Universal Drive

The All in One RobotDrive framework for those who want an easy solution

What is this

Universal Drive is a Toast Module that acts as a framework for the RobotDrive in WPILib. This module allows users to configure their driving preferences through its configuration file (toast/config/UniversalDrive.conf), as seen below:

{
	"joy":{
		"layout":"XBOX_STICK",
		"port":0
	},
	"drive":{
		"motor":"Talon",
		"type":"TANK",
		"ports":[0,1],
		"squaredinputs":false
	}
}

Name	Description
joy	Joystick settings
layout	Defines the Control Layout of the Joystick. This is different per Drive Type. TANK: XBOX_STICK (analog L/R stick drive) MECANUM: XBOX_STICK (L analog stick for X/Y, R analog stick for rotation) ARCADE: XBOX_STICK (analog L stick drive)
port	Get the JoyStick port to use for the Drive
drive	Drive settings
motor	The type of motor controller to use. Possible values are: "Talon", "TalonSRX", "CANTalon", "Jaguar", "CANJaguar", "Victor", "VictorSP"
type	The type of Drive to use. Possible options are: "TANK", "MECANUM", "ARCADE"
ports	The motor ports to use. This is the PWM/CAN interface ID the motor controller is attached to. Pattern: [left, right] or [front left, back left, front right, back right]
squaredinputs	Whether or not to use squared inputs on tank and arcade drive. Possible values are: true or false

This configuration file allows for users to quickly and easily setup their driving configuration for their robot without any coding required. This can be extremely useful for spinning up a Drive Base really quickly, or for teams who don't have much coding knowledge and want to get the Robot Driving. Additionally, the project is open source, meaning teams can contribute their expertise in fine-tuning drive systems so the API is always at it's most stable.