RobotDriveBase¶
- class wpilib.drive.RobotDriveBase¶
Bases:
MotorSafety
Common base class for drive platforms.
MotorSafety is enabled by default.
- class MotorType(value: int)¶
Bases:
pybind11_object
The location of a motor on the robot for the purpose of driving.
Members:
kFrontLeft
kFrontRight
kRearLeft
kRearRight
kLeft
kRight
kBack
- kBack = <MotorType.kRearLeft: 2>¶
- kFrontLeft = <MotorType.kFrontLeft: 0>¶
- kFrontRight = <MotorType.kFrontRight: 1>¶
- kLeft = <MotorType.kFrontLeft: 0>¶
- kRearLeft = <MotorType.kRearLeft: 2>¶
- kRearRight = <MotorType.kRearRight: 3>¶
- kRight = <MotorType.kFrontRight: 1>¶
- property name¶
- property value¶
- feedWatchdog() None ¶
Feed the motor safety object. Resets the timer that will stop the motors if it completes.
@see MotorSafetyHelper::Feed()
- getDescription() str ¶
- setDeadband(deadband: float) None ¶
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 frc::ApplyDeadband().
- Parameters:
deadband – The deadband to set.
- setMaxOutput(maxOutput: float) None ¶
Configure the scaling factor for using RobotDrive with motor controllers in a mode other than PercentVbus or to limit the maximum output.
- Parameters:
maxOutput – Multiplied with the output percentage computed by the drive functions.
- stopMotor() None ¶