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118 lines
3.2 KiB
Java
118 lines
3.2 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package org.wpilib.drive;
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import org.wpilib.hardware.motor.MotorSafety;
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/**
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* Common base class for drive platforms.
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*
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* <p>{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default.
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*/
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public abstract class RobotDriveBase extends MotorSafety {
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/** Default input deadband. */
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public static final double DEFAULT_DEADBAND = 0.02;
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/** Default maximum output. */
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public static final double DEFAULT_MAX_OUTPUT = 1.0;
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/** Input deadband. */
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protected double m_deadband = DEFAULT_DEADBAND;
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/** Maximum output. */
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protected double m_maxOutput = DEFAULT_MAX_OUTPUT;
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/** The location of a motor on the robot for the purpose of driving. */
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public enum MotorType {
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/** Front left motor. */
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FRONT_LEFT(0),
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/** Front right motor. */
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FRONT_RIGHT(1),
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/** Rear left motor. */
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REAR_LEFT(2),
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/** Rear right motor. */
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REAR_RIGHT(3),
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/** Left motor. */
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LEFT(0),
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/** Right motor. */
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RIGHT(1),
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/** Back motor. */
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BACK(2);
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/** MotorType value. */
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public final int value;
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MotorType(int value) {
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this.value = value;
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}
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}
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/** RobotDriveBase constructor. */
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@SuppressWarnings("this-escape")
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public RobotDriveBase() {
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setSafetyEnabled(true);
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}
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/**
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* Sets the deadband applied to the drive inputs (e.g., joystick values).
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*
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* <p>The default value is {@value #DEFAULT_DEADBAND}. Inputs smaller than the deadband are set to
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* 0.0 while inputs larger than the deadband are scaled from 0.0 to 1.0. See {@link
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* org.wpilib.math.util.MathUtil#applyDeadband}.
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*
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* @param deadband The deadband to set.
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*/
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public void setDeadband(double deadband) {
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m_deadband = deadband;
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}
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/**
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* Configure the scaling factor for using drive methods with motor controllers in a mode other
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* than PercentVbus or to limit the maximum output.
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*
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* <p>The default value is {@value #DEFAULT_MAX_OUTPUT}.
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*
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* @param maxOutput Multiplied with the output percentage computed by the drive functions.
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*/
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public void setMaxOutput(double maxOutput) {
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m_maxOutput = maxOutput;
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}
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/**
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* Feed the motor safety object. Resets the timer that will stop the motors if it completes.
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*
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* @see MotorSafety#feed()
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*/
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public void feedWatchdog() {
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feed();
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}
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@Override
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public abstract void stopMotor();
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@Override
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public abstract String getDescription();
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/**
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* Normalize all wheel velocities if the magnitude of any wheel is greater than 1.0.
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*
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* @param wheelVelocities List of wheel velocities to normalize.
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*/
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protected static void normalize(double[] wheelVelocities) {
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double maxMagnitude = Math.abs(wheelVelocities[0]);
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for (int i = 1; i < wheelVelocities.length; i++) {
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double temp = Math.abs(wheelVelocities[i]);
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if (maxMagnitude < temp) {
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maxMagnitude = temp;
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}
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}
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if (maxMagnitude > 1.0) {
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for (int i = 0; i < wheelVelocities.length; i++) {
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wheelVelocities[i] = wheelVelocities[i] / maxMagnitude;
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}
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}
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}
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}
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