Class RobotDriveBase

java.lang.Object

org.wpilib.hardware.motor.MotorSafety

org.wpilib.drive.RobotDriveBase

Direct Known Subclasses:

DifferentialDrive, MecanumDrive

public abstract class RobotDriveBase
extends MotorSafety

Common base class for drive platforms.

MotorSafety is enabled by default.

Nested Class Summary

Nested Classes

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

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_DEADBAND	Default input deadband.
static final double	DEFAULT_MAX_OUTPUT	Default maximum output.
protected double	m_deadband	Input deadband.
protected double	m_maxOutput	Maximum output.

Constructor Summary

Constructors

Constructor	Description
RobotDriveBase()	RobotDriveBase constructor.

Method Summary

Modifier and Type	Method	Description
void	feedWatchdog()	Feed the motor safety object.
abstract String	getDescription()	Returns a description to print when an error occurs.
protected static void	normalize(double[] wheelVelocities)	Normalize all wheel velocities 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()	Called to stop the motor when the timeout expires.

Methods inherited from class MotorSafety

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

Methods inherited from class Object

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

Field Details

DEFAULT_DEADBAND

public static final double DEFAULT_DEADBAND

Default input deadband.

See Also:

• Constant Field Values

DEFAULT_MAX_OUTPUT

public static final double DEFAULT_MAX_OUTPUT

Default maximum output.

See Also:

• Constant Field Values

m_deadband

protected double m_deadband

Input deadband.

m_maxOutput

protected double m_maxOutput

Maximum output.

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, 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()

Description copied from class: MotorSafety

Called to stop the motor when the timeout expires.

Specified by:

stopMotor in class MotorSafety

getDescription

public abstract String getDescription()

Description copied from class: MotorSafety

Returns a description to print when an error occurs.

Specified by:

getDescription in class MotorSafety

Returns:

Description to print when an error occurs.

normalize

protected static void normalize(double[] wheelVelocities)

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

Parameters:

wheelVelocities - List of wheel velocities to normalize.