Package frc.robot.subsystems.swerve.util
package frc.robot.subsystems.swerve.util
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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.Maintains and updates the robot's estimated global pose for a swerve drive by fusing wheel odometry, gyro measurements, and delayed vision updates.Control scheme utilities for teleoperated swerve driving.Collection of command factories used for drivetrain tuning and characterization.