12 #include <llvm/ArrayRef.h> 13 #include <llvm/raw_ostream.h> 15 #include "MotorSafety.h" 16 #include "MotorSafetyHelper.h" 17 #include "SmartDashboard/SendableBase.h" 50 void SetExpiration(
double timeout)
override;
51 double GetExpiration()
const override;
52 bool IsAlive()
const override;
53 void StopMotor()
override = 0;
54 bool IsSafetyEnabled()
const override;
55 void SetSafetyEnabled(
bool enabled)
override;
59 double Limit(
double number);
63 double m_deadband = 0.02;
64 double m_maxOutput = 1.0;
Interface for speed controlling devices.
Definition: SpeedController.h:17
Definition: RobotController.cpp:14
double Limit(double number)
Limit motor values to the -1.0 to +1.0 range.
Definition: RobotDriveBase.cpp:62
Definition: MotorSafety.h:16
Definition: MotorSafetyHelper.h:20
MutableArrayRef - Represent a mutable reference to an array (0 or more elements consecutively in memo...
Definition: ArrayRef.h:227
void SetDeadband(double deadband)
Change the default value for deadband scaling.
Definition: RobotDriveBase.cpp:30
Definition: SendableBase.h:19
MotorType
The location of a motor on the robot for the purpose of driving.
Definition: RobotDriveBase.h:31
void SetMaxOutput(double maxOutput)
Configure the scaling factor for using RobotDrive with motor controllers in a mode other than Percent...
Definition: RobotDriveBase.cpp:39
This class implements an extremely fast bulk output stream that can only output to a stream...
Definition: raw_ostream.h:33
Common base class for drive platforms.
Definition: RobotDriveBase.h:26
void Normalize(llvm::MutableArrayRef< double > wheelSpeeds)
Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
Definition: RobotDriveBase.cpp:94
double ApplyDeadband(double number, double deadband)
Returns 0.0 if the given value is within the specified range around zero.
Definition: RobotDriveBase.cpp:79