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Add tests for equivilance of RobotDrive and DifferentialDrive/MecanumDrive (#732)

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Add documentation for how to get same results as RobotDrive and improve
RobotDrive documentation
This commit is contained in:
sciencewhiz
2017-11-29 21:41:00 -08:00
committed by Peter Johnson
parent e308dd28f3
commit cbd08a1e11
10 changed files with 484 additions and 21 deletions
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9
wpilibc/src/main/native/cpp/Drive/RobotDriveBase.cpp
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@@ -20,11 +20,18 @@ using namespace frc;
RobotDriveBase::RobotDriveBase() { m_safetyHelper.SetSafetyEnabled(true); }
/**
* Change the default value for deadband scaling. The default value is
* 0.02. Values smaller then the deadband are set to 0, while values
* larger then the deadband are scaled from 0.0 to 1.0. See ApplyDeadband().
*
* @param deadband The deadband to set.
*/
void RobotDriveBase::SetDeadband(double deadband) { m_deadband = deadband; }
/**
* Configure the scaling factor for using RobotDrive with motor controllers in a
* mode other than PercentVbus.
* mode other than PercentVbus or to limit the maximum output.
*
* @param maxOutput Multiplied with the output percentage computed by the drive
* functions.