FRC-Swerve-Template/frc.robot.subsystems/Swerve

Swerve

public class Swerve extends SubsystemBase

Properties

autoSpeeds

private final ChassisSpeeds autoSpeeds

The chassis speeds, used for autonomous driving

constraints

private PathConstraints constraints

heading

private final Double heading

Heading of the robot

INSTANCE

public final static Swerve INSTANCE

modulePositions

private final Array<SwerveModulePosition> modulePositions

The positions of the swerve modules

moduleStates

private Array<SwerveModuleState> moduleStates

The states of the swerve modules

pidgeyRotation

private final Rotation2d pidgeyRotation

Rotation of the Pigeon2 IMU

pidgeyYaw

private final Double pidgeyYaw

Yaw of the Pigeon2 IMU

pose

private final Pose2d pose

The current pose of the robot from the pose estimator

rotationPidgey

private final Rotation2d rotationPidgey

The rotation of the Pigeon2 IMU, used for PID control

swerveLoggingThread

private Thread swerveLoggingThread

swerveLoggingThreadBeforeSet

private Thread swerveLoggingThreadBeforeSet

Functions

chassisSpeedsDrive

public final Unit chassisSpeedsDrive(ChassisSpeeds chassisSpeeds)

Drives the robot using chassis speeds.

getAutoSpeeds

public final ChassisSpeeds getAutoSpeeds()

getConstraints

public final PathConstraints getConstraints()

getHeading

public final Double getHeading()

getModulePositions

public final Array<SwerveModulePosition> getModulePositions()

getModuleStates

public final Array<SwerveModuleState> getModuleStates()

getPidgeyRotation

public final Rotation2d getPidgeyRotation()

getPidgeyYaw

public final Double getPidgeyYaw()

getPose

public final Pose2d getPose()

getRotationPidgey

public final Rotation2d getRotationPidgey()

getSwerveLoggingThread

public final Thread getSwerveLoggingThread()

getSwerveLoggingThreadBeforeSet

public final Thread getSwerveLoggingThreadBeforeSet()

newPose

public final Unit newPose(Pose2d pose)

Sets a new pose for the robot.

pathFindTest

public final Command pathFindTest()

pathFindToGoal

public final Command pathFindToGoal()

periodic

public Unit periodic()

This method is called periodically by the scheduler. It updates the pose estimator and dashboard values.

resetDrive

public final Unit resetDrive()

Resets the drive positions of all swerve modules.

resetPidgey

public final Unit resetPidgey()

Resets the Pigeon2 IMU.

setAutoPID

public final Unit setAutoPID()

Sets the PID constants for autonomous driving.

setConstraints

public final Unit setConstraints(PathConstraints value)

setDriveSpeeds

public final Unit setDriveSpeeds(Double forwardSpeed, Double leftSpeed, Double turnSpeed, Boolean isFieldOriented)

Sets the drive speeds for the swerve modules.

setModuleStates

public final Unit setModuleStates(Array<SwerveModuleState> states)

setSwerveLoggingThread

public final Unit setSwerveLoggingThread(Thread value)

setSwerveLoggingThreadBeforeSet

public final Unit setSwerveLoggingThreadBeforeSet(Thread value)

setTelePID

public final Unit setTelePID()

Sets the PID constants for teleoperated driving.

stop

public final Unit stop()

Stops all swerve modules.

updateModuleTelePIDValues

public final Unit updateModuleTelePIDValues()

zeroPose

public final Unit zeroPose()

Resets the pose of the robot to zero.