DifferentialDrive
or MecanumDrive
classes instead.@Deprecated public class RobotDrive extends java.lang.Object implements MotorSafety
| Modifier and Type | Class and Description |
|---|---|
static class |
RobotDrive.MotorType
Deprecated.
The location of a motor on the robot for the purpose of driving.
|
| Modifier and Type | Field and Description |
|---|---|
protected static boolean |
kArcadeRatioCurve_Reported
Deprecated.
|
protected static boolean |
kArcadeStandard_Reported
Deprecated.
|
static double |
kDefaultExpirationTime
Deprecated.
|
static double |
kDefaultMaxOutput
Deprecated.
|
static double |
kDefaultSensitivity
Deprecated.
|
protected static int |
kMaxNumberOfMotors
Deprecated.
|
protected static boolean |
kMecanumCartesian_Reported
Deprecated.
|
protected static boolean |
kMecanumPolar_Reported
Deprecated.
|
protected static boolean |
kTank_Reported
Deprecated.
|
protected boolean |
m_allocatedSpeedControllers
Deprecated.
|
protected SpeedController |
m_frontLeftMotor
Deprecated.
|
protected SpeedController |
m_frontRightMotor
Deprecated.
|
protected double |
m_maxOutput
Deprecated.
|
protected SpeedController |
m_rearLeftMotor
Deprecated.
|
protected SpeedController |
m_rearRightMotor
Deprecated.
|
protected MotorSafetyHelper |
m_safetyHelper
Deprecated.
|
protected double |
m_sensitivity
Deprecated.
|
DEFAULT_SAFETY_EXPIRATION
| Constructor and Description |
|---|
RobotDrive(int leftMotorChannel,
int rightMotorChannel)
Deprecated.
Constructor for RobotDrive with 2 motors specified with channel numbers.
|
RobotDrive(int frontLeftMotor,
int rearLeftMotor,
int frontRightMotor,
int rearRightMotor)
Deprecated.
Constructor for RobotDrive with 4 motors specified with channel numbers.
|
RobotDrive(SpeedController leftMotor,
SpeedController rightMotor)
Deprecated.
Constructor for RobotDrive with 2 motors specified as SpeedController objects.
|
RobotDrive(SpeedController frontLeftMotor,
SpeedController rearLeftMotor,
SpeedController frontRightMotor,
SpeedController rearRightMotor)
Deprecated.
Constructor for RobotDrive with 4 motors specified as SpeedController objects.
|
| Modifier and Type | Method and Description |
|---|---|
void |
arcadeDrive(double moveValue,
double rotateValue)
Deprecated.
Arcade drive implements single stick driving.
|
void |
arcadeDrive(double moveValue,
double rotateValue,
boolean squaredInputs)
Deprecated.
Arcade drive implements single stick driving.
|
void |
arcadeDrive(GenericHID stick)
Deprecated.
Arcade drive implements single stick driving.
|
void |
arcadeDrive(GenericHID stick,
boolean squaredInputs)
Deprecated.
Arcade drive implements single stick driving.
|
void |
arcadeDrive(GenericHID moveStick,
int moveAxis,
GenericHID rotateStick,
int rotateAxis)
Deprecated.
Arcade drive implements single stick driving.
|
void |
arcadeDrive(GenericHID moveStick,
int moveAxis,
GenericHID rotateStick,
int rotateAxis,
boolean squaredInputs)
Deprecated.
Arcade drive implements single stick driving.
|
void |
drive(double outputMagnitude,
double curve)
Deprecated.
Drive the motors at "outputMagnitude" and "curve".
|
void |
free()
Deprecated.
Free the speed controllers if they were allocated locally.
|
java.lang.String |
getDescription()
Deprecated.
|
double |
getExpiration()
Deprecated.
|
protected int |
getNumMotors()
Deprecated.
|
boolean |
isAlive()
Deprecated.
|
boolean |
isSafetyEnabled()
Deprecated.
|
protected static double |
limit(double number)
Deprecated.
Limit motor values to the -1.0 to +1.0 range.
|
void |
mecanumDrive_Cartesian(double x,
double y,
double rotation,
double gyroAngle)
Deprecated.
Drive method for Mecanum wheeled robots.
|
void |
mecanumDrive_Polar(double magnitude,
double direction,
double rotation)
Deprecated.
Drive method for Mecanum wheeled robots.
|
protected static void |
normalize(double[] wheelSpeeds)
Deprecated.
Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
|
protected static double[] |
rotateVector(double x,
double y,
double angle)
Deprecated.
Rotate a vector in Cartesian space.
|
void |
setExpiration(double timeout)
Deprecated.
|
void |
setInvertedMotor(RobotDrive.MotorType motor,
boolean isInverted)
Deprecated.
Invert a motor direction.
|
void |
setLeftRightMotorOutputs(double leftOutput,
double rightOutput)
Deprecated.
Set the speed of the right and left motors.
|
void |
setMaxOutput(double maxOutput)
Deprecated.
Configure the scaling factor for using RobotDrive with motor controllers in a mode other than
PercentVbus.
|
void |
setSafetyEnabled(boolean enabled)
Deprecated.
|
void |
setSensitivity(double sensitivity)
Deprecated.
Set the turning sensitivity.
|
void |
stopMotor()
Deprecated.
|
void |
tankDrive(double leftValue,
double rightValue)
Deprecated.
Provide tank steering using the stored robot configuration.
|
void |
tankDrive(double leftValue,
double rightValue,
boolean squaredInputs)
Deprecated.
Provide tank steering using the stored robot configuration.
|
void |
tankDrive(GenericHID leftStick,
GenericHID rightStick)
Deprecated.
Provide tank steering using the stored robot configuration.
|
void |
tankDrive(GenericHID leftStick,
GenericHID rightStick,
boolean squaredInputs)
Deprecated.
Provide tank steering using the stored robot configuration.
|
void |
tankDrive(GenericHID leftStick,
int leftAxis,
GenericHID rightStick,
int rightAxis)
Deprecated.
Provide tank steering using the stored robot configuration.
|
void |
tankDrive(GenericHID leftStick,
int leftAxis,
GenericHID rightStick,
int rightAxis,
boolean squaredInputs)
Deprecated.
Provide tank steering using the stored robot configuration.
|
protected MotorSafetyHelper m_safetyHelper
public static final double kDefaultExpirationTime
public static final double kDefaultSensitivity
public static final double kDefaultMaxOutput
protected static final int kMaxNumberOfMotors
protected double m_sensitivity
protected double m_maxOutput
protected SpeedController m_frontLeftMotor
protected SpeedController m_frontRightMotor
protected SpeedController m_rearLeftMotor
protected SpeedController m_rearRightMotor
protected boolean m_allocatedSpeedControllers
protected static boolean kArcadeRatioCurve_Reported
protected static boolean kTank_Reported
protected static boolean kArcadeStandard_Reported
protected static boolean kMecanumCartesian_Reported
protected static boolean kMecanumPolar_Reported
public RobotDrive(int leftMotorChannel, int rightMotorChannel)
leftMotorChannel
- The PWM channel number that drives the left motor.rightMotorChannel
- The PWM channel number that drives the right motor.public RobotDrive(int frontLeftMotor, int rearLeftMotor, int frontRightMotor, int rearRightMotor)
frontLeftMotor
- Front left motor channel numberrearLeftMotor
- Rear Left motor channel numberfrontRightMotor
- Front right motor channel numberrearRightMotor
- Rear Right motor channel numberpublic RobotDrive(SpeedController leftMotor, SpeedController rightMotor)
leftMotor
- The left SpeedController object used to drive the robot.rightMotor
- the right SpeedController object used to drive the robot.public RobotDrive(SpeedController frontLeftMotor, SpeedController rearLeftMotor, SpeedController frontRightMotor, SpeedController rearRightMotor)
frontLeftMotor
- The front left SpeedController object used to drive the robotrearLeftMotor
- The back left SpeedController object used to drive the robot.frontRightMotor
- The front right SpeedController object used to drive the robot.rearRightMotor
- The back right SpeedController object used to drive the robot.public void drive(double outputMagnitude, double curve)
The algorithm for steering provides a constant turn radius for any normal speed range, both forward and backward. Increasing sensitivity causes sharper turns for fixed values of curve.
This function will most likely be used in an autonomous routine.
outputMagnitude
- The speed setting for the outside wheel in a turn, forward or backwards,
+1 to -1.curve
- The rate of turn, constant for different forward speeds. Set curve < 0 for left turn or curve > 0 for right turn. Set curve =
e^(-r/w) to get a turn radius r for wheelbase w of your robot.
Conversely, turn radius r = -ln(curve)*w for a given value of curve and
wheelbase w.public void tankDrive(GenericHID leftStick, GenericHID rightStick)
leftStick
- The joystick to control the left side of the robot.rightStick
- The joystick to control the right side of the robot.public void tankDrive(GenericHID leftStick, GenericHID rightStick, boolean squaredInputs)
leftStick
- The joystick to control the left side of the robot.rightStick
- The joystick to control the right side of the robot.squaredInputs
- Setting this parameter to true decreases the sensitivity at lower speedspublic void tankDrive(GenericHID leftStick, int leftAxis, GenericHID rightStick, int rightAxis)
leftStick
- The Joystick object to use for the left side of the robot.leftAxis
- The axis to select on the left side Joystick object.rightStick
- The Joystick object to use for the right side of the robot.rightAxis
- The axis to select on the right side Joystick object.public void tankDrive(GenericHID leftStick, int leftAxis, GenericHID rightStick, int rightAxis, boolean squaredInputs)
leftStick
- The Joystick object to use for the left side of the robot.leftAxis
- The axis to select on the left side Joystick object.rightStick
- The Joystick object to use for the right side of the robot.rightAxis
- The axis to select on the right side Joystick object.squaredInputs
- Setting this parameter to true decreases the sensitivity at lower speedspublic void tankDrive(double leftValue, double rightValue, boolean squaredInputs)
leftValue
- The value of the left stick.rightValue
- The value of the right stick.squaredInputs
- Setting this parameter to true decreases the sensitivity at lower speedspublic void tankDrive(double leftValue, double rightValue)
leftValue
- The value of the left stick.rightValue
- The value of the right stick.public void arcadeDrive(GenericHID stick, boolean squaredInputs)
stick
- The joystick to use for Arcade single-stick driving. The Y-axis will be
selected for forwards/backwards and the X-axis will be selected for
rotation rate.squaredInputs
- If true, the sensitivity will be decreased for small valuespublic void arcadeDrive(GenericHID stick)
stick
- The joystick to use for Arcade single-stick driving. The Y-axis will be selected
for forwards/backwards and the X-axis will be selected for rotation rate.public void arcadeDrive(GenericHID moveStick, int moveAxis, GenericHID rotateStick, int rotateAxis, boolean squaredInputs)
moveStick
- The Joystick object that represents the forward/backward directionmoveAxis
- The axis on the moveStick object to use for forwards/backwards (typically
Y_AXIS)rotateStick
- The Joystick object that represents the rotation valuerotateAxis
- The axis on the rotation object to use for the rotate right/left
(typically X_AXIS)squaredInputs
- Setting this parameter to true decreases the sensitivity at lower speedspublic void arcadeDrive(GenericHID moveStick, int moveAxis, GenericHID rotateStick, int rotateAxis)
moveStick
- The Joystick object that represents the forward/backward directionmoveAxis
- The axis on the moveStick object to use for forwards/backwards (typically
Y_AXIS)rotateStick
- The Joystick object that represents the rotation valuerotateAxis
- The axis on the rotation object to use for the rotate right/left (typically
X_AXIS)public void arcadeDrive(double moveValue, double rotateValue, boolean squaredInputs)
moveValue
- The value to use for forwards/backwardsrotateValue
- The value to use for the rotate right/leftsquaredInputs
- If set, decreases the sensitivity at low speedspublic void arcadeDrive(double moveValue, double rotateValue)
moveValue
- The value to use for forwards/backwardsrotateValue
- The value to use for the rotate right/leftpublic void mecanumDrive_Cartesian(double x, double y, double rotation, double gyroAngle)
A method for driving with Mecanum wheeled robots. There are 4 wheels on the robot, arranged so that the front and back wheels are toed in 45 degrees. When looking at the wheels from the top, the roller axles should form an X across the robot.
This is designed to be directly driven by joystick axes.
x
- The speed that the robot should drive in the X direction. [-1.0..1.0]y
- The speed that the robot should drive in the Y direction. This input is
inverted to match the forward == -1.0 that joysticks produce. [-1.0..1.0]rotation
- The rate of rotation for the robot that is completely independent of the
translation. [-1.0..1.0]gyroAngle
- The current angle reading from the gyro. Use this to implement field-oriented
controls.public void mecanumDrive_Polar(double magnitude, double direction, double rotation)
A method for driving with Mecanum wheeled robots. There are 4 wheels on the robot, arranged so that the front and back wheels are toed in 45 degrees. When looking at the wheels from the top, the roller axles should form an X across the robot.
magnitude
- The speed that the robot should drive in a given direction. [-1.0..1.0]direction
- The angle the robot should drive in degrees. The direction and magnitude
are independent of the rotation rate. [-180.0..180.0]rotation
- The rate of rotation for the robot that is completely independent of the
magnitude or direction. [-1.0..1.0]public void setLeftRightMotorOutputs(double leftOutput, double rightOutput)
leftOutput
- The speed to send to the left side of the robot.rightOutput
- The speed to send to the right side of the robot.protected static double limit(double number)
protected static void normalize(double[] wheelSpeeds)
protected static double[] rotateVector(double x, double y, double angle)
public void setInvertedMotor(RobotDrive.MotorType motor, boolean isInverted)
motor
- The motor index to invert.isInverted
- True if the motor should be inverted when operated.public void setSensitivity(double sensitivity)
This only impacts the drive() entry-point.
sensitivity
- Effectively sets the turning sensitivity (or turn radius for a given value)public void setMaxOutput(double maxOutput)
maxOutput
- Multiplied with the output percentage computed by the drive functions.public void free()
public void setExpiration(double timeout)
setExpiration
in interface MotorSafety
public double getExpiration()
getExpiration
in interface MotorSafety
public boolean isAlive()
isAlive
in interface MotorSafety
public boolean isSafetyEnabled()
isSafetyEnabled
in interface MotorSafety
public void setSafetyEnabled(boolean enabled)
setSafetyEnabled
in interface MotorSafety
public java.lang.String getDescription()
getDescription
in interface MotorSafety
public void stopMotor()
stopMotor
in interface MotorSafety
protected int getNumMotors()


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A
AuthCallbackActivity
- Class in
com.spotify.sdk.android.auth
AuthCallbackActivity()
- Constructor for class com.spotify.sdk.android.auth.
AuthCallbackActivity
AuthorizationClient
- Class in
com.spotify.sdk.android.auth
AuthorizationClient provides helper methods to initialize an manage the Spotify authorization flow.
AuthorizationClient(Activity)
- Constructor for class com.spotify.sdk.android.auth.
AuthorizationClient
AuthorizationHandler
- Interface in
com.spotify.sdk.android.auth
AuthorizationHandler.OnCompleteListener
- Interface in
com.spotify.sdk.android.auth
AuthorizationRequest
- Class in
com.spotify.sdk.android.auth
An object that helps construct the request that is sent to Spotify authorization service.
AuthorizationRequest(Parcel)
- Constructor for class com.spotify.sdk.android.auth.
AuthorizationRequest
AuthorizationRequest.Builder
- Class in
com.spotify.sdk.android.auth
Use this builder to create an
AuthorizationRequest
AuthorizationResponse
- Class in
com.spotify.sdk.android.auth
An object that contains the parsed response from the Spotify authorization service.
AuthorizationResponse(Parcel)
- Constructor for class com.spotify.sdk.android.auth.
AuthorizationResponse
AuthorizationResponse.Builder
- Class in
com.spotify.sdk.android.auth
Use this builder to create an
AuthorizationResponse
AuthorizationResponse.Type
- Enum in
com.spotify.sdk.android.auth
The type of the authorization response.
B
build()
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest.Builder
build()
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse.Builder
Builder(String, AuthorizationResponse.Type, String)
- Constructor for class com.spotify.sdk.android.auth.
AuthorizationRequest.Builder
Builder()
- Constructor for class com.spotify.sdk.android.auth.
AuthorizationResponse.Builder
C
clearCookies(Context)
- Static method in class com.spotify.sdk.android.auth.
AuthorizationClient
Helper method to clear any Spotify and Facebook cookies from the WebView browser.
com.spotify.sdk.android.auth
- package com.spotify.sdk.android.auth
Contains classes used in authorization process.
createLoginActivityIntent(Activity, AuthorizationRequest)
- Static method in class com.spotify.sdk.android.auth.
AuthorizationClient
Get an intent to open the LoginActivity.
CREATOR
- Static variable in class com.spotify.sdk.android.auth.
AuthorizationRequest
CREATOR
- Static variable in class com.spotify.sdk.android.auth.
AuthorizationResponse
CustomTabAuthHandler
- Class in
com.spotify.sdk.android.auth
CustomTabAuthHandler()
- Constructor for class com.spotify.sdk.android.auth.
CustomTabAuthHandler
D
describeContents()
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest
describeContents()
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse
F
fromUri(Uri)
- Static method in class com.spotify.sdk.android.auth.
AuthorizationResponse
Parses the URI returned from the Spotify accounts service.
G
getAccessToken()
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse
getAuthIntent(Activity, AuthorizationRequest)
- Static method in class com.spotify.sdk.android.auth.
LoginActivity
getCampaign()
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest
getClientId()
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest
getCode()
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse
getCustomParam(String)
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest
getError()
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse
getExpiresIn()
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse
getRedirectUri()
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest
getResponse(int, Intent)
- Static method in class com.spotify.sdk.android.auth.
AuthorizationClient
Extracts
AuthorizationResponse
from the LoginActivity result.
getResponseType()
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest
getScopes()
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest
getState()
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest
getState()
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse
getType()
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse
I
isAvailable(Context, Intent)
- Static method in class com.spotify.sdk.android.auth.
AuthorizationClient
L
LoginActivity
- Class in
com.spotify.sdk.android.auth
The activity that manages the login flow.
LoginActivity()
- Constructor for class com.spotify.sdk.android.auth.
LoginActivity
O
onActivityResult(int, int, Intent)
- Method in class com.spotify.sdk.android.auth.
LoginActivity
onCancel()
- Method in interface com.spotify.sdk.android.auth.
AuthorizationHandler.OnCompleteListener
onClientCancelled()
- Method in class com.spotify.sdk.android.auth.
LoginActivity
onClientComplete(AuthorizationResponse)
- Method in class com.spotify.sdk.android.auth.
LoginActivity
onComplete(AuthorizationResponse)
- Method in interface com.spotify.sdk.android.auth.
AuthorizationHandler.OnCompleteListener
onCreate(Bundle)
- Method in class com.spotify.sdk.android.auth.
AuthCallbackActivity
onCreate(Bundle)
- Method in class com.spotify.sdk.android.auth.
LoginActivity
onDestroy()
- Method in class com.spotify.sdk.android.auth.
LoginActivity
onError(Throwable)
- Method in interface com.spotify.sdk.android.auth.
AuthorizationHandler.OnCompleteListener
onNewIntent(Intent)
- Method in class com.spotify.sdk.android.auth.
LoginActivity
onPause()
- Method in class com.spotify.sdk.android.auth.
LoginActivity
onResume()
- Method in class com.spotify.sdk.android.auth.
LoginActivity
openDownloadSpotifyActivity(Activity)
- Static method in class com.spotify.sdk.android.auth.
AuthorizationClient
Opens Spotify in the Play Store or browser.
openDownloadSpotifyActivity(Activity, String)
- Static method in class com.spotify.sdk.android.auth.
AuthorizationClient
Opens Spotify in the Play Store or browser.
openLoginActivity(Activity, int, AuthorizationRequest)
- Static method in class com.spotify.sdk.android.auth.
AuthorizationClient
Opens LoginActivity which performs authorization.
openLoginInBrowser(Activity, AuthorizationRequest)
- Static method in class com.spotify.sdk.android.auth.
AuthorizationClient
Triggers an intent to open the Spotify accounts service in a browser.
R
REQUEST_CODE
- Static variable in class com.spotify.sdk.android.auth.
LoginActivity
REQUEST_KEY
- Static variable in class com.spotify.sdk.android.auth.
LoginActivity
RESPONSE_KEY
- Static variable in class com.spotify.sdk.android.auth.
LoginActivity
S
setAccessToken(String)
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse.Builder
setCampaign(String)
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest.Builder
setCode(String)
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse.Builder
setCustomParam(String, String)
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest.Builder
setError(String)
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse.Builder
setExpiresIn(int)
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse.Builder
setOnCompleteListener(AuthorizationHandler.OnCompleteListener)
- Method in interface com.spotify.sdk.android.auth.
AuthorizationHandler
setOnCompleteListener(AuthorizationHandler.OnCompleteListener)
- Method in class com.spotify.sdk.android.auth.
CustomTabAuthHandler
setScopes(String[])
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest.Builder
setShowDialog(boolean)
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest.Builder
setState(String)
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest.Builder
setState(String)
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse.Builder
setType(AuthorizationResponse.Type)
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse.Builder
SpotifyNativeAuthUtil
- Class in
com.spotify.sdk.android.auth
SpotifyNativeAuthUtil(Activity, AuthorizationRequest)
- Constructor for class com.spotify.sdk.android.auth.
SpotifyNativeAuthUtil
start(Activity, AuthorizationRequest)
- Method in interface com.spotify.sdk.android.auth.
AuthorizationHandler
start(Activity, AuthorizationRequest)
- Method in class com.spotify.sdk.android.auth.
CustomTabAuthHandler
startAuthActivity()
- Method in class com.spotify.sdk.android.auth.
SpotifyNativeAuthUtil
stop()
- Method in interface com.spotify.sdk.android.auth.
AuthorizationHandler
stop()
- Method in class com.spotify.sdk.android.auth.
CustomTabAuthHandler
stopAuthActivity()
- Method in class com.spotify.sdk.android.auth.
SpotifyNativeAuthUtil
stopLoginActivity(Activity, int)
- Static method in class com.spotify.sdk.android.auth.
AuthorizationClient
Stops any running LoginActivity
T
toString()
- Method in enum com.spotify.sdk.android.auth.
AuthorizationResponse.Type
toUri()
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest
V
valueOf(String)
- Static method in enum com.spotify.sdk.android.auth.
AuthorizationResponse.Type
Returns the enum constant of this type with the specified name.
values()
- Static method in enum com.spotify.sdk.android.auth.
AuthorizationResponse.Type
Returns an array containing the constants of this enum type, in the order they are declared.
W
writeToParcel(Parcel, int)
- Method in class com.spotify.sdk.android.auth.
AuthorizationRequest
writeToParcel(Parcel, int)
- Method in class com.spotify.sdk.android.auth.
AuthorizationResponse
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