2024Crescendo/frc.robot.subsystems/SwerveSubsystem

SwerveSubsystem

object SwerveSubsystem : SubsystemBase

The subsystem that controls the swerve drive.

Author

Falon Clark

Since

1/15/2024

Properties

fieldOriented

var fieldOriented: Boolean

Whether the robot should drive field oriented or robot oriented.

HeadingPID

val HeadingPID: PIDController

PID Controller for the heading of the robot. Currently not used, as feedforward is a much better solution to fix drift.

maximumSpeed

var maximumSpeed: Double

The maximum speed of the swerve drive

swerveStates

var swerveStates: StructArrayPublisher<SwerveModuleState>

SwerveModuleStates publisher for swerve display

tab

var tab: ShuffleboardTab

The Shuffleboard tab for the SwerveSubsystem

Functions

addVisionMeasurement

fun addVisionMeasurement(measurement: VisionMeasurement)

fun addVisionMeasurement(measurement: Pose2d, timestamp: Double)

Add a vision measurement to the swerve drive's pose estimator.

calculateHeadingPID

fun ~~calculateHeadingPID~~(measurement: Double, setpoint: Double): Double

Calculate the heading PID for the robot.

configurePathPlanner

fun configurePathPlanner()

Configures PathPlanner's AutoBuilder.

drive

fun drive(velocity: ChassisSpeeds)

Simple drive method that uses ChassisSpeeds to control the robot.

fun drive(translation: Translation2d, rotation: Double, fieldOriented: Boolean)

Simple drive method that translates and rotates the robot.

fun drive(translation: Translation2d, rotation: Double, fieldOriented: Boolean, centerOfRotation: Translation2d)

Advanced drive method that translates and rotates the robot, with a custom center of rotation.

getAutonomousCommand

fun getAutonomousCommand(autoName: String, setOdomAtStart: Boolean): Command

Gets a command that follows a path created in PathPlanner.

getDriveSysIDCommand

fun getDriveSysIDCommand(): Command

Generate a full command to SysID the drive motors

getDriveSysIDRoutine

fun getDriveSysIDRoutine(): SysIdRoutine

Get a SysIdRoutine for the drive motors.

getFieldVelocity

fun getFieldVelocity(): ChassisSpeeds?

Method to get the current field oriented velocity of the robot.

getHeading

fun getHeading(): Rotation2d

Method to get the current heading of the robot.

getKinematics

fun getKinematics(): SwerveDriveKinematics

Method to get the Kinematics object of the swerve drive.

getPitch

fun getPitch(): Rotation2d

Method to get the current pitch of the robot.

getPose

fun getPose(): Pose2d

Method to get the current pose of the robot.

getRobotVelocity

fun getRobotVelocity(): ChassisSpeeds?

Method to get the current robot oriented velocity of the robot.

getSwerveController

fun getSwerveController(): SwerveController

Method to get the SwerveController object of the swerve drive.

getSwerveDriveConfiguration

fun getSwerveDriveConfiguration(): SwerveDriveConfiguration

Method to get the SwerveDriveConfiguration object of the swerve drive.

getTargetSpeeds

fun getTargetSpeeds(vForward: Double, vSide: Double, angle: Rotation2d): ChassisSpeeds

Method to generate a ChassisSpeeds object from a desired X, Y, and Rotational velocity.

fun getTargetSpeeds(vForward: Double, vSide: Double, headingX: Double, headingY: Double): ChassisSpeeds

Method to generate a ChassisSpeeds object from a desired X, Y, and angle X and Y components.

lock

fun lock()

Method to toggle the lock position of the swerve drive to prevent motion.

postTrajectory

fun postTrajectory(trajectory: Trajectory)

Method to display a desired trajectory to a field2d object.

resetOdometry

fun resetOdometry(initialHolonomicPose: Pose2d)

Method to reset the odometry of the robot to a desired pose.

setChassisSpeeds

fun setChassisSpeeds(chassisSpeeds: ChassisSpeeds)

Method to set the desired speeds of the swerve drive.

setMotorBrake

fun setMotorBrake(brake: Boolean)

Method to toggle the motor's brakes.

setRawMotorVoltage

fun setRawMotorVoltage(volts: Double)

Directly send voltage to the drive motors.

setVisionMeasurementStdDevs

fun setVisionMeasurementStdDevs(stdDevX: Double, stdDevY: Double, stdDevTheta: Double)

Set the standard deviations of the vision measurements.

sysIdAngleMotorCommand

fun sysIdAngleMotorCommand(): Command

Return SysID command for angle motors from YAGSL

sysIdDriveMotor

fun sysIdDriveMotor(): Command?

Return SysID command for drive motors from YAGSL

toggleFieldOriented

fun toggleFieldOriented()

function to toggle field oriented drive

zeroGyro

fun zeroGyro()

Method to zero the gyro.