RobotDriveBase¶
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class
wpilib.drive.
RobotDriveBase
[source]¶ Bases:
wpilib.SendableBase
,wpilib.MotorSafety
Common base class for drive platforms
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class
MotorType
[source]¶ Bases:
object
The location of a motor on the robot for the purpose of driving.
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kBack
= 2¶ Back
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kFrontLeft
= 0¶ Front left
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kFrontRight
= 1¶ Front right
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kLeft
= 0¶ Left
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kRearLeft
= 2¶ Rear left
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kRearRight
= 3¶ Rear right
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kRight
= 1¶ Right
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static
applyDeadband
(value, deadband)[source]¶ 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.
Parameters: - value – value to clip
- deadband – range around zero
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kDefaultDeadband
= 0.02¶
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kDefaultMaxOutput
= 1.0¶
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static
normalize
(wheelSpeeds)[source]¶ Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
Parameters: wheelSpeeds – Iterable of wheelspeeds to normalize
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setDeadband
(deadband)[source]¶ Change the value for deadband scaling.
The default value is
kDefaultDeadband
. Values smaller than the deadband are set to 0, while values larger than the deadband are scaled from 0.0 to 1.0. SeeapplyDeadband()
.Parameters: deadband ( float
) – The deadband to set
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setMaxOutput
(maxOutput)[source]¶ Configure the scaling factor for using drive methods with motor controllers in a mode other than PercentVbus or to limit the maximum output.
The default value is
kDefaultMaxOutput
.Parameters: maxOutput ( float
) – Multiplied with the output percentage computed by the drive functions.
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class