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wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp

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+// 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.
+
+#pragma once
+
+#include <memory>
+#include <span>
+#include <string>
+
+#include "frc/MotorSafety.h"
+
+namespace frc {
+
+/**
+ * Common base class for drive platforms.
+ *
+ * MotorSafety is enabled by default.
+ */
+class RobotDriveBase : public MotorSafety {
+ public:
+  /**
+   * The location of a motor on the robot for the purpose of driving.
+   */
+  enum MotorType {
+    /// Front-left motor.
+    kFrontLeft = 0,
+    /// Front-right motor.
+    kFrontRight = 1,
+    /// Rear-left motor.
+    kRearLeft = 2,
+    /// Rear-right motor.
+    kRearRight = 3,
+    /// Left motor.
+    kLeft = 0,
+    /// Right motor.
+    kRight = 1,
+    /// Back motor.
+    kBack = 2
+  };
+
+  RobotDriveBase();
+  ~RobotDriveBase() override = default;
+
+  RobotDriveBase(RobotDriveBase&&) = default;
+  RobotDriveBase& operator=(RobotDriveBase&&) = default;
+
+  /**
+   * 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
+   * frc::ApplyDeadband().
+   *
+   * @param deadband The deadband to set.
+   */
+  void SetDeadband(double deadband);
+
+  /**
+   * Configure the scaling factor for using RobotDrive with motor controllers in
+   * a mode other than PercentVbus or to limit the maximum output.
+   *
+   * @param maxOutput Multiplied with the output percentage computed by the
+   *                  drive functions.
+   */
+  void SetMaxOutput(double maxOutput);
+
+  /**
+   * Feed the motor safety object. Resets the timer that will stop the motors if
+   * it completes.
+   *
+   * @see MotorSafetyHelper::Feed()
+   */
+  void FeedWatchdog();
+
+  void StopMotor() override = 0;
+  std::string GetDescription() const override = 0;
+
+ protected:
+  /// Default input deadband.
+  static constexpr double kDefaultDeadband = 0.02;
+
+  /// Default maximum output.
+  static constexpr double kDefaultMaxOutput = 1.0;
+
+  /**
+   * Renormalize all wheel speeds if the magnitude of any wheel is greater than
+   * 1.0.
+   */
+  static void Desaturate(std::span<double> wheelSpeeds);
+
+  /// Input deadband.
+  double m_deadband = kDefaultDeadband;
+
+  /// Maximum output.
+  double m_maxOutput = kDefaultMaxOutput;
+};
+
+}  // namespace frc