Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Improve MotorSafety documentation (NFC) (#4120)

Browse Source 
Remove OBE RobotDrive porting guide from MecanumDrive
This commit is contained in:
sciencewhiz
2022-03-20 21:54:43 -07:00
committed by GitHub
parent 8d79dc8738
commit e1b6e5f212
10 changed files with 33 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java
View File

@@ -8,8 +8,10 @@ import java.util.LinkedHashSet;
import java.util.Set;
/**
* This base class runs a watchdog timer and calls the subclass's StopMotor() function if the
* timeout expires.
* The Motor Safety feature acts as a watchdog timer for an individual motor. It operates by
* maintaining a timer that tracks how long it has been since the feed() method has been called for
* that actuator. Code in the Driver Station class initiates a comparison of these timers to the
* timeout values for any actuator with safety enabled every 5 received packets (100ms nominal).
*
* <p>The subclass should call feed() whenever the motor value is updated.
*/

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
View File

@@ -83,6 +83,9 @@ import edu.wpi.first.wpilibj.SpeedController;
* <p>Inputs smaller then {@value edu.wpi.first.wpilibj.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 edu.wpi.first.wpilibj.MotorSafety} is enabled by default. The tankDrive, arcadeDrive,
* or curvatureDrive methods should be called periodically to avoid Motor Safety timeouts.
*/
@SuppressWarnings("removal")
public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoCloseable {

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
View File

@@ -39,6 +39,9 @@ import edu.wpi.first.wpilibj.SpeedController;
* <p>The positive X axis points ahead, the positive Y axis points right, and the positive Z axis
* points down. Rotations follow the right-hand rule, so clockwise rotation around the Z axis is
* positive.
*
* <p>{@link edu.wpi.first.wpilibj.MotorSafety} is enabled by default. The driveCartesian or
* drivePolar methods should be called periodically to avoid Motor Safety timeouts.
*/
@SuppressWarnings("removal")
public class KilloughDrive extends RobotDriveBase implements Sendable, AutoCloseable {

9
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
View File

@@ -47,13 +47,8 @@ import edu.wpi.first.wpilibj.SpeedController;
* 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>RobotDrive porting guide: <br>
* {@link #driveCartesian(double, double, double, double)} is equivalent to RobotDrive's
* mecanumDrive_Cartesian(double, double, double, double) if a deadband of 0 is used, and the ySpeed
* and gyroAngle values are inverted compared to RobotDrive (eg driveCartesian(xSpeed, -ySpeed,
* zRotation, -gyroAngle). <br>
* {@link #drivePolar(double, double, double)} is equivalent to RobotDrive's
* mecanumDrive_Polar(double, double, double)} if a deadband of 0 is used.
* <p>{@link edu.wpi.first.wpilibj.MotorSafety} is enabled by default. The driveCartesian or
* drivePolar methods should be called periodically to avoid Motor Safety timeouts.
*/
@SuppressWarnings("removal")
public class MecanumDrive extends RobotDriveBase implements Sendable, AutoCloseable {

6
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
View File

@@ -7,7 +7,11 @@ package edu.wpi.first.wpilibj.drive;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.MotorSafety;
/** Common base class for drive platforms. */
/**
* Common base class for drive platforms.
*
* <p>{@link edu.wpi.first.wpilibj.MotorSafety} is enabled by default.
*/
public abstract class RobotDriveBase extends MotorSafety {
public static final double kDefaultDeadband = 0.02;
public static final double kDefaultMaxOutput = 1.0;