Class RobotDriveBase

    • Constructor Detail

    • Method Detail

      • 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()
      • 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.