DriveBase

java.lang.Object
- Subsystem
- - frc.team670.robot.subsystems.DriveBase

```
public class DriveBase
extends Subsystem
```
Represents a tank drive base.

Author:

shaylandias

Constructor Summary

Constructors
Constructor and Description

DriveBase()

Constructors
Constructor and Description
`DriveBase()`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`arcadeDrive(double xSpeed, double zRotation)` Drives the Robot using an arcade drive configuration (single joystick with twist)
`void`	`arcadeDrive(double xSpeed, double zRotation, boolean squaredInputs)` Drives the Robot using an arcade drive configuration (single joystick with twist)
`static double`	`convertDriveBaseRotationsToInches(double rotations)` Gets inches per rotations of a NEO motor on the drive base since SparkMAX encoders work in rotations.
`static double`	`convertDriveBaseTicksToInches(double ticks)` Converts a tick value taken from a drive base DIO encoder to inches.
`static double`	`convertInchesPerSecondToDriveBaseRoundsPerMinute(double inchesPerSecond)` Converts a value of per second of the DriveBase Rounds Per Minute
`static double`	`convertInchesToDriveBaseRotations(double inches)` Gets rotations of a NEO motor on the drive base per a value in inches ince SparkMAX encoders work in rotations.
`static int`	`convertInchesToDriveBaseTicks(double inches)` Converts an inch value into drive base DIO Encoder ticks.
`static double`	`convertSparkRevolutionsToInches(double revolutions)`
`void`	`curvatureDrive(double xSpeed, double zRotation, boolean isQuickTurn)` Drives the Robot using a curvature drive configuration (wheel)
`double`	`getDriveBaseInputVoltage()`
`double`	`getDriveBaseOutputVoltage()`
`java.util.List<CANSparkMax>`	`getLeftControllers()`
`double`	`getLeftDIODistanceInches()`
`Encoder`	`getLeftDIOEncoder()` Returns the left DIO Encoder
`int`	`getLeftDIOEncoderPosition()` Gets the encoder position of the front left motor in ticks.
`double`	`getLeftInputVoltage()`
`MustangDriveBaseEncoder`	`getLeftMustangDriveBaseEncoder()` Returns the MustangDriveBaseEncoder used for the left motors
`double`	`getLeftMustangEncoderPositionInInches()` Returns the position of the MustangDriveBaseEncoder used for the left motors in inches
`int`	`getLeftMustangEncoderPositionInTicks()` Returns the position of the MustangDriveBaseEncoder used for the left motors in ticks
`double`	`getLeftMustangEncoderVelocityInInchesPerSecond()` Returns the velocity of the MustangDriveBaseEncoder used for the left motors in inches/second
`double`	`getLeftMustangEncoderVelocityInTicksPerSecond()` Returns the velocity of the MustangDriveBaseEncoder used for the left motors in ticks/second
`double`	`getLeftOutputCurrent()`
`double`	`getLeftOutputVoltage()`
`int`	`getLeftSparkEncoderPosition()` Gets the encoder position of the front left motor in ticks.
`double`	`getLeftSparkEncoderVelocityTicks()` Returns the velocity of the right side of the drivebase in ticks/second from the Spark Encoder
`java.util.List<CANSparkMax>`	`getRightControllers()`
`double`	`getRightDIODistanceInches()`
`Encoder`	`getRightDIOEncoder()` Returns the right DIO Encoder
`int`	`getRightDIOEncoderPosition()` Gets the tick count of the right encoder
`double`	`getRightInputVoltage()`
`MustangDriveBaseEncoder`	`getRightMustangDriveBaseEncoder()` Returns the MustangDriveBaseEncoder used for the right motors
`double`	`getRightMustangEncoderPositionInInches()` Returns the position of the MustangDriveBaseEncoder used for the right motors in inches
`int`	`getRightMustangEncoderPositionInTicks()` Returns the position of the MustangDriveBaseEncoder used for the right motors in ticks
`double`	`getRightMustangEncoderVelocityInInchesPerSecond()` Returns the velocity of the MustangDriveBaseEncoder used for the right motors in inches/second
`double`	`getRightMustangEncoderVelocityInTicksPerSecond()` Returns the velocity of the MustangDriveBaseEncoder used for the right motors in ticks/second
`double`	`getRightOutputCurrent()`
`double`	`getRightOutputVoltage()`
`int`	`getRightSparkEncoderPosition()` Gets the encoder position of the front right motor in ticks.
`double`	`getRightSparkEncoderVelocityTicks()` Returns the velocity of the right side of the drivebase in ticks/second from the Spark Encoder
`double`	`getRobotInputVoltage()`
`double`	`getRobotOutputCurrent()`
`double`	`getRobotOutputVoltage()`
`void`	`initBrakeMode()`
`void`	`initCoastMode()`
`void`	`initDefaultCommand()`
`void`	`sendEncoderDataToDashboard()`
`void`	`setMotorsBrakeMode(java.util.List<CANSparkMax> motorGroup, IdleMode mode)` Sets array of motor to brake mode
`void`	`setMotorsCoastMode(java.util.List<CANSparkMax> motorGroup, IdleMode mode)` Sets array of motor to coast mode
`void`	`setMotorsNeutralMode(IdleMode mode)` Sets array of motors to be of a specified mode
`void`	`setRampRate(java.util.List<CANSparkMax> motors, double rampRate)`
`void`	`setSparkEncodersControl(double deltaLeft, double deltaRight)` Sets the PIDControllers setpoints for the left and right side motors to the given positions in ticks forward.
`void`	`setSparkVelocityControl(double leftVel, double rightVel)` Sets the velocities of the left and right motors of the robot.
`void`	`stop()` Stops the motors on the drive base (sets them to 0).
`void`	`tankDrive(double leftSpeed, double rightSpeed)` Drives the Robot using a tank drive configuration (two joysticks, or auton).
`void`	`tankDrive(double leftSpeed, double rightSpeed, boolean squaredInputs)` Drives the Robot using a tank drive configuration (two joysticks, or auton)

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - DriveBase
```
public DriveBase()
```
- Method Detail
  - tankDrive
```
public void tankDrive(double leftSpeed,
                      double rightSpeed)
```
    Drives the Robot using a tank drive configuration (two joysticks, or auton). Squares inputs to linearize them.
    
    Parameters:
    
    leftSpeed - Speed for left side of drive base [-1, 1]. Automatically squares this value to linearize it.
    
    rightSpeed - Speed for right side of drive base [-1, 1]. Automatically squares this value to linearize it.
  - initBrakeMode
```
public void initBrakeMode()
```
  - tankDrive
```
public void tankDrive(double leftSpeed,
                      double rightSpeed,
                      boolean squaredInputs)
```
    Drives the Robot using a tank drive configuration (two joysticks, or auton)
    
    Parameters:
    
    leftSpeed - Speed for left side of drive base [-1, 1]
    
    rightSpeed - Speed for right side of drive base [-1, 1]
    
    squaredInputs - If true, decreases sensitivity at lower inputs
  - curvatureDrive
```
public void curvatureDrive(double xSpeed,
                           double zRotation,
                           boolean isQuickTurn)
```
    Drives the Robot using a curvature drive configuration (wheel)
    
    Parameters:
    
    xSpeed - The forward throttle speed [-1, 1]
    
    zRotation - The amount of rotation to turn [-1, 1] with positive being right
    
    isQuickTurn - If true enables turning in place and running one side backwards to turn faster
  - arcadeDrive
```
public void arcadeDrive(double xSpeed,
                        double zRotation,
                        boolean squaredInputs)
```
    Drives the Robot using an arcade drive configuration (single joystick with twist)
    
    Parameters:
    
    xSpeed - The forward throttle speed [-1, 1]
    
    zRotation - The amount of rotation to turn [-1, 1] with positive being right
    
    isQuickTurn - If true, decreases sensitivity at lower inputs
  - arcadeDrive
```
public void arcadeDrive(double xSpeed,
                        double zRotation)
```
    Drives the Robot using an arcade drive configuration (single joystick with twist)
    
    Parameters:
    
    xSpeed - The forward throttle speed [-1, 1]
    
    zRotation - The amount of rotation to turn [-1, 1] with positive being right
  - stop
```
public void stop()
```
    Stops the motors on the drive base (sets them to 0).
  - getRobotInputVoltage
```
public double getRobotInputVoltage()
```
  - getRobotOutputVoltage
```
public double getRobotOutputVoltage()
```
  - getLeftDIOEncoder
```
public Encoder getLeftDIOEncoder()
```
    Returns the left DIO Encoder
  - getRightDIOEncoder
```
public Encoder getRightDIOEncoder()
```
    Returns the right DIO Encoder
  - setSparkEncodersControl
```
public void setSparkEncodersControl(double deltaLeft,
                                    double deltaRight)
```
    Sets the PIDControllers setpoints for the left and right side motors to the given positions in ticks forward.
    
    Parameters:
    
    deltaLeft - The desired change in left position in encoder ticks
    
    deltaRight - The desired change in right position in encoder ticks
  - setSparkVelocityControl
```
public void setSparkVelocityControl(double leftVel,
                                    double rightVel)
```
    Sets the velocities of the left and right motors of the robot.
    
    Parameters:
    
    leftVel - Velocity for left motors in inches/sec
    
    rightVel - Velocity for right motors in inches/sec
  - getLeftSparkEncoderPosition
```
public int getLeftSparkEncoderPosition()
```
    Gets the encoder position of the front left motor in ticks.
  - getRightSparkEncoderPosition
```
public int getRightSparkEncoderPosition()
```
    Gets the encoder position of the front right motor in ticks.
  - getLeftDIOEncoderPosition
```
public int getLeftDIOEncoderPosition()
```
    Gets the encoder position of the front left motor in ticks.
  - getRightDIOEncoderPosition
```
public int getRightDIOEncoderPosition()
```
    Gets the tick count of the right encoder
  - setMotorsNeutralMode
```
public void setMotorsNeutralMode(IdleMode mode)
```
    Sets array of motors to be of a specified mode
  - setMotorsCoastMode
```
public void setMotorsCoastMode(java.util.List<CANSparkMax> motorGroup,
                               IdleMode mode)
```
    Sets array of motor to coast mode
  - setMotorsBrakeMode
```
public void setMotorsBrakeMode(java.util.List<CANSparkMax> motorGroup,
                               IdleMode mode)
```
    Sets array of motor to brake mode
  - getLeftInputVoltage
```
public double getLeftInputVoltage()
```
  - getRightInputVoltage
```
public double getRightInputVoltage()
```
  - getLeftOutputVoltage
```
public double getLeftOutputVoltage()
```
  - getRightOutputVoltage
```
public double getRightOutputVoltage()
```
  - getLeftOutputCurrent
```
public double getLeftOutputCurrent()
```
  - getRightOutputCurrent
```
public double getRightOutputCurrent()
```
  - getDriveBaseInputVoltage
```
public double getDriveBaseInputVoltage()
```
  - getDriveBaseOutputVoltage
```
public double getDriveBaseOutputVoltage()
```
  - getRobotOutputCurrent
```
public double getRobotOutputCurrent()
```
  - initDefaultCommand
```
public void initDefaultCommand()
```
  - getLeftSparkEncoderVelocityTicks
```
public double getLeftSparkEncoderVelocityTicks()
```
    Returns the velocity of the right side of the drivebase in ticks/second from the Spark Encoder
  - getRightSparkEncoderVelocityTicks
```
public double getRightSparkEncoderVelocityTicks()
```
    Returns the velocity of the right side of the drivebase in ticks/second from the Spark Encoder
  - getLeftDIODistanceInches
```
public double getLeftDIODistanceInches()
```
  - getRightDIODistanceInches
```
public double getRightDIODistanceInches()
```
  - getLeftControllers
```
public java.util.List<CANSparkMax> getLeftControllers()
```
  - getRightControllers
```
public java.util.List<CANSparkMax> getRightControllers()
```
  - setRampRate
```
public void setRampRate(java.util.List<CANSparkMax> motors,
                        double rampRate)
```
    Parameters:
    
    rampRate - The ramp rate in seconds from 0 to full throttle
  - convertDriveBaseTicksToInches
```
public static double convertDriveBaseTicksToInches(double ticks)
```
    Converts a tick value taken from a drive base DIO encoder to inches.
  - convertSparkRevolutionsToInches
```
public static double convertSparkRevolutionsToInches(double revolutions)
```
  - convertInchesToDriveBaseTicks
```
public static int convertInchesToDriveBaseTicks(double inches)
```
    Converts an inch value into drive base DIO Encoder ticks.
  - convertDriveBaseRotationsToInches
```
public static double convertDriveBaseRotationsToInches(double rotations)
```
    Gets inches per rotations of a NEO motor on the drive base since SparkMAX encoders work in rotations.
  - convertInchesToDriveBaseRotations
```
public static double convertInchesToDriveBaseRotations(double inches)
```
    Gets rotations of a NEO motor on the drive base per a value in inches ince SparkMAX encoders work in rotations.
  - convertInchesPerSecondToDriveBaseRoundsPerMinute
```
public static double convertInchesPerSecondToDriveBaseRoundsPerMinute(double inchesPerSecond)
```
    Converts a value of per second of the DriveBase Rounds Per Minute
  - getLeftMustangDriveBaseEncoder
```
public MustangDriveBaseEncoder getLeftMustangDriveBaseEncoder()
```
    Returns the MustangDriveBaseEncoder used for the left motors
  - getRightMustangDriveBaseEncoder
```
public MustangDriveBaseEncoder getRightMustangDriveBaseEncoder()
```
    Returns the MustangDriveBaseEncoder used for the right motors
  - getLeftMustangEncoderPositionInTicks
```
public int getLeftMustangEncoderPositionInTicks()
```
    Returns the position of the MustangDriveBaseEncoder used for the left motors in ticks
  - getRightMustangEncoderPositionInTicks
```
public int getRightMustangEncoderPositionInTicks()
```
    Returns the position of the MustangDriveBaseEncoder used for the right motors in ticks
  - getLeftMustangEncoderPositionInInches
```
public double getLeftMustangEncoderPositionInInches()
```
    Returns the position of the MustangDriveBaseEncoder used for the left motors in inches
  - getRightMustangEncoderPositionInInches
```
public double getRightMustangEncoderPositionInInches()
```
    Returns the position of the MustangDriveBaseEncoder used for the right motors in inches
  - getLeftMustangEncoderVelocityInTicksPerSecond
```
public double getLeftMustangEncoderVelocityInTicksPerSecond()
```
    Returns the velocity of the MustangDriveBaseEncoder used for the left motors in ticks/second
  - initCoastMode
```
public void initCoastMode()
```
  - getRightMustangEncoderVelocityInTicksPerSecond
```
public double getRightMustangEncoderVelocityInTicksPerSecond()
```
    Returns the velocity of the MustangDriveBaseEncoder used for the right motors in ticks/second
  - getLeftMustangEncoderVelocityInInchesPerSecond
```
public double getLeftMustangEncoderVelocityInInchesPerSecond()
```
    Returns the velocity of the MustangDriveBaseEncoder used for the left motors in inches/second
  - getRightMustangEncoderVelocityInInchesPerSecond
```
public double getRightMustangEncoderVelocityInInchesPerSecond()
```
    Returns the velocity of the MustangDriveBaseEncoder used for the right motors in inches/second
  - sendEncoderDataToDashboard
```
public void sendEncoderDataToDashboard()
```

Class DriveBase

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

DriveBase

Method Detail

tankDrive

initBrakeMode

tankDrive

curvatureDrive

arcadeDrive

arcadeDrive

stop

getRobotInputVoltage

getRobotOutputVoltage

getLeftDIOEncoder

getRightDIOEncoder

setSparkEncodersControl

setSparkVelocityControl

getLeftSparkEncoderPosition

getRightSparkEncoderPosition

getLeftDIOEncoderPosition

getRightDIOEncoderPosition

setMotorsNeutralMode

setMotorsCoastMode

setMotorsBrakeMode

getLeftInputVoltage

getRightInputVoltage

getLeftOutputVoltage

getRightOutputVoltage

getLeftOutputCurrent

getRightOutputCurrent

getDriveBaseInputVoltage

getDriveBaseOutputVoltage

getRobotOutputCurrent

initDefaultCommand

getLeftSparkEncoderVelocityTicks

getRightSparkEncoderVelocityTicks

getLeftDIODistanceInches

getRightDIODistanceInches

getLeftControllers

getRightControllers

setRampRate

convertDriveBaseTicksToInches

convertSparkRevolutionsToInches

convertInchesToDriveBaseTicks

convertDriveBaseRotationsToInches

convertInchesToDriveBaseRotations

convertInchesPerSecondToDriveBaseRoundsPerMinute

getLeftMustangDriveBaseEncoder

getRightMustangDriveBaseEncoder

getLeftMustangEncoderPositionInTicks

getRightMustangEncoderPositionInTicks

getLeftMustangEncoderPositionInInches

getRightMustangEncoderPositionInInches

getLeftMustangEncoderVelocityInTicksPerSecond

initCoastMode

getRightMustangEncoderVelocityInTicksPerSecond

getLeftMustangEncoderVelocityInInchesPerSecond

getRightMustangEncoderVelocityInInchesPerSecond

sendEncoderDataToDashboard