PathFollowingDrive (robot_framework API)

java.lang.Object
- org.wildstang.framework.subsystems.drive.PathFollowingDrive

All Implemented Interfaces:

InputListener, Subsystem
```
public abstract class PathFollowingDrive
extends java.lang.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

All Methods Instance Methods Abstract Methods Concrete Methods
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, resetState, selfTest, update

- Field Detail
  - profileNotifier
```
protected edu.wpi.first.wpilibj.Notifier profileNotifier
```
- Constructor Detail
  - PathFollowingDrive
```
public PathFollowingDrive()
```
- Method Detail
  - 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