Package ftclib.drivebase

Class FtcSwerveDrive

java.lang.Object

ftclib.drivebase.FtcRobotDrive

ftclib.drivebase.FtcSwerveDrive

public class FtcSwerveDrive
extends FtcRobotDrive

This class creates the FtcSwerve 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 class	FtcSwerveDrive.SwerveInfo	This class contains Swerve Robot Info.

Nested classes/interfaces inherited from class ftclib.drivebase.FtcRobotDrive

FtcRobotDrive.RobotInfo, FtcRobotDrive.VisionInfo

Field Summary

Fields

Modifier and Type	Field	Description
private final FtcDashboard	dashboard
private final String	moduleName
final TrcEncoder[]	steerEncoders
final TrcMotor[]	steerMotors
private int	steerZeroCalibrationCount
private final double[]	steerZeros
final FtcSwerveDrive.SwerveInfo	swerveInfo
final TrcSwerveModule[]	swerveModules
final TrcDbgTrace	tracer
private String	xModeOwner

Fields inherited from class ftclib.drivebase.FtcRobotDrive

driveBase, driveMotors, gyro, 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
FtcSwerveDrive(FtcSwerveDrive.SwerveInfo swerveInfo)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
private TrcEncoder[]	createSteerEncoders()	This method creates and configures all steer encoders.
private TrcMotor[]	createSteerMotors()	This method creates and configures all steer motors.
private TrcSwerveModule[]	createSwerveModules()	This method creates and configures all swerve modules.
int	displaySteerZeroCalibration(int lineNum)	This method displays the steer zero calibration progress to the dashboard.
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	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.

Methods inherited from class ftclib.drivebase.FtcRobotDrive

cancel, cancel, configDriveBase

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

moduleName

private final String moduleName

tracer

public final TrcDbgTrace tracer

swerveInfo

public final FtcSwerveDrive.SwerveInfo swerveInfo

steerEncoders

public final TrcEncoder[] steerEncoders

steerMotors

public final TrcMotor[] steerMotors

swerveModules

public final TrcSwerveModule[] swerveModules

dashboard

private final FtcDashboard dashboard

steerZeros

private final double[] steerZeros

steerZeroCalibrationCount

private int steerZeroCalibrationCount

xModeOwner

private String xModeOwner

Constructor Details

FtcSwerveDrive

public FtcSwerveDrive(FtcSwerveDrive.SwerveInfo swerveInfo)

Constructor: Create an instance of the object.

Parameters:

swerveInfo - specifies the Swerve Robot Info.

Method Details

createSteerEncoders

private TrcEncoder[] createSteerEncoders()

This method creates and configures all steer encoders.

Returns:

an array of created steer encoders.

createSteerMotors

private TrcMotor[] createSteerMotors()

This method creates and configures all steer motors.

Returns:

an array of created steer servos.

createSwerveModules

private TrcSwerveModule[] createSwerveModules()

This method creates and configures all swerve modules.

Returns:

an array of created swerve modules.

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.