Package robot.swerve

Class SwerveSubsystem

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
robot.swerve.SwerveSubsystem
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
public class SwerveSubsystem extends edu.wpi.first.wpilibj2.command.SubsystemBase

  • Constructor Summary

    Constructors
    Constructor
    Description
    SwerveSubsystem(SwerveModule... modules)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    brickMode()
     
    edu.wpi.first.wpilibj2.command.Command
    c_controlRotation(DoubleSupplier getTheta)
     
    edu.wpi.first.wpilibj2.command.Command
    c_driveFieldRelative(double x, double y, double theta)
    Hold a field-relative movement speed and rotation speed.
    edu.wpi.first.wpilibj2.command.Command
    c_driveFieldRelative(edu.wpi.first.math.geometry.Translation2d translation, double theta)
    Hold a field-relative movement speed and rotation speed.
    edu.wpi.first.wpilibj2.command.Command
    c_driveRobotRelative(double x, double y, double theta)
    Hold a robot-relative movement speed and rotation speed.
    edu.wpi.first.wpilibj2.command.Command
    c_driveRobotRelative(edu.wpi.first.math.geometry.Translation2d translation, double theta)
    Hold a robot-relative movement speed and rotation speed.
    edu.wpi.first.wpilibj2.command.Command
    c_gotoPos(Supplier<edu.wpi.first.math.geometry.Translation2d> getPos)
     
    edu.wpi.first.wpilibj2.command.Command
    c_gotoPose(Supplier<? extends edu.wpi.first.math.geometry.Pose2d> getPose, boolean useAbsoluteHeading)
    Combination of c_rotateTo and c_gotoPos.
    edu.wpi.first.wpilibj2.command.Command
    c_input(Supplier<? extends edu.wpi.first.math.geometry.Translation2d> translation, DoubleSupplier theta)
    Drive according to inputs provided by the suppliers.
    edu.wpi.first.wpilibj2.command.Command
    c_rotateTo(double theta, boolean useAbsoluteHeading)
     
    edu.wpi.first.wpilibj2.command.Command
    c_rotateTo(Supplier<Double> getTheta, boolean useAbsoluteHeading)
     
    edu.wpi.first.wpilibj2.command.Command
    c_stop()
    Stop the wheels.
    void
    driveFieldRelative(edu.wpi.first.math.geometry.Translation2d translation, double theta)
    Drive relative to the field.
    void
    driveRobotRelative(double x, double y, double theta)
    See driveRobotRelative(Translation2d, double)
    void
    driveRobotRelative(edu.wpi.first.math.geometry.Translation2d translation, double theta)
    Drive relative to the current angle of the robot.
    void
    driveRobotRelative(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)
    Drive relative to the current angle of the robot.
    void
    flipZero()
    Flip current zero position by 180deg.
    edu.wpi.first.math.kinematics.ChassisSpeeds
    getChassisSpeeds()
     
    edu.wpi.first.math.kinematics.SwerveModuleState[]
    getModuleStates()
     
    edu.wpi.first.math.geometry.Pose2d
    getPoseEstimate()
     
    edu.wpi.first.math.geometry.Translation2d
    getPositionEstimate()
     
    edu.wpi.first.math.geometry.Translation2d
    getVelocity()
     
    void
    initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)
     
    void
    input(edu.wpi.first.math.geometry.Translation2d translation, double theta)
    Drive according to joystick inputs.
    void
    periodic()
     
    boolean
    poseEstimatorEnabled()
     
    void
    resetOdometry()
     
    void
    setAutoBrickWhenStill(boolean enabled)
     
    void
    setMotorBrake(boolean brake)
     
    void
    startPoseEstimator(edu.wpi.first.math.geometry.Pose2d currentPose)
     
    void
    startPoseEstimator(edu.wpi.first.math.geometry.Translation2d currentPos)
     
    void
    stop()
     
    void
    stopPoseEstimator()
     
    edu.wpi.first.math.geometry.Translation2d
    toRobotRelative(edu.wpi.first.math.geometry.Translation2d translation)
     
    void
    zero()
    Zero the rotation encoders for all swerve modules.

    Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

    addChild, getName, getSubsystem, setName, setSubsystem

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

    defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

  • Constructor Details

    • SwerveSubsystem

      public SwerveSubsystem(SwerveModule... modules)

  • Method Details

    • getModuleStates

      public edu.wpi.first.math.kinematics.SwerveModuleState[] getModuleStates()

    • startPoseEstimator

      public void startPoseEstimator(edu.wpi.first.math.geometry.Translation2d currentPos)

    • startPoseEstimator

      public void startPoseEstimator(edu.wpi.first.math.geometry.Pose2d currentPose)

    • stopPoseEstimator

      public void stopPoseEstimator()

    • poseEstimatorEnabled

      public boolean poseEstimatorEnabled()

    • getPoseEstimate

      public edu.wpi.first.math.geometry.Pose2d getPoseEstimate()
      Returns:
      The current pose estimate, based on swerve odometry and addVisionPoseEstimate() calls

    • getPositionEstimate

      public edu.wpi.first.math.geometry.Translation2d getPositionEstimate()
      Returns:
      The current position estimate, equivalent to getPoseEstimate().getTranslation()

    • getChassisSpeeds

      public edu.wpi.first.math.kinematics.ChassisSpeeds getChassisSpeeds()
      Returns:
      current robot-relative ChassisSpeeds (velocity and direction) according to encoders

    • getVelocity

      public edu.wpi.first.math.geometry.Translation2d getVelocity()
      Returns:
      current robot-relative velocity according to encoders

    • input

      public void input(edu.wpi.first.math.geometry.Translation2d translation, double theta)
      Drive according to joystick inputs. hypot(x, y) should not exceed 1.
      Parameters:
      translation - X/Y movement from [-1, 1], wpilib coordinate system (forward, left)
      theta - Turn speed from [-1, 1], positive = counterclockwise

    • toRobotRelative

      public edu.wpi.first.math.geometry.Translation2d toRobotRelative(edu.wpi.first.math.geometry.Translation2d translation)

    • driveFieldRelative

      public void driveFieldRelative(edu.wpi.first.math.geometry.Translation2d translation, double theta)
      Drive relative to the field.
      Parameters:
      translation - Movement speed in meters per second
      theta - Rotation speed in rotations per second - not field-relative, as it represents the turning speed, not an absolute angle. Will be overridden if a c_rotateTo() command is active

    • driveRobotRelative

      public void driveRobotRelative(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)
      Drive relative to the current angle of the robot.
      Parameters:
      speeds - Target velocity and rotation, deconstructed into a translation and rotation. See driveRobotRelative(Translation2d, double)

    • driveRobotRelative

      public void driveRobotRelative(edu.wpi.first.math.geometry.Translation2d translation, double theta)
      Drive relative to the current angle of the robot.
      Parameters:
      translation - Movement speed in meters per second Will be overridden if a c_gotoPos() command is active
      theta - Rotation speed in rotations per second. Will be overridden if a c_rotateTo() command is active

    • driveRobotRelative

      public void driveRobotRelative(double x, double y, double theta)
      See driveRobotRelative(Translation2d, double)

    • stop

      public void stop()

    • periodic

      public void periodic()

    • c_rotateTo

      public edu.wpi.first.wpilibj2.command.Command c_rotateTo(double theta, boolean useAbsoluteHeading)
      Parameters:
      theta - Field-relative angle to rotate to
      useAbsoluteHeading - When true, flips the IMU angle when on red alliance. This makes the angles "properly" field-relative instead of "alliance-relative"
      Returns:
      A command that uses PID to rotate to the provided angle. Overrides any rotation from any other drive commands or methods while the command is running

    • c_rotateTo

      public edu.wpi.first.wpilibj2.command.Command c_rotateTo(Supplier<Double> getTheta, boolean useAbsoluteHeading)
      Parameters:
      getTheta - Supplier of field-relative angles to rotate to
      useAbsoluteHeading - When true, flips the IMU angle when on red alliance. This makes the angles "properly" field-relative instead of "alliance-relative"
      Returns:
      A command that uses PID to rotate to the provided angle. Overrides any rotation from any other drive commands or methods while the command is running

    • c_controlRotation

      public edu.wpi.first.wpilibj2.command.Command c_controlRotation(DoubleSupplier getTheta)
      Parameters:
      getTheta - Supplies doubles representing the difference between the current heading and target angle
      Returns:
      A command that uses PID to rotate to the provided angle. Overrides any rotation from any other drive commands or methods while the command is running

    • c_gotoPos

      public edu.wpi.first.wpilibj2.command.Command c_gotoPos(Supplier<edu.wpi.first.math.geometry.Translation2d> getPos)
      Parameters:
      getPos - Supplier of field-relative translations to go to. Return null to signal that the last pose was the final pose of the path, and the command will end once the robot is within PositionCommand.DISTANCE_THRESHOLD of the final pose.
      Returns:
      A command that uses PID and the pose estimator to follow a stream of positions. Overrides any movement from any other drive commands or methods while the command is running

    • c_gotoPose

      public edu.wpi.first.wpilibj2.command.Command c_gotoPose(Supplier<? extends edu.wpi.first.math.geometry.Pose2d> getPose, boolean useAbsoluteHeading)
      Combination of c_rotateTo and c_gotoPos.

    • c_stop

      public edu.wpi.first.wpilibj2.command.Command c_stop()
      Stop the wheels.

    • c_driveFieldRelative

      public edu.wpi.first.wpilibj2.command.Command c_driveFieldRelative(edu.wpi.first.math.geometry.Translation2d translation, double theta)
      Hold a field-relative movement speed and rotation speed.

      See driveFieldRelative(Translation2d, double)

    • c_driveFieldRelative

      public edu.wpi.first.wpilibj2.command.Command c_driveFieldRelative(double x, double y, double theta)
      Hold a field-relative movement speed and rotation speed.

      See driveFieldRelative(Translation2d, double)

    • c_driveRobotRelative

      public edu.wpi.first.wpilibj2.command.Command c_driveRobotRelative(edu.wpi.first.math.geometry.Translation2d translation, double theta)
      Hold a robot-relative movement speed and rotation speed.

      See driveRobotRelative(Translation2d, double)

    • c_driveRobotRelative

      public edu.wpi.first.wpilibj2.command.Command c_driveRobotRelative(double x, double y, double theta)
      Hold a robot-relative movement speed and rotation speed.

      See driveRobotRelative(Translation2d, double)

    • c_input

      public edu.wpi.first.wpilibj2.command.Command c_input(Supplier<? extends edu.wpi.first.math.geometry.Translation2d> translation, DoubleSupplier theta)
      Drive according to inputs provided by the suppliers.

      See input(Translation2d, double)

    • resetOdometry

      public void resetOdometry()

    • zero

      public void zero()
      Zero the rotation encoders for all swerve modules.

    • flipZero

      public void flipZero()
      Flip current zero position by 180deg.

    • setMotorBrake

      public void setMotorBrake(boolean brake)

    • brickMode

      public void brickMode()

    • setAutoBrickWhenStill

      public void setAutoBrickWhenStill(boolean enabled)

    • initSendable

      public void initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)
      Specified by:
      initSendable in interface edu.wpi.first.util.sendable.Sendable
      Overrides:
      initSendable in class edu.wpi.first.wpilibj2.command.SubsystemBase