SwerveDriver (2026 API)

java.lang.Object

lib.humaninput.HumanInput

lib.humaninput.Driver

robot.humaninterface.drivers.SwerveDriver

All Implemented Interfaces:: Nameable

public class SwerveDriver extends Driver

Field Summary

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

Constructors

Constructor

Description

SwerveDriver()
Method Summary

Modifier and Type

Method

Description

void

bindCommands()

A function where the driver's and operator's controls are bound to commands

protected double

getRawForward()

protected double

getRawLeft()

edu.wpi.first.math.geometry.Translation2d

getTranslation()

double

getTurnSpeed()

void

unbindCommands()

Can be optionally overridden to unbind commands that were bound in bindCommands().

Methods inherited from class lib.humaninput.Driver
scaleGain

Methods inherited from class lib.humaninput.HumanInput
getName

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

Constructor Details
- SwerveDriver
  
  public SwerveDriver()
Method Details
- bindCommands
  
  public void bindCommands()
  
  Description copied from class: HumanInput
  
  A function where the driver's and operator's controls are bound to commands
  Can't be done in the constructor because constructors are called too early
  
  Specified by:
  
  bindCommands in class HumanInput
- unbindCommands
  
  public void unbindCommands()
  
  Description copied from class: HumanInput
  Can be optionally overridden to unbind commands that were bound in bindCommands().
  You should do this for any commands that were not bound to one of the following:
  
  RobotMap.HumanInput.Driver.xyJoystick
  RobotMap.HumanInput.Driver.turnJoystick
  RobotMap.HumanInput.Operator.joystick
  See CommandRobotBase.clearBindings()
  Overrides:
  
  unbindCommands in class HumanInput
- getRawForward
  
  protected double getRawForward()
- getRawLeft
  
  protected double getRawLeft()
- getTranslation
  
  public edu.wpi.first.math.geometry.Translation2d getTranslation()
  
  Specified by:
  
  getTranslation in class Driver
  
  Returns:
  
  Speed that the driver wants, in wpilib field-relative coordinates (forward, left). Length of translation vector should not exceed 1
- getTurnSpeed
  
  public double getTurnSpeed()
  
  Specified by:
  
  getTurnSpeed in class Driver
  
  Returns:
  
  Turn speed that the driver wants in the range [-1, 1], positive = counterclockwise