Package frc.RebeLib.commands

Class DriveCommands

java.lang.Object

frc.RebeLib.commands.DriveCommands

public class DriveCommands
extends Object

Method Summary

Modifier and Type	Method	Description
static edu.wpi.first.wpilibj2.command.Command	feedforwardCharacterization(Drive drive)	Measures the velocity feedforward constants for the drive motors.
static edu.wpi.first.wpilibj2.command.Command	joystickDrive(Drive drive, DoubleSupplier xSupplier, DoubleSupplier ySupplier, DoubleSupplier omegaSupplier)	Field relative drive command using two joysticks (controlling linear and angular velocities).
static edu.wpi.first.wpilibj2.command.Command	joystickDriveAtAngle(Drive drive, DoubleSupplier xSupplier, DoubleSupplier ySupplier, Supplier<edu.wpi.first.math.geometry.Rotation2d> rotationSupplier)	Field relative drive command using joystick for linear control and PID for angular control.
static edu.wpi.first.wpilibj2.command.Command	wheelRadiusCharacterization(Drive drive)	Measures the robot's wheel radius by spinning in a circle.

Methods inherited from class java.lang.Object

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

Method Details

joystickDrive

public static edu.wpi.first.wpilibj2.command.Command joystickDrive(Drive drive,
 DoubleSupplier xSupplier,
 DoubleSupplier ySupplier,
 DoubleSupplier omegaSupplier)

Field relative drive command using two joysticks (controlling linear and angular velocities).

joystickDriveAtAngle

public static edu.wpi.first.wpilibj2.command.Command joystickDriveAtAngle(Drive drive,
 DoubleSupplier xSupplier,
 DoubleSupplier ySupplier,
 Supplier<edu.wpi.first.math.geometry.Rotation2d> rotationSupplier)

Field relative drive command using joystick for linear control and PID for angular control. Possible use cases include snapping to an angle, aiming at a vision target, or controlling absolute rotation with a joystick.

feedforwardCharacterization

public static edu.wpi.first.wpilibj2.command.Command feedforwardCharacterization(Drive drive)

Measures the velocity feedforward constants for the drive motors.

This command should only be used in voltage control mode.

wheelRadiusCharacterization

public static edu.wpi.first.wpilibj2.command.Command wheelRadiusCharacterization(Drive drive)

Measures the robot's wheel radius by spinning in a circle.