WPILibC++
2019.4.1-5-gaab4c49
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Common base class for drive platforms. More...
#include <RobotDriveBase.h>
Public Types | |
enum | MotorType { kFrontLeft = 0, kFrontRight = 1, kRearLeft = 2, kRearRight = 3, kLeft = 0, kRight = 1, kBack = 2 } |
The location of a motor on the robot for the purpose of driving. | |
Public Member Functions | |
RobotDriveBase (RobotDriveBase &&)=default | |
RobotDriveBase & | operator= (RobotDriveBase &&)=default |
void | SetDeadband (double deadband) |
Sets the deadband applied to the drive inputs (e.g., joystick values). More... | |
void | SetMaxOutput (double maxOutput) |
Configure the scaling factor for using RobotDrive with motor controllers in a mode other than PercentVbus or to limit the maximum output. More... | |
void | FeedWatchdog () |
Feed the motor safety object. More... | |
void | StopMotor () override=0 |
void | GetDescription (wpi::raw_ostream &desc) const override=0 |
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MotorSafety (MotorSafety &&rhs) | |
MotorSafety & | operator= (MotorSafety &&rhs) |
void | Feed () |
Feed the motor safety object. More... | |
void | SetExpiration (double expirationTime) |
Set the expiration time for the corresponding motor safety object. More... | |
double | GetExpiration () const |
Retrieve the timeout value for the corresponding motor safety object. More... | |
bool | IsAlive () const |
Determine if the motor is still operating or has timed out. More... | |
void | SetSafetyEnabled (bool enabled) |
Enable/disable motor safety for this device. More... | |
bool | IsSafetyEnabled () const |
Return the state of the motor safety enabled flag. More... | |
void | Check () |
Check if this motor has exceeded its timeout. More... | |
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ErrorBase (ErrorBase &&)=default | |
ErrorBase & | operator= (ErrorBase &&)=default |
virtual Error & | GetError () |
Retrieve the current error. More... | |
virtual const Error & | GetError () const |
Retrieve the current error. More... | |
virtual void | ClearError () const |
Clear the current error information associated with this sensor. | |
virtual void | SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set error information associated with a C library call that set an error to the "errno" global variable. More... | |
virtual void | SetImaqError (int success, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated from the nivision Imaq API. More... | |
virtual void | SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | CloneError (const ErrorBase &rhs) const |
virtual bool | StatusIsFatal () const |
Check if the current error code represents a fatal error. More... | |
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SendableBase (bool addLiveWindow=true) | |
Creates an instance of the sensor base. More... | |
SendableBase (SendableBase &&rhs) | |
SendableBase & | operator= (SendableBase &&rhs) |
std::string | GetName () const final |
Gets the name of this Sendable object. More... | |
void | SetName (const wpi::Twine &name) final |
Sets the name of this Sendable object. More... | |
std::string | GetSubsystem () const final |
Gets the subsystem name of this Sendable object. More... | |
void | SetSubsystem (const wpi::Twine &subsystem) final |
Sets the subsystem name of this Sendable object. More... | |
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Sendable (Sendable &&)=default | |
Sendable & | operator= (Sendable &&)=default |
void | SetName (const wpi::Twine &subsystem, const wpi::Twine &name) |
Sets both the subsystem name and device name of this Sendable object. More... | |
virtual void | InitSendable (SendableBuilder &builder)=0 |
Initializes this Sendable object. More... | |
Protected Member Functions | |
double | Limit (double number) |
Limit motor values to the -1.0 to +1.0 range. | |
double | ApplyDeadband (double number, double deadband) |
Returns 0.0 if the given value is within the specified range around zero. More... | |
void | Normalize (wpi::MutableArrayRef< double > wheelSpeeds) |
Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0. | |
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void | AddChild (std::shared_ptr< Sendable > child) |
Add a child component. More... | |
void | AddChild (void *child) |
Add a child component. More... | |
void | SetName (const wpi::Twine &moduleType, int channel) |
Sets the name of the sensor with a channel number. More... | |
void | SetName (const wpi::Twine &moduleType, int moduleNumber, int channel) |
Sets the name of the sensor with a module and channel number. More... | |
Protected Attributes | |
double | m_deadband = 0.02 |
double | m_maxOutput = 1.0 |
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Error | m_error |
Additional Inherited Members | |
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static void | CheckMotors () |
Check the motors to see if any have timed out. More... | |
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static void | SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) |
static void | SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) |
static const Error & | GetGlobalError () |
Retrieve the current global error. | |
Common base class for drive platforms.
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protected |
Returns 0.0 if the given value is within the specified range around zero.
The remaining range between the deadband and 1.0 is scaled from 0.0 to 1.0.
value | value to clip |
deadband | range around zero |
void frc::RobotDriveBase::FeedWatchdog | ( | ) |
Feed the motor safety object.
Resets the timer that will stop the motors if it completes.
void frc::RobotDriveBase::SetDeadband | ( | double | deadband | ) |
Sets the deadband applied to the drive inputs (e.g., joystick values).
The default value is 0.02. Inputs smaller than the deadband are set to 0.0 while inputs larger than the deadband are scaled from 0.0 to 1.0. See ApplyDeadband().
deadband | The deadband to set. |
void frc::RobotDriveBase::SetMaxOutput | ( | double | maxOutput | ) |
Configure the scaling factor for using RobotDrive with motor controllers in a mode other than PercentVbus or to limit the maximum output.
maxOutput | Multiplied with the output percentage computed by the drive functions. |