edu.wpi.first.wpilibj.drive

Class RobotDriveBase

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.drive.RobotDriveBase

All Implemented Interfaces:

MotorSafety, Sendable

Direct Known Subclasses:

DifferentialDrive, KilloughDrive, MecanumDrive

public abstract class RobotDriveBase
extends SendableBase
implements MotorSafety

Common base class for drive platforms.

Nested Class Summary

Nested Classes

Modifier and Type	Class and 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 and Description
static double	kDefaultDeadband
static double	kDefaultMaxOutput
protected double	m_deadband
protected double	m_maxOutput
protected MotorSafetyHelper	m_safetyHelper

Fields inherited from interface edu.wpi.first.wpilibj.MotorSafety

DEFAULT_SAFETY_EXPIRATION

Constructor Summary

Constructors

Constructor and Description
RobotDriveBase()

Method Summary

Modifier and Type	Method and Description
protected double	applyDeadband(double value, double deadband) Returns 0.0 if the given value is within the specified range around zero.
abstract java.lang.String	getDescription()
double	getExpiration()
boolean	isAlive()
boolean	isSafetyEnabled()
protected double	limit(double value) Limit motor values to the -1.0 to +1.0 range.
protected void	normalize(double[] wheelSpeeds) Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
void	setDeadband(double deadband) Change the default value for deadband scaling.
void	setExpiration(double timeout)
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.
void	setSafetyEnabled(boolean enabled)
abstract void	stopMotor()

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

addChild, free, getName, getSubsystem, setName, setName, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

initSendable, setName

Field Detail

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

m_safetyHelper

protected MotorSafetyHelper m_safetyHelper

Constructor Detail

RobotDriveBase

public RobotDriveBase()

Method Detail

setDeadband

public void setDeadband(double deadband)

Change the default value for deadband scaling. The default value is 0.02. Values smaller then the deadband are set to 0, while values larger then the deadband are scaled from 0.0 to 1.0. See 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.

setExpiration

public void setExpiration(double timeout)

Specified by:

setExpiration in interface MotorSafety

getExpiration

public double getExpiration()

Specified by:

getExpiration in interface MotorSafety

isAlive

public boolean isAlive()

Specified by:

isAlive in interface MotorSafety

stopMotor

public abstract void stopMotor()

Specified by:

stopMotor in interface MotorSafety

isSafetyEnabled

public boolean isSafetyEnabled()

Specified by:

isSafetyEnabled in interface MotorSafety

setSafetyEnabled

public void setSafetyEnabled(boolean enabled)

Specified by:

setSafetyEnabled in interface MotorSafety

getDescription

public abstract java.lang.String getDescription()

Specified by:

getDescription in interface MotorSafety

limit

protected double limit(double value)

Limit motor values to the -1.0 to +1.0 range.

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 clip

deadband - range around zero

normalize

protected void normalize(double[] wheelSpeeds)

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