wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/drive/DifferentialDrive.html
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<h2 title="Class DifferentialDrive" class="title">Class DifferentialDrive</h2>
</div>
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<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html" title="class in edu.wpi.first.wpilibj.drive">edu.wpi.first.wpilibj.drive.RobotDriveBase</a></li>
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<ul class="inheritance">
<li>edu.wpi.first.wpilibj.drive.DifferentialDrive</li>
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<dt>All Implemented Interfaces:</dt>
<dd><a href="../../../../../edu/wpi/first/wpilibj/MotorSafety.html" title="interface in edu.wpi.first.wpilibj">MotorSafety</a></dd>
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<hr>
<br>
<pre>public class <span class="typeNameLabel">DifferentialDrive</span>
extends <a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html" title="class in edu.wpi.first.wpilibj.drive">RobotDriveBase</a></pre>
<div class="block">A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive
base, "tank drive", or West Coast Drive.
<p>These drive bases typically have drop-center / skid-steer with two or more wheels per side
(e.g., 6WD or 8WD). This class takes a SpeedController per side. For four and
six motor drivetrains, construct and pass in <code>SpeedControllerGroup</code> instances as follows.
<p>Four motor drivetrain:
<pre><code>
public class Robot {
Talon m_frontLeft = new Talon(1);
Talon m_rearLeft = new Talon(2);
SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_rearLeft);
Talon m_frontRight = new Talon(3);
Talon m_rearRight = new Talon(4);
SpeedControllerGroup m_right = new SpeedControllerGroup(m_frontRight, m_rearRight);
DifferentialDrive m_drive = new DifferentialDrive(m_left, m_right);
}
</code></pre>
<p>Six motor drivetrain:
<pre><code>
public class Robot {
Talon m_frontLeft = new Talon(1);
Talon m_midLeft = new Talon(2);
Talon m_rearLeft = new Talon(3);
SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_midLeft, m_rearLeft);
Talon m_frontRight = new Talon(4);
Talon m_midRight = new Talon(5);
Talon m_rearRight = new Talon(6);
SpeedControllerGroup m_right = new SpeedControllerGroup(m_frontRight, m_midRight, m_rearRight);
DifferentialDrive m_drive = new DifferentialDrive(m_left, m_right);
}
</code></pre>
<p>A differential drive robot has left and right wheels separated by an arbitrary width.
<p>Drive base diagram:
<pre>
|_______|
| | | |
| |
|_|___|_|
| |
</pre>
<p>Each drive() function provides different inverse kinematic relations for a differential drive
robot. Motor outputs for the right side are negated, so motor direction inversion by the user is
usually unnecessary.</div>
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<code><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.MotorType.html" title="enum in edu.wpi.first.wpilibj.drive">RobotDriveBase.MotorType</a></code></li>
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<code><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#m_deadband">m_deadband</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#m_maxOutput">m_maxOutput</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#m_safetyHelper">m_safetyHelper</a></code></li>
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<code><a href="../../../../../edu/wpi/first/wpilibj/MotorSafety.html#DEFAULT_SAFETY_EXPIRATION">DEFAULT_SAFETY_EXPIRATION</a></code></li>
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<th class="colOne" scope="col">Constructor and Description</th>
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<tr class="altColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/DifferentialDrive.html#DifferentialDrive-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-">DifferentialDrive</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">Construct a DifferentialDrive.</div>
</td>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<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/drive/DifferentialDrive.html#arcadeDrive-double-double-">arcadeDrive</a></span>(double y,
double rotation)</code>
<div class="block">Arcade drive method for differential drive platform.</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/drive/DifferentialDrive.html#arcadeDrive-double-double-boolean-">arcadeDrive</a></span>(double y,
double rotation,
boolean squaredInputs)</code>
<div class="block">Arcade drive method for differential drive platform.</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/drive/DifferentialDrive.html#curvatureDrive-double-double-boolean-">curvatureDrive</a></span>(double y,
double rotation,
boolean isQuickTurn)</code>
<div class="block">Curvature drive method for differential drive platform.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/DifferentialDrive.html#getDescription--">getDescription</a></span>()</code> </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/drive/DifferentialDrive.html#stopMotor--">stopMotor</a></span>()</code> </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/drive/DifferentialDrive.html#tankDrive-double-double-">tankDrive</a></span>(double left,
double right)</code>
<div class="block">Tank drive method for differential drive platform.</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/drive/DifferentialDrive.html#tankDrive-double-double-boolean-">tankDrive</a></span>(double left,
double right,
boolean squaredInputs)</code>
<div class="block">Tank drive method for differential drive platform.</div>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.drive.<a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html" title="class in edu.wpi.first.wpilibj.drive">RobotDriveBase</a></h3>
<code><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#applyDeadband-double-double-">applyDeadband</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#getExpiration--">getExpiration</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#isAlive--">isAlive</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#isSafetyEnabled--">isSafetyEnabled</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#limit-double-">limit</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#normalize-double:A-">normalize</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#setDeadband-double-">setDeadband</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#setExpiration-double-">setExpiration</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#setMaxOutput-double-">setMaxOutput</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#setSafetyEnabled-boolean-">setSafetyEnabled</a></code></li>
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<h3>Constructor Detail</h3>
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<h4>DifferentialDrive</h4>
<pre>public DifferentialDrive(<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">Construct a DifferentialDrive.
<p>To pass multiple motors per side, use a <code>SpeedControllerGroup</code>. If a motor needs to be
inverted, do so before passing it in.</div>
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<h4>arcadeDrive</h4>
<pre>public void arcadeDrive(double y,
double rotation)</pre>
<div class="block">Arcade drive method for differential drive platform.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>y</code> - The value to use for forwards/backwards. [-1.0..1.0]</dd>
<dd><code>rotation</code> - The value to use for the rotation right/left. [-1.0..1.0]</dd>
</dl>
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<h4>arcadeDrive</h4>
<pre>public void arcadeDrive(double y,
double rotation,
boolean squaredInputs)</pre>
<div class="block">Arcade drive method for differential drive platform.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>y</code> - The value to use for forwards/backwards. [-1.0..1.0]</dd>
<dd><code>rotation</code> - The value to use for the rotation right/left [-1.0..1.0]</dd>
<dd><code>squaredInputs</code> - If set, decreases the input sensitivity at low speeds.</dd>
</dl>
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<h4>curvatureDrive</h4>
<pre>public void curvatureDrive(double y,
double rotation,
boolean isQuickTurn)</pre>
<div class="block">Curvature drive method for differential drive platform.
<p>The rotation argument controls the curvature of the robot's path rather than its rate of
heading change. This makes the robot more controllable at high speeds. Also handles the
robot's quick turn functionality - "quick turn" overrides constant-curvature turning for
turn-in-place maneuvers.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>y</code> - The value to use for forwards/backwards. [-1.0..1.0]</dd>
<dd><code>rotation</code> - The value to use for the rotation right/left. [-1.0..1.0]</dd>
<dd><code>isQuickTurn</code> - If set, overrides constant-curvature turning for
turn-in-place maneuvers.</dd>
</dl>
</li>
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<h4>tankDrive</h4>
<pre>public void tankDrive(double left,
double right)</pre>
<div class="block">Tank drive method for differential drive platform.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>left</code> - The value to use for left side motors. [-1.0..1.0]</dd>
<dd><code>right</code> - The value to use for right side motors. [-1.0..1.0]</dd>
</dl>
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<h4>tankDrive</h4>
<pre>public void tankDrive(double left,
double right,
boolean squaredInputs)</pre>
<div class="block">Tank drive method for differential drive platform.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>left</code> - The value to use for left side motors. [-1.0..1.0]</dd>
<dd><code>right</code> - The value to use for right side motors. [-1.0..1.0]</dd>
<dd><code>squaredInputs</code> - If set, decreases the input sensitivity at low speeds.</dd>
</dl>
</li>
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<h4>stopMotor</h4>
<pre>public void stopMotor()</pre>
<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>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#stopMotor--">stopMotor</a></code> in class <code><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html" title="class in edu.wpi.first.wpilibj.drive">RobotDriveBase</a></code></dd>
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<h4>getDescription</h4>
<pre>public java.lang.String getDescription()</pre>
<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>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#getDescription--">getDescription</a></code> in class <code><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html" title="class in edu.wpi.first.wpilibj.drive">RobotDriveBase</a></code></dd>
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<li><a href="#constructor.summary">Constr</a> | </li>
<li><a href="#method.summary">Method</a></li>
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<li>Detail: </li>
<li>Field | </li>
<li><a href="#constructor.detail">Constr</a> | </li>
<li><a href="#method.detail">Method</a></li>
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