Is setExpiration necessary?

[Zaque]

Hi all,

This is our first year using java. In some example code I have seen, there is a RobotDrive.setExpiration() called, with a double input. We did not do anything of this sort in previous years when we used LabVIEW. I was wondering what this function does and if it is necessary to put in our program.

Thanks,
Zaque

[Joe Ross]

setExpiration is a part of MotorSafety. In LabVIEW, Motor Safety is automatically enabled for RobotDrive, with an expiration of 0.1 seconds. The same is true for Java and C++.

You can read more about it here: http://wpilib.screenstepslive.com/s/...safety-feature