12 #include <wpi/ArrayRef.h>
13 #include <wpi/raw_ostream.h>
15 #include "frc/MotorSafety.h"
16 #include "frc/smartdashboard/SendableBase.h"
20 class SpeedController;
74 void StopMotor()
override = 0;
81 double Limit(
double number);
98 double m_deadband = 0.02;
99 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
WPILib FRC namespace.
Definition: SPIAccelerometerSim.h:18
void Normalize(wpi::MutableArrayRef< double > wheelSpeeds)
Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
void SetMaxOutput(double maxOutput)
Configure the scaling factor for using RobotDrive with motor controllers in a mode other than Percent...
This base class runs a watchdog timer and calls the subclass's StopMotor() function if the timeout ex...
Definition: MotorSafety.h:24
double ApplyDeadband(double number, double deadband)
Returns 0.0 if the given value is within the specified range around zero.
void FeedWatchdog()
Feed the motor safety object.
double Limit(double number)
Limit motor values to the -1.0 to +1.0 range.
Definition: SendableBase.h:19
MotorType
The location of a motor on the robot for the purpose of driving.
Definition: RobotDriveBase.h:30
void SetDeadband(double deadband)
Sets the deadband applied to the drive inputs (e.g., joystick values).
Common base class for drive platforms.
Definition: RobotDriveBase.h:25
MutableArrayRef - Represent a mutable reference to an array (0 or more elements consecutively in memo...
Definition: ArrayRef.h:291