wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/RobotDrive.html
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<div class="subTitle">edu.wpi.first.wpilibj</div>
<h2 title="Class RobotDrive" class="title">Class RobotDrive</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li>edu.wpi.first.wpilibj.RobotDrive</li>
</ul>
</li>
</ul>
<div class="description">
<ul class="blockList">
<li class="blockList">
<dl>
<dt>All Implemented Interfaces:</dt>
<dd><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></dd>
</dl>
<hr>
<div class="block"><span class="deprecatedLabel">Deprecated.</span>
<div class="block"><span class="deprecationComment">Use DifferentialDrive or MecanumDrive classes instead.</span></div>
</div>
<br>
<pre>@Deprecated
public class <span class="typeNameLabel">RobotDrive</span>
extends java.lang.Object
implements <a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></pre>
<div class="block">Utility class for handling Robot drive based on a definition of the motor configuration. The
robot drive class handles basic driving for a robot. Currently, 2 and 4 motor tank and mecanum
drive trains are supported. In the future other drive types like swerve might be implemented.
Motor channel numbers are supplied on creation of the class. Those are used for either the drive
function (intended for hand created drive code, such as autonomous) or with the Tank/Arcade
functions intended to be used for Operator Control driving.</div>
</li>
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<h3>Nested Class Summary</h3>
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<caption><span>Nested Classes</span><span class="tabEnd"> </span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Class and Description</th>
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<tr class="altColor">
<td class="colFirst"><code>static class </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.MotorType.html" title="enum in edu.wpi.first.wpilibj">RobotDrive.MotorType</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">The location of a motor on the robot for the purpose of driving.</div>
</td>
</tr>
</table>
</li>
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<h3>Field Summary</h3>
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Field and Description</th>
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<tr class="altColor">
<td class="colFirst"><code>protected static boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#kArcadeRatioCurve_Reported">kArcadeRatioCurve_Reported</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>protected static boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#kArcadeStandard_Reported">kArcadeStandard_Reported</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>static double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#kDefaultExpirationTime">kDefaultExpirationTime</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>static double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#kDefaultMaxOutput">kDefaultMaxOutput</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>static double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#kDefaultSensitivity">kDefaultSensitivity</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>protected static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#kMaxNumberOfMotors">kMaxNumberOfMotors</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>protected static boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#kMecanumCartesian_Reported">kMecanumCartesian_Reported</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>protected static boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#kMecanumPolar_Reported">kMecanumPolar_Reported</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>protected static boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#kTank_Reported">kTank_Reported</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>protected boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#m_allocatedSpeedControllers">m_allocatedSpeedControllers</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>protected <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#m_frontLeftMotor">m_frontLeftMotor</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>protected <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#m_frontRightMotor">m_frontRightMotor</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>protected double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#m_maxOutput">m_maxOutput</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>protected <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#m_rearLeftMotor">m_rearLeftMotor</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>protected <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#m_rearRightMotor">m_rearRightMotor</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>protected <a href="../../../../edu/wpi/first/wpilibj/MotorSafetyHelper.html" title="class in edu.wpi.first.wpilibj">MotorSafetyHelper</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#m_safetyHelper">m_safetyHelper</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>protected double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#m_sensitivity">m_sensitivity</a></span></code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
</table>
<ul class="blockList">
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<h3>Fields inherited from interface edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#DEFAULT_SAFETY_EXPIRATION">DEFAULT_SAFETY_EXPIRATION</a></code></li>
</ul>
</li>
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<h3>Constructor Summary</h3>
<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Constructor Summary table, listing constructors, and an explanation">
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
<tr>
<th class="colOne" scope="col">Constructor and Description</th>
</tr>
<tr class="altColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#RobotDrive-int-int-">RobotDrive</a></span>(int leftMotorChannel,
int rightMotorChannel)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Constructor for RobotDrive with 2 motors specified with channel numbers.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#RobotDrive-int-int-int-int-">RobotDrive</a></span>(int frontLeftMotor,
int rearLeftMotor,
int frontRightMotor,
int rearRightMotor)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Constructor for RobotDrive with 4 motors specified with channel numbers.</div>
</td>
</tr>
<tr class="altColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#RobotDrive-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-">RobotDrive</a></span>(<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> leftMotor,
<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> rightMotor)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Constructor for RobotDrive with 2 motors specified as SpeedController objects.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#RobotDrive-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-">RobotDrive</a></span>(<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> frontLeftMotor,
<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> rearLeftMotor,
<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> frontRightMotor,
<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> rearRightMotor)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Constructor for RobotDrive with 4 motors specified as SpeedController objects.</div>
</td>
</tr>
</table>
</li>
</ul>
<!-- ========== METHOD SUMMARY =========== -->
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<h3>Method Summary</h3>
<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Method Summary table, listing methods, and an explanation">
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span><span id="t6" class="tableTab"><span><a href="javascript:show(32);">Deprecated Methods</a></span><span class="tabEnd"> </span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Method and Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#arcadeDrive-double-double-">arcadeDrive</a></span>(double moveValue,
double rotateValue)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Arcade drive implements single stick driving.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#arcadeDrive-double-double-boolean-">arcadeDrive</a></span>(double moveValue,
double rotateValue,
boolean squaredInputs)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Arcade drive implements single stick driving.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#arcadeDrive-edu.wpi.first.wpilibj.GenericHID-">arcadeDrive</a></span>(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> stick)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Arcade drive implements single stick driving.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#arcadeDrive-edu.wpi.first.wpilibj.GenericHID-boolean-">arcadeDrive</a></span>(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> stick,
boolean squaredInputs)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Arcade drive implements single stick driving.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#arcadeDrive-edu.wpi.first.wpilibj.GenericHID-int-edu.wpi.first.wpilibj.GenericHID-int-">arcadeDrive</a></span>(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> moveStick,
int moveAxis,
<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> rotateStick,
int rotateAxis)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Arcade drive implements single stick driving.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#arcadeDrive-edu.wpi.first.wpilibj.GenericHID-int-edu.wpi.first.wpilibj.GenericHID-int-boolean-">arcadeDrive</a></span>(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> moveStick,
int moveAxis,
<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> rotateStick,
int rotateAxis,
boolean squaredInputs)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Arcade drive implements single stick driving.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#drive-double-double-">drive</a></span>(double outputMagnitude,
double curve)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Drive the motors at "outputMagnitude" and "curve".</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#free--">free</a></span>()</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Free the speed controllers if they were allocated locally.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#getDescription--">getDescription</a></span>()</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#getExpiration--">getExpiration</a></span>()</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>protected int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#getNumMotors--">getNumMotors</a></span>()</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#isAlive--">isAlive</a></span>()</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr id="i12" class="altColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#isSafetyEnabled--">isSafetyEnabled</a></span>()</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr id="i13" class="rowColor">
<td class="colFirst"><code>protected static double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#limit-double-">limit</a></span>(double number)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Limit motor values to the -1.0 to +1.0 range.</div>
</td>
</tr>
<tr id="i14" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#mecanumDrive_Cartesian-double-double-double-double-">mecanumDrive_Cartesian</a></span>(double x,
double y,
double rotation,
double gyroAngle)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Drive method for Mecanum wheeled robots.</div>
</td>
</tr>
<tr id="i15" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#mecanumDrive_Polar-double-double-double-">mecanumDrive_Polar</a></span>(double magnitude,
double direction,
double rotation)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Drive method for Mecanum wheeled robots.</div>
</td>
</tr>
<tr id="i16" class="altColor">
<td class="colFirst"><code>protected static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#normalize-double:A-">normalize</a></span>(double[] wheelSpeeds)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.</div>
</td>
</tr>
<tr id="i17" class="rowColor">
<td class="colFirst"><code>protected static double[]</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#rotateVector-double-double-double-">rotateVector</a></span>(double x,
double y,
double angle)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Rotate a vector in Cartesian space.</div>
</td>
</tr>
<tr id="i18" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#setExpiration-double-">setExpiration</a></span>(double timeout)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr id="i19" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#setInvertedMotor-edu.wpi.first.wpilibj.RobotDrive.MotorType-boolean-">setInvertedMotor</a></span>(<a href="../../../../edu/wpi/first/wpilibj/RobotDrive.MotorType.html" title="enum in edu.wpi.first.wpilibj">RobotDrive.MotorType</a> motor,
boolean isInverted)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Invert a motor direction.</div>
</td>
</tr>
<tr id="i20" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#setLeftRightMotorOutputs-double-double-">setLeftRightMotorOutputs</a></span>(double leftOutput,
double rightOutput)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Set the speed of the right and left motors.</div>
</td>
</tr>
<tr id="i21" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#setMaxOutput-double-">setMaxOutput</a></span>(double maxOutput)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Configure the scaling factor for using RobotDrive with motor controllers in a mode other than
PercentVbus.</div>
</td>
</tr>
<tr id="i22" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#setSafetyEnabled-boolean-">setSafetyEnabled</a></span>(boolean enabled)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr id="i23" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#setSensitivity-double-">setSensitivity</a></span>(double sensitivity)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Set the turning sensitivity.</div>
</td>
</tr>
<tr id="i24" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#stopMotor--">stopMotor</a></span>()</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
</td>
</tr>
<tr id="i25" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#tankDrive-double-double-">tankDrive</a></span>(double leftValue,
double rightValue)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Provide tank steering using the stored robot configuration.</div>
</td>
</tr>
<tr id="i26" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#tankDrive-double-double-boolean-">tankDrive</a></span>(double leftValue,
double rightValue,
boolean squaredInputs)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Provide tank steering using the stored robot configuration.</div>
</td>
</tr>
<tr id="i27" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#tankDrive-edu.wpi.first.wpilibj.GenericHID-edu.wpi.first.wpilibj.GenericHID-">tankDrive</a></span>(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> leftStick,
<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> rightStick)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Provide tank steering using the stored robot configuration.</div>
</td>
</tr>
<tr id="i28" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#tankDrive-edu.wpi.first.wpilibj.GenericHID-edu.wpi.first.wpilibj.GenericHID-boolean-">tankDrive</a></span>(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> leftStick,
<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> rightStick,
boolean squaredInputs)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Provide tank steering using the stored robot configuration.</div>
</td>
</tr>
<tr id="i29" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#tankDrive-edu.wpi.first.wpilibj.GenericHID-int-edu.wpi.first.wpilibj.GenericHID-int-">tankDrive</a></span>(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> leftStick,
int leftAxis,
<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> rightStick,
int rightAxis)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Provide tank steering using the stored robot configuration.</div>
</td>
</tr>
<tr id="i30" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/RobotDrive.html#tankDrive-edu.wpi.first.wpilibj.GenericHID-int-edu.wpi.first.wpilibj.GenericHID-int-boolean-">tankDrive</a></span>(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> leftStick,
int leftAxis,
<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> rightStick,
int rightAxis,
boolean squaredInputs)</code>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Provide tank steering using the stored robot configuration.</div>
</td>
</tr>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
</ul>
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<pre>protected <a href="../../../../edu/wpi/first/wpilibj/MotorSafetyHelper.html" title="class in edu.wpi.first.wpilibj">MotorSafetyHelper</a> m_safetyHelper</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
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<pre>public static final double kDefaultExpirationTime</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../constant-values.html#edu.wpi.first.wpilibj.RobotDrive.kDefaultExpirationTime">Constant Field Values</a></dd>
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<pre>public static final double kDefaultSensitivity</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../constant-values.html#edu.wpi.first.wpilibj.RobotDrive.kDefaultSensitivity">Constant Field Values</a></dd>
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<pre>public static final double kDefaultMaxOutput</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../constant-values.html#edu.wpi.first.wpilibj.RobotDrive.kDefaultMaxOutput">Constant Field Values</a></dd>
</dl>
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<pre>protected static final int kMaxNumberOfMotors</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../constant-values.html#edu.wpi.first.wpilibj.RobotDrive.kMaxNumberOfMotors">Constant Field Values</a></dd>
</dl>
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<pre>protected double m_sensitivity</pre>
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<pre>protected double m_maxOutput</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
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<pre>protected <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> m_frontLeftMotor</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
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<pre>protected <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> m_frontRightMotor</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
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<pre>protected <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> m_rearLeftMotor</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
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<pre>protected <a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> m_rearRightMotor</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
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<pre>protected boolean m_allocatedSpeedControllers</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
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<pre>protected static boolean kArcadeRatioCurve_Reported</pre>
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<pre>protected static boolean kTank_Reported</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
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<pre>protected static boolean kArcadeStandard_Reported</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
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<pre>protected static boolean kMecanumCartesian_Reported</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
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<pre>protected static boolean kMecanumPolar_Reported</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
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<h4>RobotDrive</h4>
<pre>public RobotDrive(int leftMotorChannel,
int rightMotorChannel)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Constructor for RobotDrive with 2 motors specified with channel numbers. Set up parameters for
a two wheel drive system where the left and right motor pwm channels are specified in the call.
This call assumes Talons for controlling the motors.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>leftMotorChannel</code> - The PWM channel number that drives the left motor.</dd>
<dd><code>rightMotorChannel</code> - The PWM channel number that drives the right motor.</dd>
</dl>
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<pre>public RobotDrive(int frontLeftMotor,
int rearLeftMotor,
int frontRightMotor,
int rearRightMotor)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Constructor for RobotDrive with 4 motors specified with channel numbers. Set up parameters for
a four wheel drive system where all four motor pwm channels are specified in the call. This
call assumes Talons for controlling the motors.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>frontLeftMotor</code> - Front left motor channel number</dd>
<dd><code>rearLeftMotor</code> - Rear Left motor channel number</dd>
<dd><code>frontRightMotor</code> - Front right motor channel number</dd>
<dd><code>rearRightMotor</code> - Rear Right motor channel number</dd>
</dl>
</li>
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<pre>public RobotDrive(<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> leftMotor,
<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> rightMotor)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Constructor for RobotDrive with 2 motors specified as SpeedController objects. The
SpeedController version of the constructor enables programs to use the RobotDrive classes with
subclasses of the SpeedController objects, for example, versions with ramping or reshaping of
the curve to suit motor bias or dead-band elimination.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>leftMotor</code> - The left SpeedController object used to drive the robot.</dd>
<dd><code>rightMotor</code> - the right SpeedController object used to drive the robot.</dd>
</dl>
</li>
</ul>
<a name="RobotDrive-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-">
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<h4>RobotDrive</h4>
<pre>public RobotDrive(<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> frontLeftMotor,
<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> rearLeftMotor,
<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> frontRightMotor,
<a href="../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> rearRightMotor)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Constructor for RobotDrive with 4 motors specified as SpeedController objects. Speed controller
input version of RobotDrive (see previous comments).</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>frontLeftMotor</code> - The front left SpeedController object used to drive the robot</dd>
<dd><code>rearLeftMotor</code> - The back left SpeedController object used to drive the robot.</dd>
<dd><code>frontRightMotor</code> - The front right SpeedController object used to drive the robot.</dd>
<dd><code>rearRightMotor</code> - The back right SpeedController object used to drive the robot.</dd>
</dl>
</li>
</ul>
</li>
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<h4>drive</h4>
<pre>public void drive(double outputMagnitude,
double curve)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Drive the motors at "outputMagnitude" and "curve". Both outputMagnitude and curve are -1.0 to
+1.0 values, where 0.0 represents stopped and not turning. curve < 0 will turn left
and curve > 0 will turn right.
<p>The algorithm for steering provides a constant turn radius for any normal speed range, both
forward and backward. Increasing sensitivity causes sharper turns for fixed values of curve.
<p>This function will most likely be used in an autonomous routine.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>outputMagnitude</code> - The speed setting for the outside wheel in a turn, forward or backwards,
+1 to -1.</dd>
<dd><code>curve</code> - The rate of turn, constant for different forward speeds. Set curve < 0 for left turn or curve > 0 for right turn. Set curve =
e^(-r/w) to get a turn radius r for wheelbase w of your robot.
Conversely, turn radius r = -ln(curve)*w for a given value of curve and
wheelbase w.</dd>
</dl>
</li>
</ul>
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<h4>tankDrive</h4>
<pre>public void tankDrive(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> leftStick,
<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> rightStick)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Provide tank steering using the stored robot configuration. drive the robot using two joystick
inputs. The Y-axis will be selected from each Joystick object.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>leftStick</code> - The joystick to control the left side of the robot.</dd>
<dd><code>rightStick</code> - The joystick to control the right side of the robot.</dd>
</dl>
</li>
</ul>
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<pre>public void tankDrive(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> leftStick,
<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> rightStick,
boolean squaredInputs)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Provide tank steering using the stored robot configuration. drive the robot using two joystick
inputs. The Y-axis will be selected from each Joystick object.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>leftStick</code> - The joystick to control the left side of the robot.</dd>
<dd><code>rightStick</code> - The joystick to control the right side of the robot.</dd>
<dd><code>squaredInputs</code> - Setting this parameter to true decreases the sensitivity at lower speeds</dd>
</dl>
</li>
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<pre>public void tankDrive(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> leftStick,
int leftAxis,
<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> rightStick,
int rightAxis)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Provide tank steering using the stored robot configuration. This function lets you pick the
axis to be used on each Joystick object for the left and right sides of the robot.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>leftStick</code> - The Joystick object to use for the left side of the robot.</dd>
<dd><code>leftAxis</code> - The axis to select on the left side Joystick object.</dd>
<dd><code>rightStick</code> - The Joystick object to use for the right side of the robot.</dd>
<dd><code>rightAxis</code> - The axis to select on the right side Joystick object.</dd>
</dl>
</li>
</ul>
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<pre>public void tankDrive(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> leftStick,
int leftAxis,
<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> rightStick,
int rightAxis,
boolean squaredInputs)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Provide tank steering using the stored robot configuration. This function lets you pick the
axis to be used on each Joystick object for the left and right sides of the robot.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>leftStick</code> - The Joystick object to use for the left side of the robot.</dd>
<dd><code>leftAxis</code> - The axis to select on the left side Joystick object.</dd>
<dd><code>rightStick</code> - The Joystick object to use for the right side of the robot.</dd>
<dd><code>rightAxis</code> - The axis to select on the right side Joystick object.</dd>
<dd><code>squaredInputs</code> - Setting this parameter to true decreases the sensitivity at lower speeds</dd>
</dl>
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<pre>public void tankDrive(double leftValue,
double rightValue,
boolean squaredInputs)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Provide tank steering using the stored robot configuration. This function lets you directly
provide joystick values from any source.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>leftValue</code> - The value of the left stick.</dd>
<dd><code>rightValue</code> - The value of the right stick.</dd>
<dd><code>squaredInputs</code> - Setting this parameter to true decreases the sensitivity at lower speeds</dd>
</dl>
</li>
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<pre>public void tankDrive(double leftValue,
double rightValue)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Provide tank steering using the stored robot configuration. This function lets you directly
provide joystick values from any source.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>leftValue</code> - The value of the left stick.</dd>
<dd><code>rightValue</code> - The value of the right stick.</dd>
</dl>
</li>
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<pre>public void arcadeDrive(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> stick,
boolean squaredInputs)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Arcade drive implements single stick driving. Given a single Joystick, the class assumes the Y
axis for the move value and the X axis for the rotate value. (Should add more information here
regarding the way that arcade drive works.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>stick</code> - The joystick to use for Arcade single-stick driving. The Y-axis will be
selected for forwards/backwards and the X-axis will be selected for
rotation rate.</dd>
<dd><code>squaredInputs</code> - If true, the sensitivity will be decreased for small values</dd>
</dl>
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<pre>public void arcadeDrive(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> stick)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Arcade drive implements single stick driving. Given a single Joystick, the class assumes the Y
axis for the move value and the X axis for the rotate value. (Should add more information here
regarding the way that arcade drive works.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>stick</code> - The joystick to use for Arcade single-stick driving. The Y-axis will be selected
for forwards/backwards and the X-axis will be selected for rotation rate.</dd>
</dl>
</li>
</ul>
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<pre>public void arcadeDrive(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> moveStick,
int moveAxis,
<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> rotateStick,
int rotateAxis,
boolean squaredInputs)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Arcade drive implements single stick driving. Given two joystick instances and two axis,
compute the values to send to either two or four motors.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>moveStick</code> - The Joystick object that represents the forward/backward direction</dd>
<dd><code>moveAxis</code> - The axis on the moveStick object to use for forwards/backwards (typically
Y_AXIS)</dd>
<dd><code>rotateStick</code> - The Joystick object that represents the rotation value</dd>
<dd><code>rotateAxis</code> - The axis on the rotation object to use for the rotate right/left
(typically X_AXIS)</dd>
<dd><code>squaredInputs</code> - Setting this parameter to true decreases the sensitivity at lower speeds</dd>
</dl>
</li>
</ul>
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<pre>public void arcadeDrive(<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> moveStick,
int moveAxis,
<a href="../../../../edu/wpi/first/wpilibj/GenericHID.html" title="class in edu.wpi.first.wpilibj">GenericHID</a> rotateStick,
int rotateAxis)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Arcade drive implements single stick driving. Given two joystick instances and two axis,
compute the values to send to either two or four motors.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>moveStick</code> - The Joystick object that represents the forward/backward direction</dd>
<dd><code>moveAxis</code> - The axis on the moveStick object to use for forwards/backwards (typically
Y_AXIS)</dd>
<dd><code>rotateStick</code> - The Joystick object that represents the rotation value</dd>
<dd><code>rotateAxis</code> - The axis on the rotation object to use for the rotate right/left (typically
X_AXIS)</dd>
</dl>
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<pre>public void arcadeDrive(double moveValue,
double rotateValue,
boolean squaredInputs)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Arcade drive implements single stick driving. This function lets you directly provide
joystick values from any source.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>moveValue</code> - The value to use for forwards/backwards</dd>
<dd><code>rotateValue</code> - The value to use for the rotate right/left</dd>
<dd><code>squaredInputs</code> - If set, decreases the sensitivity at low speeds</dd>
</dl>
</li>
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<pre>public void arcadeDrive(double moveValue,
double rotateValue)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Arcade drive implements single stick driving. This function lets you directly provide
joystick values from any source.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>moveValue</code> - The value to use for forwards/backwards</dd>
<dd><code>rotateValue</code> - The value to use for the rotate right/left</dd>
</dl>
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<pre>public void mecanumDrive_Cartesian(double x,
double y,
double rotation,
double gyroAngle)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Drive method for Mecanum wheeled robots.
<p>A method for driving with Mecanum wheeled robots. There are 4 wheels on the robot, arranged
so that the front and back wheels are toed in 45 degrees. When looking at the wheels from the
top, the roller axles should form an X across the robot.
<p>This is designed to be directly driven by joystick axes.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>x</code> - The speed that the robot should drive in the X direction. [-1.0..1.0]</dd>
<dd><code>y</code> - The speed that the robot should drive in the Y direction. This input is
inverted to match the forward == -1.0 that joysticks produce. [-1.0..1.0]</dd>
<dd><code>rotation</code> - The rate of rotation for the robot that is completely independent of the
translation. [-1.0..1.0]</dd>
<dd><code>gyroAngle</code> - The current angle reading from the gyro. Use this to implement field-oriented
controls.</dd>
</dl>
</li>
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<pre>public void mecanumDrive_Polar(double magnitude,
double direction,
double rotation)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Drive method for Mecanum wheeled robots.
<p>A method for driving with Mecanum wheeled robots. There are 4 wheels on the robot, arranged
so that the front and back wheels are toed in 45 degrees. When looking at the wheels from the
top, the roller axles should form an X across the robot.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>magnitude</code> - The speed that the robot should drive in a given direction.</dd>
<dd><code>direction</code> - The direction the robot should drive in degrees. The direction and magnitude
are independent of the rotation rate.</dd>
<dd><code>rotation</code> - The rate of rotation for the robot that is completely independent of the
magnitude or direction. [-1.0..1.0]</dd>
</dl>
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<h4>setLeftRightMotorOutputs</h4>
<pre>public void setLeftRightMotorOutputs(double leftOutput,
double rightOutput)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Set the speed of the right and left motors. This is used once an appropriate drive setup
function is called such as twoWheelDrive(). The motors are set to "leftSpeed" and
"rightSpeed" and includes flipping the direction of one side for opposing motors.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>leftOutput</code> - The speed to send to the left side of the robot.</dd>
<dd><code>rightOutput</code> - The speed to send to the right side of the robot.</dd>
</dl>
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<pre>protected static double limit(double number)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Limit motor values to the -1.0 to +1.0 range.</div>
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<pre>protected static void normalize(double[] wheelSpeeds)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.</div>
</li>
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<pre>protected static double[] rotateVector(double x,
double y,
double angle)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Rotate a vector in Cartesian space.</div>
</li>
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<pre>public void setInvertedMotor(<a href="../../../../edu/wpi/first/wpilibj/RobotDrive.MotorType.html" title="enum in edu.wpi.first.wpilibj">RobotDrive.MotorType</a> motor,
boolean isInverted)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Invert a motor direction. This is used when a motor should run in the opposite direction as the
drive code would normally run it. Motors that are direct drive would be inverted, the drive
code assumes that the motors are geared with one reversal.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>motor</code> - The motor index to invert.</dd>
<dd><code>isInverted</code> - True if the motor should be inverted when operated.</dd>
</dl>
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<h4>setSensitivity</h4>
<pre>public void setSensitivity(double sensitivity)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Set the turning sensitivity.
<p>This only impacts the drive() entry-point.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>sensitivity</code> - Effectively sets the turning sensitivity (or turn radius for a given value)</dd>
</dl>
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<pre>public void setMaxOutput(double maxOutput)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Configure the scaling factor for using RobotDrive with motor controllers in a mode other than
PercentVbus.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>maxOutput</code> - Multiplied with the output percentage computed by the drive functions.</dd>
</dl>
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<h4>free</h4>
<pre>public void free()</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<div class="block">Free the speed controllers if they were allocated locally.</div>
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<pre>public void setExpiration(double timeout)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#setExpiration-double-">setExpiration</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></code></dd>
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<pre>public double getExpiration()</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#getExpiration--">getExpiration</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></code></dd>
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<pre>public boolean isAlive()</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#isAlive--">isAlive</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></code></dd>
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<pre>public boolean isSafetyEnabled()</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#isSafetyEnabled--">isSafetyEnabled</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></code></dd>
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<pre>public void setSafetyEnabled(boolean enabled)</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#setSafetyEnabled-boolean-">setSafetyEnabled</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></code></dd>
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<h4>getDescription</h4>
<pre>public java.lang.String getDescription()</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#getDescription--">getDescription</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></code></dd>
</dl>
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<pre>public void stopMotor()</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html#stopMotor--">stopMotor</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></code></dd>
</dl>
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<pre>protected int getNumMotors()</pre>
<div class="block"><span class="deprecatedLabel">Deprecated.</span> </div>
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