Class Swerve

java.lang.Object

com.stuypulse.robot.util.PeriodicSubsystem

com.stuypulse.robot.subsystems.swerve.Swerve

All Implemented Interfaces:

org.wpilib.command3.Mechanism

public class Swerve
extends PeriodicSubsystem

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DRIVE_BASE_RADIUS
private final org.wpilib.util.Alert	gyroDisconnectedAlert
private final com.stuypulse.robot.subsystems.swerve.GyroIOInputsAutoLogged	gyroInputs
private final GyroIO	gyroIO
private org.wpilib.math.kinematics.SwerveDriveKinematics	kinematics
private org.wpilib.math.kinematics.SwerveModulePosition[]	lastModulePositions
private final Module[]	modules
(package private) static final double	ODOMETRY_FREQUENCY
(package private) static final Lock	odometryLock
private org.wpilib.math.estimator.SwerveDrivePoseEstimator	poseEstimator
private org.wpilib.math.geometry.Rotation2d	rawGyroRotation
Vision.VisionConsumer	visionConsumer

Constructor Summary

Constructors

Constructor	Description
Swerve(GyroIO gyroIO, ModuleIO flModuleIO, ModuleIO frModuleIO, ModuleIO blModuleIO, ModuleIO brModuleIO)

Method Summary

Modifier and Type	Method	Description
private org.wpilib.math.kinematics.ChassisVelocities	getChassisSpeeds()	Returns the measured chassis speeds of the robot.
double	getFFCharacterizationVelocity()	Returns the average velocity of the modules in rotations/sec (Phoenix native units).
double	getMaxAngularSpeedRadPerSec()	Returns the maximum angular speed in radians per sec.
double	getMaxLinearSpeedMetersPerSec()	Returns the maximum linear speed in meters per sec.
private org.wpilib.math.kinematics.SwerveModulePosition[]	getModulePositions()	Returns the module positions (turn angles and drive positions) for all of the modules.
static org.wpilib.math.geometry.Translation2d[]	getModuleTranslations()	Returns an array of module translations.
private org.wpilib.math.kinematics.SwerveModuleVelocity[]	getModuleVelocities()	Returns the module states (turn angles and drive velocities) for all of the modules.
org.wpilib.math.geometry.Pose2d	getPose()	Returns the current odometry pose.
org.wpilib.math.geometry.Rotation2d	getRotation()	Returns the current odometry rotation.
double[]	getWheelRadiusCharacterizationPositions()	Returns the position of each module in radians.
void	periodic()	This method is called periodically before Scheduler.run(), and should be overriden for processing inputs.
void	periodicAfterScheduler()	This method is called periodically after Scheduler.run(), and should be overriden for applying outputs.
void	resetPose(org.wpilib.math.geometry.Pose2d pose)	Resets the current odometry pose.
void	resetRotation(org.wpilib.math.geometry.Rotation2d rotation)
void	runCharacterization(double output)	Runs the drive in a straight line with the specified drive output.
void	runVelocity(org.wpilib.math.kinematics.ChassisVelocities speeds)	Runs the drive at the desired velocity.
void	stop()	Stops the drive.
void	stopWithX()	Stops the drive and turns the modules to an X arrangement to resist movement.

Methods inherited from class PeriodicSubsystem

getName, runAllPeriodicAfterScheduler, toString

Methods inherited from class Object

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

Methods inherited from interface org.wpilib.command3.Mechanism

controllableDuringDisabled, getDefaultCommand, getRegisteredScheduler, getRunningCommands, idle, idleFor, run, runRepeatedly, setDefaultCommand

Field Details

ODOMETRY_FREQUENCY

static final double ODOMETRY_FREQUENCY

DRIVE_BASE_RADIUS

public static final double DRIVE_BASE_RADIUS

odometryLock

static final Lock odometryLock

gyroIO

private final GyroIO gyroIO

gyroInputs

private final com.stuypulse.robot.subsystems.swerve.GyroIOInputsAutoLogged gyroInputs

modules

private final Module[] modules

gyroDisconnectedAlert

private final org.wpilib.util.Alert gyroDisconnectedAlert

kinematics

private org.wpilib.math.kinematics.SwerveDriveKinematics kinematics

rawGyroRotation

private org.wpilib.math.geometry.Rotation2d rawGyroRotation

lastModulePositions

private org.wpilib.math.kinematics.SwerveModulePosition[] lastModulePositions

poseEstimator

private org.wpilib.math.estimator.SwerveDrivePoseEstimator poseEstimator

visionConsumer

public Vision.VisionConsumer visionConsumer

Constructor Details

Swerve

public Swerve(GyroIO gyroIO,
 ModuleIO flModuleIO,
 ModuleIO frModuleIO,
 ModuleIO blModuleIO,
 ModuleIO brModuleIO)

Method Details

periodic

public void periodic()

Description copied from class: PeriodicSubsystem

This method is called periodically before Scheduler.run(), and should be overriden for processing inputs.

Specified by:

periodic in class PeriodicSubsystem

periodicAfterScheduler

public void periodicAfterScheduler()

Description copied from class: PeriodicSubsystem

This method is called periodically after Scheduler.run(), and should be overriden for applying outputs.

Overrides:

periodicAfterScheduler in class PeriodicSubsystem

runVelocity

public void runVelocity(org.wpilib.math.kinematics.ChassisVelocities speeds)

Runs the drive at the desired velocity.

Parameters:

speeds - Speeds in meters/sec

runCharacterization

public void runCharacterization(double output)

Runs the drive in a straight line with the specified drive output.

stop

public void stop()

Stops the drive.

stopWithX

public void stopWithX()

Stops the drive and turns the modules to an X arrangement to resist movement. The modules will return to their normal orientations the next time a nonzero velocity is requested.

getModuleVelocities

private org.wpilib.math.kinematics.SwerveModuleVelocity[] getModuleVelocities()

Returns the module states (turn angles and drive velocities) for all of the modules.

getModulePositions

private org.wpilib.math.kinematics.SwerveModulePosition[] getModulePositions()

Returns the module positions (turn angles and drive positions) for all of the modules.

getChassisSpeeds

private org.wpilib.math.kinematics.ChassisVelocities getChassisSpeeds()

Returns the measured chassis speeds of the robot.

getWheelRadiusCharacterizationPositions

public double[] getWheelRadiusCharacterizationPositions()

Returns the position of each module in radians.

getFFCharacterizationVelocity

public double getFFCharacterizationVelocity()

Returns the average velocity of the modules in rotations/sec (Phoenix native units).

getPose

public org.wpilib.math.geometry.Pose2d getPose()

Returns the current odometry pose.

getRotation

public org.wpilib.math.geometry.Rotation2d getRotation()

Returns the current odometry rotation.

resetPose

public void resetPose(org.wpilib.math.geometry.Pose2d pose)

Resets the current odometry pose.

resetRotation

public void resetRotation(org.wpilib.math.geometry.Rotation2d rotation)

getMaxLinearSpeedMetersPerSec

public double getMaxLinearSpeedMetersPerSec()

Returns the maximum linear speed in meters per sec.

getMaxAngularSpeedRadPerSec

public double getMaxAngularSpeedRadPerSec()

Returns the maximum angular speed in radians per sec.

getModuleTranslations

public static org.wpilib.math.geometry.Translation2d[] getModuleTranslations()

Returns an array of module translations.