Driver (2026 API)

java.lang.Object

lib.humaninput.HumanInput

lib.humaninput.Driver

All Implemented Interfaces:: Nameable

Direct Known Subclasses:: NathanGain, RuffyDriver, SwerveDriver

public abstract class Driver extends HumanInput

Driver specific version of HumanInterface.

Field Summary

Fields inherited from class lib.humaninput.HumanInput
name
Constructor Summary

Constructors

Constructor

Description

Driver(String name)
Method Summary

Modifier and Type

Method

Description

abstract edu.wpi.first.math.geometry.Translation2d

getTranslation()

abstract double

getTurnSpeed()

protected double

scaleGain(double input, double exp)

Alias for MathUtil.copyDirectionPow(double, double)

Methods inherited from class lib.humaninput.HumanInput
bindCommands, getName, unbindCommands

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

Constructor Details
- Driver
  
  public Driver(String name)
Method Details
- getTranslation
  
  public abstract edu.wpi.first.math.geometry.Translation2d getTranslation()
  
  Returns:
  
  Speed that the driver wants, in wpilib field-relative coordinates (forward, left). Length of translation vector should not exceed 1
- getTurnSpeed
  
  public abstract double getTurnSpeed()
  
  Returns:
  
  Turn speed that the driver wants in the range [-1, 1], positive = counterclockwise
- scaleGain
  
  protected double scaleGain(double input, double exp)
  
  Alias for MathUtil.copyDirectionPow(double, double)