Package frc.team_8840_lib.controllers

Class SwerveDrive

java.lang.Object

frc.team_8840_lib.utils.IO.IOLayer

frc.team_8840_lib.replay.Replayable

frc.team_8840_lib.controllers.SwerveDrive

All Implemented Interfaces:

Loggable

public class SwerveDrive
extends Replayable

Constructor Summary

Constructors

Constructor	Description
SwerveDrive(ModuleConfig frontLeft, ModuleConfig frontRight, ModuleConfig backLeft, ModuleConfig backRight, Pigeon pigeon, SwerveSettings settings)

Method Summary

Modifier and Type	Method	Description
void	drive(edu.wpi.first.math.geometry.Translation2d translation, edu.wpi.first.math.geometry.Rotation2d rotationSpeed, boolean fieldRelative, boolean openLoop)	Sets the speed and rotation of each module using a translation and rotation.
void	exitReplay()
edu.wpi.first.math.geometry.Rotation2d	getAngle()	Returns the angle of the gyroscope on the robot.
double[]	getAngles()
String	getBaseName()
SwerveModule[]	getModules()
double[]	getPointing()
edu.wpi.first.math.geometry.Pose2d	getPose()
SwerveSettings	getSettings()
double[]	getSpeeds()
edu.wpi.first.math.kinematics.SwerveModulePosition[]	getSwervePositions()
boolean	isOpenLoop()
boolean	isReady()
void	replayAngles(double[] angles)
void	replayGyroscope(double[] pointing)
void	replayInit()
void	replayOpenLoop(boolean openLoop)
void	replaySpeeds(double[] speeds)
void	resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
void	setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState frontRight, edu.wpi.first.math.kinematics.SwerveModuleState backRight, edu.wpi.first.math.kinematics.SwerveModuleState frontLeft, edu.wpi.first.math.kinematics.SwerveModuleState backLeft, boolean openLoop, boolean runOptimization)
void	spin(edu.wpi.first.math.geometry.Rotation2d rotationPerSecond, boolean openLoop)
void	stop()
void	updateOdometry()	Updates the odometry of the robot using the positions of the encoders.

Methods inherited from class frc.team_8840_lib.replay.Replayable

feedThread, getField, getReplaySaveMethod, replay, replayable, replaying

Methods inherited from class frc.team_8840_lib.utils.IO.IOLayer

close, isReal, setReal

Methods inherited from class java.lang.Object

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

Constructor Details

SwerveDrive

public SwerveDrive(ModuleConfig frontLeft,
 ModuleConfig frontRight,
 ModuleConfig backLeft,
 ModuleConfig backRight,
 Pigeon pigeon,
 SwerveSettings settings)

Method Details

drive

public void drive(edu.wpi.first.math.geometry.Translation2d translation,
 edu.wpi.first.math.geometry.Rotation2d rotationSpeed,
 boolean fieldRelative,
 boolean openLoop)

Sets the speed and rotation of each module using a translation and rotation.

Parameters:

translation - Translation for the robot (in meters).

rotationSpeed - Rotation speed of the robot.

fieldRelative - Whether the translation is field relative or not

openLoop - Whether to use open loop or closed loop

stop

public void stop()

spin

public void spin(edu.wpi.first.math.geometry.Rotation2d rotationPerSecond,
 boolean openLoop)

setModuleStates

public void setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState frontRight,
 edu.wpi.first.math.kinematics.SwerveModuleState backRight,
 edu.wpi.first.math.kinematics.SwerveModuleState frontLeft,
 edu.wpi.first.math.kinematics.SwerveModuleState backLeft,
 boolean openLoop,
 boolean runOptimization)

getSwervePositions

public edu.wpi.first.math.kinematics.SwerveModulePosition[] getSwervePositions()

updateOdometry

public void updateOdometry()

Updates the odometry of the robot using the positions of the encoders.

resetOdometry

public void resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)

getPose

public edu.wpi.first.math.geometry.Pose2d getPose()

getSettings

public SwerveSettings getSettings()

getModules

public SwerveModule[] getModules()

getAngle

public edu.wpi.first.math.geometry.Rotation2d getAngle()

Returns the angle of the gyroscope on the robot.

Returns:

The angle of the gyroscope on the robot

isReady

public boolean isReady()

getBaseName

public String getBaseName()

Specified by:

getBaseName in interface Loggable

Specified by:

getBaseName in class Replayable

getPointing

public double[] getPointing()

replayGyroscope

public void replayGyroscope(double[] pointing)

isOpenLoop

public boolean isOpenLoop()

replayOpenLoop

public void replayOpenLoop(boolean openLoop)

getAngles

public double[] getAngles()

replayAngles

public void replayAngles(double[] angles)

getSpeeds

public double[] getSpeeds()

replaySpeeds

public void replaySpeeds(double[] speeds)

replayInit

public void replayInit()

Specified by:

replayInit in class Replayable

exitReplay

public void exitReplay()

Specified by:

exitReplay in class Replayable