edu.wpi.first.wpilibj.drive

Class RobotDriveBase

java.lang.Object

edu.wpi.first.wpilibj.drive.RobotDriveBase

All Implemented Interfaces:

MotorSafety

Direct Known Subclasses:

DifferentialDrive, KilloughDrive, MecanumDrive

public abstract class RobotDriveBase
extends java.lang.Object
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
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)
void	setExpiration(double timeout)
void	setMaxOutput(double maxOutput) Configure the scaling factor for using RobotDrive with motor controllers in a mode other than PercentVbus.
void	setSafetyEnabled(boolean enabled)
abstract void	stopMotor()

Methods inherited from class java.lang.Object

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

Field Detail

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)

setMaxOutput

public void setMaxOutput(double maxOutput)

Configure the scaling factor for using RobotDrive with motor controllers in a mode other than PercentVbus.

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.