wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/drive/KilloughDrive.html
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
<!-- NewPage -->
<html lang="en">
<head>
<!-- Generated by javadoc (1.8.0_144) on Sat Oct 28 05:22:55 EDT 2017 -->
<title>KilloughDrive (Documentation - Release API)</title>
<meta name="date" content="2017-10-28">
<link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
<script type="text/javascript" src="../../../../../script.js"></script>
</head>
<body>
<script type="text/javascript"><!--
try {
if (location.href.indexOf('is-external=true') == -1) {
parent.document.title="KilloughDrive (Documentation - Release API)";
}
}
catch(err) {
}
//-->
var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10};
var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
var altColor = "altColor";
var rowColor = "rowColor";
var tableTab = "tableTab";
var activeTableTab = "activeTableTab";
</script>
<noscript>
<div>JavaScript is disabled on your browser.</div>
</noscript>
<!-- ========= START OF TOP NAVBAR ======= -->
<div class="topNav"><a name="navbar.top">
<!-- -->
</a>
<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
<a name="navbar.top.firstrow">
<!-- -->
</a>
<ul class="navList" title="Navigation">
<li><a href="../../../../../overview-summary.html">Overview</a></li>
<li><a href="package-summary.html">Package</a></li>
<li class="navBarCell1Rev">Class</li>
<li><a href="package-tree.html">Tree</a></li>
<li><a href="../../../../../deprecated-list.html">Deprecated</a></li>
<li><a href="../../../../../index-all.html">Index</a></li>
<li><a href="../../../../../help-doc.html">Help</a></li>
</ul>
</div>
<div class="subNav">
<ul class="navList">
<li><a href="../../../../../edu/wpi/first/wpilibj/drive/DifferentialDrive.html" title="class in edu.wpi.first.wpilibj.drive"><span class="typeNameLink">Prev Class</span></a></li>
<li><a href="../../../../../edu/wpi/first/wpilibj/drive/MecanumDrive.html" title="class in edu.wpi.first.wpilibj.drive"><span class="typeNameLink">Next Class</span></a></li>
</ul>
<ul class="navList">
<li><a href="../../../../../index.html?edu/wpi/first/wpilibj/drive/KilloughDrive.html" target="_top">Frames</a></li>
<li><a href="KilloughDrive.html" target="_top">No Frames</a></li>
</ul>
<ul class="navList" id="allclasses_navbar_top">
<li><a href="../../../../../allclasses-noframe.html">All Classes</a></li>
</ul>
<div>
<script type="text/javascript"><!--
allClassesLink = document.getElementById("allclasses_navbar_top");
if(window==top) {
allClassesLink.style.display = "block";
}
else {
allClassesLink.style.display = "none";
}
//-->
</script>
</div>
<div>
<ul class="subNavList">
<li>Summary: </li>
<li><a href="#nested.classes.inherited.from.class.edu.wpi.first.wpilibj.drive.RobotDriveBase">Nested</a> | </li>
<li><a href="#fields.inherited.from.class.edu.wpi.first.wpilibj.drive.RobotDriveBase">Field</a> | </li>
<li><a href="#constructor.summary">Constr</a> | </li>
<li><a href="#method.summary">Method</a></li>
</ul>
<ul class="subNavList">
<li>Detail: </li>
<li>Field | </li>
<li><a href="#constructor.detail">Constr</a> | </li>
<li><a href="#method.detail">Method</a></li>
</ul>
</div>
<a name="skip.navbar.top">
<!-- -->
</a></div>
<!-- ========= END OF TOP NAVBAR ========= -->
<!-- ======== START OF CLASS DATA ======== -->
<div class="header">
<div class="subTitle">edu.wpi.first.wpilibj.drive</div>
<h2 title="Class KilloughDrive" class="title">Class KilloughDrive</h2>
</div>
<div class="contentContainer">
<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>
<li>
<ul class="inheritance">
<li>edu.wpi.first.wpilibj.drive.KilloughDrive</li>
</ul>
</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>
<br>
<pre>public class <span class="typeNameLabel">KilloughDrive</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 Killough drive platforms.
<p>Killough drives are triangular with one omni wheel on each corner.
<p>Drive base diagram:
<pre>
/_____\
/ \ / \
\ /
---
</pre>
<p>Each drive() function provides different inverse kinematic relations for a Killough drive. The
default wheel vectors are parallel to their respective opposite sides, but can be overridden. See
the constructor for more information.</div>
</li>
</ul>
</div>
<div class="summary">
<ul class="blockList">
<li class="blockList">
<!-- ======== NESTED CLASS SUMMARY ======== -->
<ul class="blockList">
<li class="blockList"><a name="nested.class.summary">
<!-- -->
</a>
<h3>Nested Class Summary</h3>
<ul class="blockList">
<li class="blockList"><a name="nested.classes.inherited.from.class.edu.wpi.first.wpilibj.drive.RobotDriveBase">
<!-- -->
</a>
<h3>Nested classes/interfaces 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.MotorType.html" title="enum in edu.wpi.first.wpilibj.drive">RobotDriveBase.MotorType</a></code></li>
</ul>
</li>
</ul>
<!-- =========== FIELD SUMMARY =========== -->
<ul class="blockList">
<li class="blockList"><a name="field.summary">
<!-- -->
</a>
<h3>Field Summary</h3>
<ul class="blockList">
<li class="blockList"><a name="fields.inherited.from.class.edu.wpi.first.wpilibj.drive.RobotDriveBase">
<!-- -->
</a>
<h3>Fields 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#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>
</ul>
<ul class="blockList">
<li class="blockList"><a name="fields.inherited.from.class.edu.wpi.first.wpilibj.MotorSafety">
<!-- -->
</a>
<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>
</ul>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<ul class="blockList">
<li class="blockList"><a name="constructor.summary">
<!-- -->
</a>
<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/drive/KilloughDrive.html#KilloughDrive-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-">KilloughDrive</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,
<a href="../../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> backMotor)</code>
<div class="block">Construct a Killough drive with the given motors and default motor angles.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/KilloughDrive.html#KilloughDrive-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-double-double-double-">KilloughDrive</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,
<a href="../../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> backMotor,
double leftMotorAngle,
double rightMotorAngle,
double backMotorAngle)</code>
<div class="block">Construct a Killough drive with the given motors.</div>
</td>
</tr>
</table>
</li>
</ul>
<!-- ========== METHOD SUMMARY =========== -->
<ul class="blockList">
<li class="blockList"><a name="method.summary">
<!-- -->
</a>
<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="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></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/drive/KilloughDrive.html#driveCartesian-double-double-double-">driveCartesian</a></span>(double x,
double y,
double rotation)</code>
<div class="block">Drive method for Killough 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/KilloughDrive.html#driveCartesian-double-double-double-double-">driveCartesian</a></span>(double x,
double y,
double rotation,
double gyroAngle)</code>
<div class="block">Drive method for Killough 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/KilloughDrive.html#drivePolar-double-double-double-">drivePolar</a></span>(double magnitude,
double angle,
double rotation)</code>
<div class="block">Drive method for Killough 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/KilloughDrive.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/KilloughDrive.html#stopMotor--">stopMotor</a></span>()</code> </td>
</tr>
</table>
<ul class="blockList">
<li class="blockList"><a name="methods.inherited.from.class.edu.wpi.first.wpilibj.drive.RobotDriveBase">
<!-- -->
</a>
<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>
</ul>
<ul class="blockList">
<li class="blockList"><a name="methods.inherited.from.class.java.lang.Object">
<!-- -->
</a>
<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
</ul>
</li>
</ul>
</li>
</ul>
</div>
<div class="details">
<ul class="blockList">
<li class="blockList">
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<ul class="blockList">
<li class="blockList"><a name="constructor.detail">
<!-- -->
</a>
<h3>Constructor Detail</h3>
<a name="KilloughDrive-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>KilloughDrive</h4>
<pre>public KilloughDrive(<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,
<a href="../../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> backMotor)</pre>
<div class="block">Construct a Killough drive with the given motors and default motor angles.
<p>The default motor angles are 120, 60, and 270 degrees for the left, right, and back motors
respectively, which make the wheels on each corner parallel to their respective opposite sides.
<p>If a motor needs to be inverted, do so before passing it in.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>leftMotor</code> - The motor on the left corner.</dd>
<dd><code>rightMotor</code> - The motor on the right corner.</dd>
<dd><code>backMotor</code> - The motor on the back corner.</dd>
</dl>
</li>
</ul>
<a name="KilloughDrive-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-edu.wpi.first.wpilibj.SpeedController-double-double-double-">
<!-- -->
</a>
<ul class="blockListLast">
<li class="blockList">
<h4>KilloughDrive</h4>
<pre>public KilloughDrive(<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,
<a href="../../../../../edu/wpi/first/wpilibj/SpeedController.html" title="interface in edu.wpi.first.wpilibj">SpeedController</a> backMotor,
double leftMotorAngle,
double rightMotorAngle,
double backMotorAngle)</pre>
<div class="block">Construct a Killough drive with the given motors.
<p>Angles are measured in counter-clockwise degrees where zero degrees is straight ahead.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>leftMotor</code> - The motor on the left corner.</dd>
<dd><code>rightMotor</code> - The motor on the right corner.</dd>
<dd><code>backMotor</code> - The motor on the back corner.</dd>
<dd><code>leftMotorAngle</code> - The angle of the left wheel's forward direction of travel.</dd>
<dd><code>rightMotorAngle</code> - The angle of the right wheel's forward direction of travel.</dd>
<dd><code>backMotorAngle</code> - The angle of the back wheel's forward direction of travel.</dd>
</dl>
</li>
</ul>
</li>
</ul>
<!-- ============ METHOD DETAIL ========== -->
<ul class="blockList">
<li class="blockList"><a name="method.detail">
<!-- -->
</a>
<h3>Method Detail</h3>
<a name="driveCartesian-double-double-double-">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>driveCartesian</h4>
<pre>public void driveCartesian(double x,
double y,
double rotation)</pre>
<div class="block">Drive method for Killough platform.</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.
[-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>
</dl>
</li>
</ul>
<a name="driveCartesian-double-double-double-double-">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>driveCartesian</h4>
<pre>public void driveCartesian(double x,
double y,
double rotation,
double gyroAngle)</pre>
<div class="block">Drive method for Killough platform.</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.
[-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>
</ul>
<a name="drivePolar-double-double-double-">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>drivePolar</h4>
<pre>public void drivePolar(double magnitude,
double angle,
double rotation)</pre>
<div class="block">Drive method for Killough platform.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>magnitude</code> - The speed that the robot should drive in a given direction. [-1.0..1.0]</dd>
<dd><code>angle</code> - The direction the robot should drive in degrees. 0.0 is straight ahead. The
direction and maginitude 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>
</li>
</ul>
<a name="stopMotor--">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<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>
</dl>
</li>
</ul>
<a name="getDescription--">
<!-- -->
</a>
<ul class="blockListLast">
<li class="blockList">
<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>
</dl>
</li>
</ul>
</li>
</ul>
</li>
</ul>
</div>
</div>
<!-- ========= END OF CLASS DATA ========= -->
<!-- ======= START OF BOTTOM NAVBAR ====== -->
<div class="bottomNav"><a name="navbar.bottom">
<!-- -->
</a>
<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
<a name="navbar.bottom.firstrow">
<!-- -->
</a>
<ul class="navList" title="Navigation">
<li><a href="../../../../../overview-summary.html">Overview</a></li>
<li><a href="package-summary.html">Package</a></li>
<li class="navBarCell1Rev">Class</li>
<li><a href="package-tree.html">Tree</a></li>
<li><a href="../../../../../deprecated-list.html">Deprecated</a></li>
<li><a href="../../../../../index-all.html">Index</a></li>
<li><a href="../../../../../help-doc.html">Help</a></li>
</ul>
</div>
<div class="subNav">
<ul class="navList">
<li><a href="../../../../../edu/wpi/first/wpilibj/drive/DifferentialDrive.html" title="class in edu.wpi.first.wpilibj.drive"><span class="typeNameLink">Prev Class</span></a></li>
<li><a href="../../../../../edu/wpi/first/wpilibj/drive/MecanumDrive.html" title="class in edu.wpi.first.wpilibj.drive"><span class="typeNameLink">Next Class</span></a></li>
</ul>
<ul class="navList">
<li><a href="../../../../../index.html?edu/wpi/first/wpilibj/drive/KilloughDrive.html" target="_top">Frames</a></li>
<li><a href="KilloughDrive.html" target="_top">No Frames</a></li>
</ul>
<ul class="navList" id="allclasses_navbar_bottom">
<li><a href="../../../../../allclasses-noframe.html">All Classes</a></li>
</ul>
<div>
<script type="text/javascript"><!--
allClassesLink = document.getElementById("allclasses_navbar_bottom");
if(window==top) {
allClassesLink.style.display = "block";
}
else {
allClassesLink.style.display = "none";
}
//-->
</script>
</div>
<div>
<ul class="subNavList">
<li>Summary: </li>
<li><a href="#nested.classes.inherited.from.class.edu.wpi.first.wpilibj.drive.RobotDriveBase">Nested</a> | </li>
<li><a href="#fields.inherited.from.class.edu.wpi.first.wpilibj.drive.RobotDriveBase">Field</a> | </li>
<li><a href="#constructor.summary">Constr</a> | </li>
<li><a href="#method.summary">Method</a></li>
</ul>
<ul class="subNavList">
<li>Detail: </li>
<li>Field | </li>
<li><a href="#constructor.detail">Constr</a> | </li>
<li><a href="#method.detail">Method</a></li>
</ul>
</div>
<a name="skip.navbar.bottom">
<!-- -->
</a></div>
<!-- ======== END OF BOTTOM NAVBAR ======= -->
</body>
</html>