Package edu.wpi.first.wpilibj.drive

Class RobotDriveBase

java.lang.Object

edu.wpi.first.wpilibj.MotorSafety

edu.wpi.first.wpilibj.drive.RobotDriveBase

All Implemented Interfaces:

Sendable, AutoCloseable

Direct Known Subclasses:

DifferentialDrive, KilloughDrive, MecanumDrive

public abstract class RobotDriveBase
extends MotorSafety
implements Sendable, AutoCloseable

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 void	addChild(Object child)	Add a child component.
protected double	applyDeadband(double value, double deadband)	Returns 0.0 if the given value is within the specified range around zero.
void	close()
void	feedWatchdog()	Feed the motor safety object.
abstract String	getDescription()
String	getName()	Gets the name of this Sendable object.
String	getSubsystem()	Gets the subsystem name of this Sendable object.
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)	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.
void	setName(String name)	Sets the name of this Sendable object.
protected void	setName(String moduleType, int channel)	Sets the name of the sensor with a channel number.
protected void	setName(String moduleType, int moduleNumber, int channel)	Sets the name of the sensor with a module and channel number.
void	setSubsystem(String subsystem)	Sets the subsystem name of this Sendable object.
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

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

Constructor Detail

RobotDriveBase

public RobotDriveBase()

RobotDriveBase constructor.

Method Detail

close

public void close()

Specified by:

close in interface AutoCloseable

getName

public final String getName()

Description copied from interface: Sendable

Gets the name of this Sendable object.

Specified by:

getName in interface Sendable

Returns:

Name

setName

public final void setName(String name)

Description copied from interface: Sendable

Sets the name of this Sendable object.

Specified by:

setName in interface Sendable

Parameters:

name - name

setName

protected final void setName(String moduleType,
                             int channel)

Sets the name of the sensor with a channel number.

Parameters:

moduleType - A string that defines the module name in the label for the value

channel - The channel number the device is plugged into

setName

protected final void setName(String moduleType,
                             int moduleNumber,
                             int channel)

Sets the name of the sensor with a module and channel number.

Parameters:

moduleType - A string that defines the module name in the label for the value

moduleNumber - The number of the particular module type

channel - The channel number the device is plugged into (usually PWM)

getSubsystem

public final String getSubsystem()

Description copied from interface: Sendable

Gets the subsystem name of this Sendable object.

Specified by:

getSubsystem in interface Sendable

Returns:

Subsystem name

setSubsystem

public final void setSubsystem(String subsystem)

Description copied from interface: Sendable

Sets the subsystem name of this Sendable object.

Specified by:

setSubsystem in interface Sendable

Parameters:

subsystem - subsystem name

addChild

protected final void addChild(Object child)

Add a child component.

Parameters:

child - child component

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.

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

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.