Package frc.robot.subsystems.swerve

Class Swerve

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.swerve.Swerve

All Implemented Interfaces:

Sendable, Subsystem

public class Swerve
extends SubsystemBase

Swerve Subsystem

Field Summary

Fields

Modifier and Type	Field	Description
SwerveModule[]	swerveMods
SwerveDrivePoseEstimator	swerveOdometry

Constructor Summary

Constructors

Constructor	Description
Swerve(SwerveIO swerveIO, PumbaaViz viz)	Swerve Subsystem

Method Summary

Modifier and Type	Method	Description
double	distanceFromSpeaker()	Returns the distance between the speaker and Swerve
void	drive(Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop)	Tele-Op Drive method
ChassisSpeeds	getChassisSpeeds()	Get current Chassis Speeds
Rotation2d	getFieldRelativeHeading()	Get Field Relative Heading
Rotation2d	getGyroYaw()	Get Rotation from the gyro
Rotation2d	getHeading()	Get Rotation of robot from odometry
SwerveModulePosition[]	getModulePositions()	Get Swerve Module Positions
SwerveModuleState[]	getModuleStates()	Get Swerve Module States
Pose2d	getPose()	Get Position on field from Odometry
SwerveModulePosition[]	getSwerveModulePositions()	Gets a list containing all 4 swerve module positions
void	periodic()
void	resetFieldRelativeOffset()	Resets the gyro field relative driving offset
void	resetOdometry(Pose2d pose)	Set the position on the field with given Pose2d
void	setModuleStates(ChassisSpeeds chassisSpeeds)	Sets swerve module states using Chassis Speeds.
void	setModuleStates(SwerveModuleState[] desiredStates)	Set Swerve Module States
void	setMotorsZero()	Sets motors to 0 or inactive.
static boolean	shouldFlipPath()	Determine whether or not to flight the auto path
void	wheelsIn()	Make an X pattern with the wheels

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

addChild, getName, getSubsystem, initSendable, 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, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

swerveOdometry

public SwerveDrivePoseEstimator swerveOdometry

swerveMods

public SwerveModule[] swerveMods

Constructor Details

Swerve

public Swerve(SwerveIO swerveIO,
 PumbaaViz viz)

Swerve Subsystem

Method Details

drive

public void drive(Translation2d translation,
 double rotation,
 boolean fieldRelative,
 boolean isOpenLoop)

Tele-Op Drive method

Parameters:

translation - The magnitude in XY

rotation - The magnitude in rotation

fieldRelative - Whether or not field relative

isOpenLoop - Whether or not Open or Closed Loop

setModuleStates

public void setModuleStates(SwerveModuleState[] desiredStates)

Set Swerve Module States

Parameters:

desiredStates - Array of desired states

setModuleStates

public void setModuleStates(ChassisSpeeds chassisSpeeds)

Sets swerve module states using Chassis Speeds.

Parameters:

chassisSpeeds - The desired Chassis Speeds

getChassisSpeeds

public ChassisSpeeds getChassisSpeeds()

Get current Chassis Speeds

Returns:

The current ChassisSpeeds

getModuleStates

public SwerveModuleState[] getModuleStates()

Get Swerve Module States

Returns:

Array of Swerve Module States

getModulePositions

public SwerveModulePosition[] getModulePositions()

Get Swerve Module Positions

Returns:

Array of Swerve Module Positions

getPose

public Pose2d getPose()

Get Position on field from Odometry

Returns:

Pose2d on the field

resetOdometry

public void resetOdometry(Pose2d pose)

Set the position on the field with given Pose2d

Parameters:

pose - Pose2d to set

getHeading

public Rotation2d getHeading()

Get Rotation of robot from odometry

Returns:

Heading of robot relative to the field as Rotation2d

getGyroYaw

public Rotation2d getGyroYaw()

Get Rotation from the gyro

Returns:

Current rotation/yaw of gyro as Rotation2d

getFieldRelativeHeading

public Rotation2d getFieldRelativeHeading()

Get Field Relative Heading

Returns:

The current field relative heading in Rotation2d

resetFieldRelativeOffset

public void resetFieldRelativeOffset()

Resets the gyro field relative driving offset

periodic

public void periodic()

setMotorsZero

public void setMotorsZero()

Sets motors to 0 or inactive.

wheelsIn

public void wheelsIn()

Make an X pattern with the wheels

getSwerveModulePositions

public SwerveModulePosition[] getSwerveModulePositions()

Gets a list containing all 4 swerve module positions

shouldFlipPath

public static boolean shouldFlipPath()

Determine whether or not to flight the auto path

Returns:

True if flip path to Red Alliance, False if Blue

distanceFromSpeaker

public double distanceFromSpeaker()

Returns the distance between the speaker and Swerve

Returns:

the difference between the pose of speaker and swerve