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wpilibj/src/main/java/org/wpilib/drive/RobotDriveBase.java

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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.
+
+package edu.wpi.first.wpilibj.drive;
+
+import edu.wpi.first.wpilibj.MotorSafety;
+
+/**
+ * Common base class for drive platforms.
+ *
+ * <p>{@link edu.wpi.first.wpilibj.MotorSafety} is enabled by default.
+ */
+public abstract class RobotDriveBase extends MotorSafety {
+  /** Default input deadband. */
+  public static final double kDefaultDeadband = 0.02;
+
+  /** Default maximum output. */
+  public static final double kDefaultMaxOutput = 1.0;
+
+  /** Input deadband. */
+  protected double m_deadband = kDefaultDeadband;
+
+  /** Maximum output. */
+  protected double m_maxOutput = kDefaultMaxOutput;
+
+  /** The location of a motor on the robot for the purpose of driving. */
+  public 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);
+
+    /** MotorType value. */
+    public final int value;
+
+    MotorType(int value) {
+      this.value = value;
+    }
+  }
+
+  /** RobotDriveBase constructor. */
+  @SuppressWarnings("this-escape")
+  public RobotDriveBase() {
+    setSafetyEnabled(true);
+  }
+
+  /**
+   * Sets the deadband applied to the drive inputs (e.g., joystick values).
+   *
+   * <p>The default value is {@value #kDefaultDeadband}. 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 {@link
+   * edu.wpi.first.math.MathUtil#applyDeadband}.
+   *
+   * @param deadband The deadband to set.
+   */
+  public void setDeadband(double deadband) {
+    m_deadband = deadband;
+  }
+
+  /**
+   * Configure the scaling factor for using drive methods with motor controllers in a mode other
+   * than PercentVbus or to limit the maximum output.
+   *
+   * <p>The default value is {@value #kDefaultMaxOutput}.
+   *
+   * @param maxOutput Multiplied with the output percentage computed by the drive functions.
+   */
+  public void setMaxOutput(double maxOutput) {
+    m_maxOutput = maxOutput;
+  }
+
+  /**
+   * Feed the motor safety object. Resets the timer that will stop the motors if it completes.
+   *
+   * @see MotorSafety#feed()
+   */
+  public void feedWatchdog() {
+    feed();
+  }
+
+  @Override
+  public abstract void stopMotor();
+
+  @Override
+  public abstract String getDescription();
+
+  /**
+   * Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
+   *
+   * @param wheelSpeeds List of wheel speeds to normalize.
+   */
+  protected static void normalize(double[] wheelSpeeds) {
+    double maxMagnitude = Math.abs(wheelSpeeds[0]);
+    for (int i = 1; i < wheelSpeeds.length; i++) {
+      double temp = Math.abs(wheelSpeeds[i]);
+      if (maxMagnitude < temp) {
+        maxMagnitude = temp;
+      }
+    }
+    if (maxMagnitude > 1.0) {
+      for (int i = 0; i < wheelSpeeds.length; i++) {
+        wheelSpeeds[i] = wheelSpeeds[i] / maxMagnitude;
+      }
+    }
+  }
+}