriveBase

public RobotDriveBase()

RobotDriveBase constructor.

Method Details

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 MathUtil.applyDeadband(double, double).

Parameters:

deadband - The deadband to set.

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.

feedWatchdog

public void feedWatchdog()

Feed the motor safety object. Resets the timer that will stop the motors if it completes.

See Also:

MotorSafety.feed()

stopMotor

public abstract void stopMotor()

Specified by:

stopMotor in class MotorSafety

getDescription

public abstract String getDescription()

Specified by:

getDescription in class MotorSafety

applyDeadband

@Deprecated(since="2021", forRemoval=true) protected static double applyDeadband(double value, double deadband)

Deprecated, for removal: This API element is subject to removal in a future version.

Use MathUtil.applyDeadband(double,double).

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 clip

deadband - range around zero

Returns:

The value after the deadband is applied.

normalize

protected static void normalize(double[] wheelSpeeds)

Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.

Parameters:

wheelSpeeds - List of wheel speeds to normalize.