Package frc.RebeLib.subsystems.drive

Class Drive

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
frc.RebeLib.subsystems.drive.Drive
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
public class Drive extends edu.wpi.first.wpilibj2.command.SubsystemBase

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final double
    DRIVE_BASE_RADIUS
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    Drive(GyroIO gyroIO, ModuleIO flModuleIO, ModuleIO frModuleIO, ModuleIO blModuleIO, ModuleIO brModuleIO)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d visionRobotPoseMeters, double timestampSeconds, edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)
    Adds a new timestamped vision measurement.
    double
    getFFCharacterizationVelocity()
    Returns the average velocity of the modules in rotations/sec (Phoenix native units).
    double
    getMaxAngularSpeedRadPerSec()
    Returns the maximum angular speed in radians per sec.
    double
    getMaxLinearSpeedMetersPerSec()
    Returns the maximum linear speed in meters per sec.
    static edu.wpi.first.math.geometry.Translation2d[]
    getModuleTranslations()
    Returns an array of module translations.
    edu.wpi.first.math.geometry.Pose2d
    getPose()
    Returns the current odometry pose.
    edu.wpi.first.math.geometry.Rotation2d
    getRotation()
    Returns the current odometry rotation.
    double[]
    getWheelRadiusCharacterizationPositions()
    Returns the position of each module in radians.
    void
    periodic()
     
    void
    runCharacterization(double output)
    Runs the drive in a straight line with the specified drive output.
    void
    runVelocity(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)
    Runs the drive at the desired velocity.
    void
    setPose(edu.wpi.first.math.geometry.Pose2d pose)
    Resets the current odometry pose.
    void
    stop()
    Stops the drive.
    void
    stopWithX()
    Stops the drive and turns the modules to an X arrangement to resist movement.
    edu.wpi.first.wpilibj2.command.Command
    sysIdDynamic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)
    Returns a command to run a dynamic test in the specified direction.
    edu.wpi.first.wpilibj2.command.Command
    sysIdQuasistatic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)
    Returns a command to run a quasistatic test in the specified direction.

    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

    • DRIVE_BASE_RADIUS

      public static final double DRIVE_BASE_RADIUS

  • Constructor Details

  • Method Details

    • periodic

      public void periodic()

    • runVelocity

      public void runVelocity(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)
      Runs the drive at the desired velocity.
      Parameters:
      speeds - Speeds in meters/sec

    • runCharacterization

      public void runCharacterization(double output)
      Runs the drive in a straight line with the specified drive output.

    • stop

      public void stop()
      Stops the drive.

    • stopWithX

      public void stopWithX()
      Stops the drive and turns the modules to an X arrangement to resist movement. The modules will return to their normal orientations the next time a nonzero velocity is requested.

    • sysIdQuasistatic

      public edu.wpi.first.wpilibj2.command.Command sysIdQuasistatic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)
      Returns a command to run a quasistatic test in the specified direction.

    • sysIdDynamic

      public edu.wpi.first.wpilibj2.command.Command sysIdDynamic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)
      Returns a command to run a dynamic test in the specified direction.

    • getWheelRadiusCharacterizationPositions

      public double[] getWheelRadiusCharacterizationPositions()
      Returns the position of each module in radians.

    • getFFCharacterizationVelocity

      public double getFFCharacterizationVelocity()
      Returns the average velocity of the modules in rotations/sec (Phoenix native units).

    • getPose

      public edu.wpi.first.math.geometry.Pose2d getPose()
      Returns the current odometry pose.

    • getRotation

      public edu.wpi.first.math.geometry.Rotation2d getRotation()
      Returns the current odometry rotation.

    • setPose

      public void setPose(edu.wpi.first.math.geometry.Pose2d pose)
      Resets the current odometry pose.

    • addVisionMeasurement

      public void addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d visionRobotPoseMeters, double timestampSeconds, edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)
      Adds a new timestamped vision measurement.

    • getMaxLinearSpeedMetersPerSec

      public double getMaxLinearSpeedMetersPerSec()
      Returns the maximum linear speed in meters per sec.

    • getMaxAngularSpeedRadPerSec

      public double getMaxAngularSpeedRadPerSec()
      Returns the maximum angular speed in radians per sec.

    • getModuleTranslations

      public static edu.wpi.first.math.geometry.Translation2d[] getModuleTranslations()
      Returns an array of module translations.