allwpilib/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include "frc/drive/RobotDriveBase.h"

#include <algorithm>
#include <cmath>
#include <cstddef>

#include <hal/FRCUsageReporting.h>

#include "frc/Base.h"
#include "frc/SpeedController.h"

using namespace frc;

RobotDriveBase::RobotDriveBase() {
  SetSafetyEnabled(true);
}

void RobotDriveBase::SetDeadband(double deadband) {
  m_deadband = deadband;
}

void RobotDriveBase::SetMaxOutput(double maxOutput) {
  m_maxOutput = maxOutput;
}

void RobotDriveBase::FeedWatchdog() {
  Feed();
}

double RobotDriveBase::ApplyDeadband(double value, double deadband) {
  if (std::abs(value) > deadband) {
    if (value > 0.0) {
      return (value - deadband) / (1.0 - deadband);
    } else {
      return (value + deadband) / (1.0 - deadband);
    }
  } else {
    return 0.0;
  }
}

void RobotDriveBase::Normalize(wpi::MutableArrayRef<double> wheelSpeeds) {
  double maxMagnitude = std::abs(wheelSpeeds[0]);
  for (size_t i = 1; i < wheelSpeeds.size(); i++) {
    double temp = std::abs(wheelSpeeds[i]);
    if (maxMagnitude < temp) {
      maxMagnitude = temp;
    }
  }
  if (maxMagnitude > 1.0) {
    for (size_t i = 0; i < wheelSpeeds.size(); i++) {
      wheelSpeeds[i] = wheelSpeeds[i] / maxMagnitude;
    }
  }
}