Package frc.robot.subsystems.Swerve

Class SwerveSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.Swerve.SwerveSubsystem

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class SwerveSubsystem
extends edu.wpi.first.wpilibj2.command.SubsystemBase

Field Summary

Fields

Modifier and Type	Field	Description
final Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds>	fieldRelativeSpeedsSupplier
final Supplier<edu.wpi.first.math.geometry.Pose2d>	poseSupplier
final Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds>	robotRelativeSpeedsSupplier
final DoubleSupplier	totalCurrentDraw
final Supplier<edu.wpi.first.math.geometry.Rotation2d>	yawSupplier

Constructor Summary

Constructors

Constructor	Description
SwerveSubsystem()

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	driveFieldRelativeCommand(Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> chassisSpeeds)
edu.wpi.first.wpilibj2.command.Command	driveFromJoystickCommand(DoubleSupplier forward, DoubleSupplier strafe, DoubleSupplier rotation, BooleanSupplier fieldRelative)
edu.wpi.first.wpilibj2.command.Command	driveRobotRelativeCommand(Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> chassisSpeeds)
edu.wpi.first.wpilibj2.command.Command	driveXCommand()
edu.wpi.first.wpilibj.smartdashboard.SendableChooser<edu.wpi.first.wpilibj2.command.Command>	getAutoChooser()
edu.wpi.first.math.kinematics.ChassisSpeeds	getFieldRelativeSpeeds()
edu.wpi.first.math.geometry.Pose2d	getPose()
edu.wpi.first.math.kinematics.ChassisSpeeds	getRobotRelativeSpeeds()
void	periodic()
void	resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
edu.wpi.first.wpilibj2.command.InstantCommand	resetOdometryCommand(edu.wpi.first.math.geometry.Pose2d pose)	no subsystem requirement

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

totalCurrentDraw

public final DoubleSupplier totalCurrentDraw

poseSupplier

public final Supplier<edu.wpi.first.math.geometry.Pose2d> poseSupplier

robotRelativeSpeedsSupplier

public final Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> robotRelativeSpeedsSupplier

fieldRelativeSpeedsSupplier

public final Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> fieldRelativeSpeedsSupplier

yawSupplier

public final Supplier<edu.wpi.first.math.geometry.Rotation2d> yawSupplier

Constructor Details

SwerveSubsystem

public SwerveSubsystem()

Method Details

driveFromJoystickCommand

public edu.wpi.first.wpilibj2.command.Command driveFromJoystickCommand(DoubleSupplier forward,
 DoubleSupplier strafe,
 DoubleSupplier rotation,
 BooleanSupplier fieldRelative)

driveRobotRelativeCommand

public edu.wpi.first.wpilibj2.command.Command driveRobotRelativeCommand(Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> chassisSpeeds)

driveFieldRelativeCommand

public edu.wpi.first.wpilibj2.command.Command driveFieldRelativeCommand(Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> chassisSpeeds)

driveXCommand

public edu.wpi.first.wpilibj2.command.Command driveXCommand()

getRobotRelativeSpeeds

public edu.wpi.first.math.kinematics.ChassisSpeeds getRobotRelativeSpeeds()

getFieldRelativeSpeeds

public edu.wpi.first.math.kinematics.ChassisSpeeds getFieldRelativeSpeeds()

getPose

public edu.wpi.first.math.geometry.Pose2d getPose()

resetOdometry

public void resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)

resetOdometryCommand

public edu.wpi.first.wpilibj2.command.InstantCommand resetOdometryCommand(edu.wpi.first.math.geometry.Pose2d pose)

no subsystem requirement

getAutoChooser

public edu.wpi.first.wpilibj.smartdashboard.SendableChooser<edu.wpi.first.wpilibj2.command.Command> getAutoChooser()

periodic

public void periodic()