Package frc.robot.subsystems.swerve.util
package frc.robot.subsystems.swerve.util
-
ClassesClassDescriptionCommand that drives a swerve drivetrain to a specified field-relative pose using a
HolonomicDriveController.Background thread responsible for sampling odometry-related signals at a higher frequency than the main robot loop.Swerve drive odometry implementation that integrates wheel motion using circular arc geometry rather than straight-line approximations.Applies rate limiting to robot-relative swerve chassis commands to ensure physically achievable, stable, and predictable motion.Control scheme utilities for teleoperated swerve driving.Collection of command factories used for drivetrain tuning and characterization.This command will turn the robot to a specified angle.