Package org.chsrobotics.lib.drive.differential

Class TankDrive

java.lang.Object

org.chsrobotics.lib.drive.differential.TankDrive

All Implemented Interfaces:

DifferentialDriveMode

public class TankDrive
extends java.lang.Object
implements DifferentialDriveMode

Moves the robot in teleoperated mode using one input directly mapped to each wheel.

Constructor Summary

Constructors

Constructor	Description
TankDrive(JoystickAxis leftAxis, JoystickAxis rightAxis)	Constructs a TankDrive with no rate limiting.
TankDrive(JoystickAxis leftAxis, JoystickAxis rightAxis, double driveModifier, double driveLimiter)	Constructs a TankDrive.

Method Summary

Modifier and Type	Method	Description
DifferentialDrivetrainInput	execute()	Calculate the drive output using the current joystick inputs.

Methods inherited from class java.lang.Object

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

Constructor Detail

TankDrive

public TankDrive(JoystickAxis leftAxis,
                 JoystickAxis rightAxis,
                 double driveModifier,
                 double driveLimiter)

Constructs a TankDrive.

Parameters:

leftAxis - The JoystickAxis to be used for the left side.

rightAxis - The JoystickAxis to be used for the right side.

driveModifier - A scalar to multiply each input by.

driveLimiter - The maximum rate of change for each input, in units of input / second. If equal to 0, no rate limiting will be applied.

TankDrive

public TankDrive(JoystickAxis leftAxis,
                 JoystickAxis rightAxis)

Constructs a TankDrive with no rate limiting.

Parameters:

leftAxis - The JoystickAxis to be used for the left side.

rightAxis - The JoystickAxis to be used for the right side.

Method Detail

execute

public DifferentialDrivetrainInput execute()

Calculate the drive output using the current joystick inputs.

Specified by:

execute in interface DifferentialDriveMode

Returns:

The input, mapped to left and right side inputs.