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PJ Reiniger
2025-11-07 19:57:21 -05:00
committed by Peter Johnson
parent c89910b7c6
commit c48b722dac
650 changed files with 1529 additions and 1545 deletions
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23
wpilibj/src/main/java/org/wpilib/drive/DifferentialDrive.java
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@@ -6,13 +6,13 @@ package org.wpilib.drive;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import java.util.function.DoubleConsumer;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.motor.MotorController;
import org.wpilib.math.util.MathUtil;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import org.wpilib.hardware.motor.MotorController;
import java.util.function.DoubleConsumer;
/**
* A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive
@@ -43,12 +43,13 @@ import java.util.function.DoubleConsumer;
* positive Z axis points up. Rotations follow the right-hand rule, so counterclockwise rotation
* around the Z axis is positive.
*
* <p>Inputs smaller then {@value org.wpilib.drive.RobotDriveBase#kDefaultDeadband} will
* be set to 0, and larger values will be scaled so that the full range is still used. This deadband
* value can be changed with {@link #setDeadband}.
* <p>Inputs smaller then {@value org.wpilib.drive.RobotDriveBase#kDefaultDeadband} will be set to
* 0, and larger values will be scaled so that the full range is still used. This deadband value can
* be changed with {@link #setDeadband}.
*
* <p>{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default. The tankDrive, arcadeDrive,
* or curvatureDrive methods should be called periodically to avoid Motor Safety timeouts.
* <p>{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default. The tankDrive,
* arcadeDrive, or curvatureDrive methods should be called periodically to avoid Motor Safety
* timeouts.
*/
public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoCloseable {
private static int instances;
@@ -94,8 +95,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
* Construct a DifferentialDrive.
*
* <p>To pass multiple motors per side, use CAN motor controller followers or {@link
* org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a
* motor needs to be inverted, do so before passing it in.
* org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a motor needs
* to be inverted, do so before passing it in.
*
* @param leftMotor Left motor.
* @param rightMotor Right motor.
@@ -111,8 +112,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
* Construct a DifferentialDrive.
*
* <p>To pass multiple motors per side, use CAN motor controller followers or {@link
* org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a
* motor needs to be inverted, do so before passing it in.
* org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a motor needs
* to be inverted, do so before passing it in.
*
* @param leftMotor Left motor setter.
* @param rightMotor Right motor setter.