Java 类edu.wpi.first.wpilibj.drive.DifferentialDrive 实例源码

/** 
 * @param inputDeadzone joystick deadzone 
 * @param ramping ramping acceleration constant 
 * @param primaryEx primary rotation exponent
 * @param secondEx secondary rotation exponent
 * @param invertRotation boolean for inverting the rotate value
 * @param drivebase robot drive object
 */
public Drivetrain(double inputDeadzone, double ramping, double primaryEx, double secondEx, boolean invertRotation, DifferentialDrive drivebase){
    deadzone = inputDeadzone;
    ramp = ramping;
    //halve the rotation exponents since WPILib squares rotation by default
    primaryRotationExponent = primaryEx / 2;
    secondaryRotationExponent = secondEx / 2;
    drivetrain = drivebase;
    invertToggler = new Toggler(inverted);
    rotationExponentToggler = new Toggler(usePrimaryRotationExponent);
    this.invertRotation = invertRotation;
}

/**Drivetrain with a deadzone of 0, no ramp, 1 for the primary rotation exponent, 1 for the secondary rotation exponent, and no inverted rotation
 * @param drivetrain the RobotDrive object
 */
public Drivetrain(DifferentialDrive drivetrain) {
    this(0, 1, 1, 1, false, drivetrain);    
}

/**
 * @return the drivetrain
 */
public DifferentialDrive getDrivetrain() {
    return drivetrain;
}

/**
 * @param drivetrain the drivetrain to set
 */
public void setDrivetrain(DifferentialDrive drivetrain) {
    this.drivetrain = drivetrain;
}

/**Drivetrain with a deadzone of 0, no ramping, 1 for the primary rotation exponent, 1 for the secondary rotation exponent, and no inverted rotation
 * @param frontLeft the left front motor controller
 * @param rearLeft the back left motor controller
 * @param frontRight the front right motor controller
 * @param rearRight the back right motor controller
 */
public Drivetrain(SpeedController frontLeft, SpeedController rearLeft, SpeedController frontRight, SpeedController rearRight) {
   this(0, 1, 1, 1, false, new DifferentialDrive(new SpeedControllerGroup(frontLeft, rearLeft), new SpeedControllerGroup(frontRight, rearRight)));
}

/** 
 * @param inputDeadzone joystick deadzone 
 * @param ramping ramping acceleration constant 
 * @param primaryEx primary rotation exponent
 * @param secondEx secondary rotation exponent
 * @param invertRotation boolean for inverting the rotate value
 * @param drivebase robot drive object
 */
public TestDrivetrain(double inputDeadzone, double ramping, double primaryEx, double secondEx, boolean invertRotation, DifferentialDrive drivebase) {
    super(inputDeadzone, ramping, primaryEx, secondEx, invertRotation, drivebase);
}