Interface DriveCommands

public interface DriveCommands

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    DriveCommands.WheelRadiusCharacterizationState
     

  • Method Summary

    Static Methods
    Modifier and Type
    Method
    Description
    static org.wpilib.command3.Command
    feedforwardCharacterization(Swerve drive)
    Measures the velocity feedforward constants for the drive motors.
    static org.wpilib.command3.Command
    joystickDrive(Swerve swerve, org.wpilib.command3.button.CommandGamepad driver)
    Field relative drive command using two joysticks (controlling linear and angular velocities).
    static org.wpilib.command3.Command
    resetHeading(Swerve swerve, org.wpilib.math.geometry.Rotation2d heading)
     
    static org.wpilib.command3.Command
    resetPose(Swerve swerve, org.wpilib.math.geometry.Pose2d pose)
     
    static org.wpilib.command3.Command
    wheelRadiusCharacterization(Swerve drive)
    Measures the robot's wheel radius by spinning in a circle.
    static org.wpilib.command3.Command
    xMode(Swerve swerve)
     

  • Method Details

    • resetPose

      static org.wpilib.command3.Command resetPose(Swerve swerve, org.wpilib.math.geometry.Pose2d pose)

    • resetHeading

      static org.wpilib.command3.Command resetHeading(Swerve swerve, org.wpilib.math.geometry.Rotation2d heading)

    • xMode

      static org.wpilib.command3.Command xMode(Swerve swerve)

    • joystickDrive

      static org.wpilib.command3.Command joystickDrive(Swerve swerve, org.wpilib.command3.button.CommandGamepad driver)
      Field relative drive command using two joysticks (controlling linear and angular velocities).

    • feedforwardCharacterization

      static org.wpilib.command3.Command feedforwardCharacterization(Swerve drive)
      Measures the velocity feedforward constants for the drive motors.

      This command should only be used in voltage control mode.

    • wheelRadiusCharacterization

      static org.wpilib.command3.Command wheelRadiusCharacterization(Swerve drive)
      Measures the robot's wheel radius by spinning in a circle.