Common base class for drive platforms. More...

#include <wpi/drive/RobotDriveBase.hpp>

Inheritance diagram for wpi::RobotDriveBase:

Public Types
enum	MotorType { kFrontLeft = 0 , kFrontRight = 1 , kRearLeft = 2 , kRearRight = 3 , kLeft = 0 , kRight = 1 , kBack = 2 }
	The location of a motor on the robot for the purpose of driving. More...

Public Member Functions
	RobotDriveBase ()
	~RobotDriveBase () override=default
	RobotDriveBase (RobotDriveBase &&)=default
RobotDriveBase &	operator= (RobotDriveBase &&)=default
void	SetDeadband (double deadband)
	Sets the deadband applied to the drive inputs (e.g., joystick values).
void	SetMaxOutput (double maxOutput)
	Configure the scaling factor for using RobotDrive with motor controllers in a mode other than PercentVbus or to limit the maximum output.
void	FeedWatchdog ()
	Feed the motor safety object.
void	StopMotor () override=0
	Called to stop the motor when the timeout expires.
std::string	GetDescription () const override=0
	Returns a description to print when an error occurs.
Public Member Functions inherited from wpi::MotorSafety
	MotorSafety ()
virtual	~MotorSafety ()
	MotorSafety (MotorSafety &&rhs)
MotorSafety &	operator= (MotorSafety &&rhs)
void	Feed ()
	Feed the motor safety object.
void	SetExpiration (wpi::units::second_t expirationTime)
	Set the expiration time for the corresponding motor safety object.
wpi::units::second_t	GetExpiration () const
	Retrieve the timeout value for the corresponding motor safety object.
bool	IsAlive () const
	Determine if the motor is still operating or has timed out.
void	SetSafetyEnabled (bool enabled)
	Enable/disable motor safety for this device.
bool	IsSafetyEnabled () const
	Return the state of the motor safety enabled flag.
void	Check ()
	Check if this motor has exceeded its timeout.

Static Protected Member Functions
static void	Desaturate (std::span< double > wheelVelocities)
	Renormalize all wheel velocities if the magnitude of any wheel is greater than 1.0.

Protected Attributes
double	m_deadband = kDefaultDeadband
	Input deadband.
double	m_maxOutput = kDefaultMaxOutput
	Maximum output.

Static Protected Attributes
static constexpr double	kDefaultDeadband = 0.02
	Default input deadband.
static constexpr double	kDefaultMaxOutput = 1.0
	Default maximum output.

Additional Inherited Members
Static Public Member Functions inherited from wpi::MotorSafety
static void	CheckMotors ()
	Check the motors to see if any have timed out.

Detailed Description

Common base class for drive platforms.

MotorSafety is enabled by default.

Member Enumeration Documentation

◆ MotorType

enum wpi::RobotDriveBase::MotorType

The location of a motor on the robot for the purpose of driving.

Enumerator
kFrontLeft	Front-left motor.
kFrontRight	Front-right motor.
kRearLeft	Rear-left motor.
kRearRight	Rear-right motor.
kLeft	Left motor.
kRight	Right motor.
kBack	Back motor.

Constructor & Destructor Documentation

◆ RobotDriveBase() [1/2]

wpi::RobotDriveBase::RobotDriveBase ( )

◆ ~RobotDriveBase()

wpi::RobotDriveBase::~RobotDriveBase ( )

overridedefault

◆ RobotDriveBase() [2/2]

wpi::RobotDriveBase::RobotDriveBase ( RobotDriveBase && )

default

Member Function Documentation

◆ Desaturate()

void wpi::RobotDriveBase::Desaturate ( std::span< double > wheelVelocities )

staticprotected

Renormalize all wheel velocities if the magnitude of any wheel is greater than 1.0.

◆ FeedWatchdog()

void wpi::RobotDriveBase::FeedWatchdog ( )

Feed the motor safety object.

Resets the timer that will stop the motors if it completes.

See also: MotorSafetyHelper::Feed()

◆ GetDescription()

std::string wpi::RobotDriveBase::GetDescription ( ) const

overridepure virtual

Returns a description to print when an error occurs.

Returns: Description to print when an error occurs.

Implements wpi::MotorSafety.

Implemented in wpi::DifferentialDrive, and wpi::MecanumDrive.

◆ operator=()

RobotDriveBase & wpi::RobotDriveBase::operator= ( RobotDriveBase && )

default

◆ SetDeadband()

void wpi::RobotDriveBase::SetDeadband ( double deadband )

Sets the deadband applied to the drive inputs (e.g., joystick values).

The default value is 0.02. Inputs smaller than the deadband are set to 0.0 while inputs larger than the deadband are scaled from 0.0 to 1.0. See wpi::math::ApplyDeadband().

Parameters

deadband The deadband to set.

◆ SetMaxOutput()

void wpi::RobotDriveBase::SetMaxOutput ( double maxOutput )

Configure the scaling factor for using RobotDrive with motor controllers in a mode other than PercentVbus or to limit the maximum output.

Parameters

maxOutput Multiplied with the output percentage computed by the drive functions.

◆ StopMotor()

void wpi::RobotDriveBase::StopMotor ( )

overridepure virtual

Called to stop the motor when the timeout expires.

Implements wpi::MotorSafety.

Implemented in wpi::DifferentialDrive, and wpi::MecanumDrive.

Member Data Documentation

◆ kDefaultDeadband

double wpi::RobotDriveBase::kDefaultDeadband = 0.02

staticconstexprprotected

Default input deadband.

◆ kDefaultMaxOutput

double wpi::RobotDriveBase::kDefaultMaxOutput = 1.0

staticconstexprprotected

Default maximum output.

◆ m_deadband

double wpi::RobotDriveBase::m_deadband = kDefaultDeadband

protected

Input deadband.

◆ m_maxOutput

double wpi::RobotDriveBase::m_maxOutput = kDefaultMaxOutput