wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/drive/RobotDriveBase.html
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<div class="subTitle">edu.wpi.first.wpilibj.drive</div>
<h2 title="Class RobotDriveBase" class="title">Class RobotDriveBase</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
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<li>edu.wpi.first.wpilibj.drive.RobotDriveBase</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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<dl>
<dt>Direct Known Subclasses:</dt>
<dd><a href="../../../../../edu/wpi/first/wpilibj/drive/DifferentialDrive.html" title="class in edu.wpi.first.wpilibj.drive">DifferentialDrive</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/KilloughDrive.html" title="class in edu.wpi.first.wpilibj.drive">KilloughDrive</a>, <a href="../../../../../edu/wpi/first/wpilibj/drive/MecanumDrive.html" title="class in edu.wpi.first.wpilibj.drive">MecanumDrive</a></dd>
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<pre>public abstract class <span class="typeNameLabel">RobotDriveBase</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">Common base class for drive platforms.</div>
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<td class="colFirst"><code>static class </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.MotorType.html" title="enum in edu.wpi.first.wpilibj.drive">RobotDriveBase.MotorType</a></span></code>
<div class="block">The location of a motor on the robot for the purpose of driving.</div>
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<td class="colFirst"><code>protected double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#m_deadband">m_deadband</a></span></code> </td>
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<tr class="rowColor">
<td class="colFirst"><code>protected double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#m_maxOutput">m_maxOutput</a></span></code> </td>
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<tr class="altColor">
<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/drive/RobotDriveBase.html#m_safetyHelper">m_safetyHelper</a></span></code> </td>
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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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<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#RobotDriveBase--">RobotDriveBase</a></span>()</code> </td>
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<td class="colFirst"><code>protected double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#applyDeadband-double-double-">applyDeadband</a></span>(double value,
double deadband)</code>
<div class="block">Returns 0.0 if the given value is within the specified range around zero.</div>
</td>
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<tr id="i1" class="rowColor">
<td class="colFirst"><code>abstract java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#getDescription--">getDescription</a></span>()</code> </td>
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<tr id="i2" class="altColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#getExpiration--">getExpiration</a></span>()</code> </td>
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<tr id="i3" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#isAlive--">isAlive</a></span>()</code> </td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#isSafetyEnabled--">isSafetyEnabled</a></span>()</code> </td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>protected double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#limit-double-">limit</a></span>(double value)</code>
<div class="block">Limit motor values to the -1.0 to +1.0 range.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>protected void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#normalize-double:A-">normalize</a></span>(double[] wheelSpeeds)</code>
<div class="block">Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.</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/drive/RobotDriveBase.html#setDeadband-double-">setDeadband</a></span>(double deadband)</code> </td>
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<tr id="i8" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#setExpiration-double-">setExpiration</a></span>(double timeout)</code> </td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#setMaxOutput-double-">setMaxOutput</a></span>(double maxOutput)</code>
<div class="block">Configure the scaling factor for using RobotDrive with motor controllers in a mode other than
PercentVbus.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#setSafetyEnabled-boolean-">setSafetyEnabled</a></span>(boolean enabled)</code> </td>
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<tr id="i11" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/drive/RobotDriveBase.html#stopMotor--">stopMotor</a></span>()</code> </td>
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<h3>Methods inherited from class java.lang.Object</h3>
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<h4>m_deadband</h4>
<pre>protected double m_deadband</pre>
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<pre>protected double m_maxOutput</pre>
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<h4>m_safetyHelper</h4>
<pre>protected <a href="../../../../../edu/wpi/first/wpilibj/MotorSafetyHelper.html" title="class in edu.wpi.first.wpilibj">MotorSafetyHelper</a> m_safetyHelper</pre>
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<h4>RobotDriveBase</h4>
<pre>public RobotDriveBase()</pre>
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<h4>setDeadband</h4>
<pre>public void setDeadband(double deadband)</pre>
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<pre>public void setMaxOutput(double maxOutput)</pre>
<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>
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<pre>public void setExpiration(double timeout)</pre>
<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>
<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>
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<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 abstract 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>
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<pre>public boolean isSafetyEnabled()</pre>
<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>
<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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<pre>public abstract java.lang.String getDescription()</pre>
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<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>
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<h4>limit</h4>
<pre>protected double limit(double value)</pre>
<div class="block">Limit motor values to the -1.0 to +1.0 range.</div>
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<h4>applyDeadband</h4>
<pre>protected double applyDeadband(double value,
double deadband)</pre>
<div class="block">Returns 0.0 if the given value is within the specified range around zero. The remaining range
between the deadband and 1.0 is scaled from 0.0 to 1.0.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>value</code> - value to clip</dd>
<dd><code>deadband</code> - range around zero</dd>
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<h4>normalize</h4>
<pre>protected void normalize(double[] wheelSpeeds)</pre>
<div class="block">Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.</div>
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