Package org.wildstang.framework.subsystems.drive

Class PathFollowingDrive

java.lang.Object

org.wildstang.framework.subsystems.drive.PathFollowingDrive

All Implemented Interfaces:

InputListener, Subsystem

public abstract class PathFollowingDrive
extends Object
implements Subsystem

Abstract representation of a Drive subsystem which support path following.

Field Summary

Fields

Modifier and Type	Field	Description
protected edu.wpi.first.wpilibj.Notifier	profileNotifier

Constructor Summary

Constructors

Constructor	Description
PathFollowingDrive()

Method Summary

Modifier and Type	Method	Description
boolean	isEstopActive()	Returns if the software emergency stop has been activated.
abstract void	resetEncoders()	Zero all the encoders on the drive base.
abstract void	setBrakeMode(boolean brake)	Enable brake or coast mode.
abstract void	setGyro(double degrees)	Sets the gyro to the given value
abstract void	startPathFollower()	Enable the motion profile and start its notifier.
abstract void	stopPathFollower()	Disable the motion profile and stop its notifier.
abstract void	updatePathFollower(double[] trajectoryInfo)	Update the motion profile.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface org.wildstang.framework.io.InputListener

inputUpdate

Methods inherited from interface org.wildstang.framework.subsystems.Subsystem

getName, init, initSubsystems, resetState, selfTest, update

Field Details

profileNotifier

protected edu.wpi.first.wpilibj.Notifier profileNotifier

Constructor Details

PathFollowingDrive

public PathFollowingDrive()

Method Details

setBrakeMode

public abstract void setBrakeMode(boolean brake)

Enable brake or coast mode.

Parameters:

brake - True to enable brake mode, false to enable coast.

resetEncoders

public abstract void resetEncoders()

Zero all the encoders on the drive base.

isEstopActive

public boolean isEstopActive()

Returns if the software emergency stop has been activated.

Returns:

True if the emergency stop is active.

startPathFollower

public abstract void startPathFollower()

Enable the motion profile and start its notifier.

updatePathFollower

public abstract void updatePathFollower(double[] trajectoryInfo)

Update the motion profile.

Parameters:

trajectoryInfo - the line of double data for the current step of the path

stopPathFollower

public abstract void stopPathFollower()

Disable the motion profile and stop its notifier.

setGyro

public abstract void setGyro(double degrees)

Sets the gyro to the given value

Parameters:

degrees - value you want the gyro to currently to be