Package frclib.drivebase

Class FrcSwerveDrive

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frclib.drivebase.FrcRobotDrive

frclib.drivebase.FrcSwerveDrive

All Implemented Interfaces:

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

public class FrcSwerveDrive
extends FrcRobotDrive

This class creates the FrcSwerve drive base subsystem that consists of wheel motors and related objects for driving a swerve robot.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	FrcSwerveDrive.SteerEncoderType	This specifies different absolute encoder types supported for Swerve steering.
static class	FrcSwerveDrive.SwerveInfo	This class contains Swerve Robot Info.

Nested classes/interfaces inherited from class frclib.drivebase.FrcRobotDrive

FrcRobotDrive.ImuType, FrcRobotDrive.RobotInfo, FrcRobotDrive.VisionInfo

Field Summary

Fields

Modifier and Type	Field	Description
final TrcEncoder[]	steerEncoders
final TrcMotor[]	steerMotors
final FrcSwerveDrive.SwerveInfo	swerveInfo
final TrcSwerveModule[]	swerveModules
final TrcDbgTrace	tracer

Fields inherited from class frclib.drivebase.FrcRobotDrive

driveBase, driveMotors, imu, INDEX_LEFT_BACK, INDEX_LEFT_CENTER, INDEX_LEFT_FRONT, INDEX_RIGHT_BACK, INDEX_RIGHT_CENTER, INDEX_RIGHT_FRONT, pidDrive, purePursuitDrive, robotInfo

Constructor Summary

Constructors

Constructor	Description
FrcSwerveDrive(FrcSwerveDrive.SwerveInfo swerveInfo)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
int	displaySteerZeroCalibration(int lineNum)	This method displays the steer zero calibration progress to the dashboard.
edu.wpi.first.math.geometry.Rotation2d	getGyroAngle()
edu.wpi.first.math.geometry.Rotation2d	getHeading()
edu.wpi.first.math.kinematics.SwerveModulePosition[]	getModulePositions()
edu.wpi.first.math.geometry.Pose2d	getPose()
void	periodic()
double[]	readSteeringCalibrationData()	This method reads the steering zero calibration data from the calibration data file.
void	runSteeringCalibration()	This method is called periodically to sample the steer encoders for averaging the zero position data.
void	saveSteeringCalibrationData(double[] zeros)	This method saves the calibration data to a file on the Robot Controller.
void	setHeading(edu.wpi.first.math.geometry.Rotation2d heading)
void	setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates)
void	setPose(edu.wpi.first.math.geometry.Pose2d pose)
void	setSteerAngle(double angle, boolean optimize, boolean hold)	This method sets the steering angle of all swerve modules.
void	setXModeEnabled(String owner, boolean enabled)	This method set all the wheels into an X configuration so that nobody can bump us out of position.
void	startSteeringCalibration()	This method starts the steering calibration.
void	stopSteeringCalibration()	This method stops the steering calibration and saves the calibration data to a file.
void	zeroHeading()

Methods inherited from class frclib.drivebase.FrcRobotDrive

cancel, cancel, configDriveBase, getGyroPitch, getGyroRoll, getGyroYaw

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

tracer

public final TrcDbgTrace tracer

swerveInfo

public final FrcSwerveDrive.SwerveInfo swerveInfo

steerEncoders

public final TrcEncoder[] steerEncoders

steerMotors

public final TrcMotor[] steerMotors

swerveModules

public final TrcSwerveModule[] swerveModules

Constructor Details

FrcSwerveDrive

public FrcSwerveDrive(FrcSwerveDrive.SwerveInfo swerveInfo)

Constructor: Create an instance of the object.

Parameters:

swerveInfo - specifies the Swerve Robot Info.

Method Details

setSteerAngle

public void setSteerAngle(double angle,
 boolean optimize,
 boolean hold)

This method sets the steering angle of all swerve modules.

Parameters:

angle - specifies the steer angle.

optimize - specifies true to optimize (only turns within +/- 90 degrees), false otherwse.

hold - specifies true to hold the angle, false otherwise.

setXModeEnabled

public void setXModeEnabled(String owner,
 boolean enabled)

This method set all the wheels into an X configuration so that nobody can bump us out of position. If owner is specifies, it will acquire execlusive ownership of the drivebase on behalf of the specified owner. On disable, it will release the ownership.

Parameters:

owner - specifies the ID string of the caller for checking ownership, can be null if caller is not ownership aware.

enabled - specifies true to enable anti-defense mode, false to disable.

displaySteerZeroCalibration

public int displaySteerZeroCalibration(int lineNum)

This method displays the steer zero calibration progress to the dashboard.

Parameters:

lineNum - specifies the starting line number to display the info on the dashboard.

Returns:

updated line number to the next available line on the dashboard.

startSteeringCalibration

public void startSteeringCalibration()

This method starts the steering calibration.

stopSteeringCalibration

public void stopSteeringCalibration()

This method stops the steering calibration and saves the calibration data to a file.

runSteeringCalibration

public void runSteeringCalibration()

This method is called periodically to sample the steer encoders for averaging the zero position data.

saveSteeringCalibrationData

public void saveSteeringCalibrationData(double[] zeros)

This method saves the calibration data to a file on the Robot Controller.

Parameters:

zeros - specifies the steering zero calibration data to be saved.

readSteeringCalibrationData

public double[] readSteeringCalibrationData()

This method reads the steering zero calibration data from the calibration data file.

Returns:

calibration data of all four swerve modules.

setModuleStates

public void setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates)

getModulePositions

public edu.wpi.first.math.kinematics.SwerveModulePosition[] getModulePositions()

getPose

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

setPose

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

getHeading

public edu.wpi.first.math.geometry.Rotation2d getHeading()

setHeading

public void setHeading(edu.wpi.first.math.geometry.Rotation2d heading)

zeroHeading

public void zeroHeading()

getGyroAngle

public edu.wpi.first.math.geometry.Rotation2d getGyroAngle()

periodic

public void periodic()