12 #include <wpi/ArrayRef.h> 13 #include <wpi/raw_ostream.h> 15 #include "MotorSafety.h" 16 #include "MotorSafetyHelper.h" 17 #include "SmartDashboard/SendableBase.h" 21 class SpeedController;
75 void SetExpiration(
double timeout)
override;
76 double GetExpiration()
const override;
77 bool IsAlive()
const override;
78 void StopMotor()
override = 0;
79 bool IsSafetyEnabled()
const override;
80 void SetSafetyEnabled(
bool enabled)
override;
87 double Limit(
double number);
104 double m_deadband = 0.02;
105 double m_maxOutput = 1.0;
This class implements an extremely fast bulk output stream that can only output to a stream...
Definition: raw_ostream.h:45
Definition: Utility.cpp:119
double Limit(double number)
Limit motor values to the -1.0 to +1.0 range.
Definition: RobotDriveBase.cpp:47
void FeedWatchdog()
Feed the motor safety object.
Definition: RobotDriveBase.cpp:27
Definition: MotorSafety.h:16
void Normalize(wpi::MutableArrayRef< double > wheelSpeeds)
Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
Definition: RobotDriveBase.cpp:69
Definition: MotorSafetyHelper.h:20
void SetDeadband(double deadband)
Sets the deadband applied to the drive inputs (e.g., joystick values).
Definition: RobotDriveBase.cpp:23
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:25
Common base class for drive platforms.
Definition: RobotDriveBase.h:26
MutableArrayRef - Represent a mutable reference to an array (0 or more elements consecutively in memo...
Definition: ArrayRef.h:291
double ApplyDeadband(double number, double deadband)
Returns 0.0 if the given value is within the specified range around zero.
Definition: RobotDriveBase.cpp:57