Package frc.robot.systems.drive

Class Drive

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.systems.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

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Drive.DriveState

Field Summary

Fields

Modifier and Type	Field	Description
static com.pathplanner.lib.config.RobotConfig	robotConfig

Constructor Summary

Constructors

Constructor	Description
Drive(Module[] modules, GyroIO gyro, Vision vision)

Method Summary

Modifier and Type	Method	Description
void	acceptJoystickInputs(DoubleSupplier xSupplier, DoubleSupplier ySupplier, DoubleSupplier thetaSupplier, DoubleSupplier povSupplierDegrees)
boolean	atGoal()
double	calculateDriveFeedforward(SwerveSetpoint setpoint, edu.wpi.first.math.kinematics.SwerveModuleState currentState, edu.wpi.first.math.kinematics.SwerveModuleState unoptimizedState, edu.wpi.first.math.kinematics.SwerveModuleState optimizedState, int i)
edu.wpi.first.wpilibj2.command.Command	characterizeAngularMotion()
edu.wpi.first.wpilibj2.command.Command	characterizeLinearMotion()
edu.wpi.first.wpilibj2.command.Command	customFollowPathComamnd(com.pathplanner.lib.path.PathPlannerPath path)
edu.wpi.first.wpilibj2.command.Command	customFollowPathComamnd(com.pathplanner.lib.path.PathPlannerPath path, com.pathplanner.lib.controllers.PPHolonomicDriveController drivePID)
double	distanceFromReefCenter()
edu.wpi.first.math.kinematics.ChassisSpeeds	getDesiredChassisSpeeds()
boolean	getDriveToPoseTolerance()
edu.wpi.first.math.kinematics.SwerveModulePosition[]	getModulePositions()
edu.wpi.first.math.kinematics.SwerveModuleState[]	getModuleStates()
edu.wpi.first.math.geometry.Pose2d	getOdometryPose()
edu.wpi.first.math.geometry.Pose2d	getPoseEstimate()
edu.wpi.first.math.kinematics.ChassisSpeeds	getRobotChassisSpeeds()
edu.wpi.first.math.geometry.Rotation2d	getRobotRotation()
boolean	inHeadingTolerance()
boolean	notAtGoal()
void	periodic()
void	resetGyro()
void	resetModulesEncoders()
void	runAngularCharacterization(double volts)
void	runLinearCharcterization(double volts)
void	runMOICharacterization(double amps)
void	runSwerve(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)
edu.wpi.first.wpilibj2.command.Command	setDriveProfile(ManualTeleopController.DriverProfiles profile)
void	setDriveState(Drive.DriveState state)
edu.wpi.first.wpilibj2.command.Command	setDriveStateCommand(Drive.DriveState state)
edu.wpi.first.wpilibj2.command.Command	setDriveStateCommandContinued(Drive.DriveState state)
void	setForwardAmperagesForAllModules(double amps)
void	setPose(edu.wpi.first.math.geometry.Pose2d pose)
void	setPoses(edu.wpi.first.math.geometry.Pose2d estimatorPose, edu.wpi.first.math.geometry.Pose2d odometryPose)
edu.wpi.first.wpilibj2.command.Command	waitUnitllAutoAlignFinishes()
BooleanSupplier	waitUnitllAutoAlignFinishesSupplier()

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

robotConfig

public static com.pathplanner.lib.config.RobotConfig robotConfig

Constructor Details

Drive

public Drive(Module[] modules,
 GyroIO gyro,
 Vision vision)

Method Details

customFollowPathComamnd

public edu.wpi.first.wpilibj2.command.Command customFollowPathComamnd(com.pathplanner.lib.path.PathPlannerPath path)

customFollowPathComamnd

public edu.wpi.first.wpilibj2.command.Command customFollowPathComamnd(com.pathplanner.lib.path.PathPlannerPath path,
 com.pathplanner.lib.controllers.PPHolonomicDriveController drivePID)

periodic

public void periodic()

setDriveStateCommand

public edu.wpi.first.wpilibj2.command.Command setDriveStateCommand(Drive.DriveState state)

setDriveStateCommandContinued

public edu.wpi.first.wpilibj2.command.Command setDriveStateCommandContinued(Drive.DriveState state)

setDriveState

public void setDriveState(Drive.DriveState state)

runSwerve

public void runSwerve(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)

calculateDriveFeedforward

public double calculateDriveFeedforward(SwerveSetpoint setpoint,
 edu.wpi.first.math.kinematics.SwerveModuleState currentState,
 edu.wpi.first.math.kinematics.SwerveModuleState unoptimizedState,
 edu.wpi.first.math.kinematics.SwerveModuleState optimizedState,
 int i)

setDriveProfile

public edu.wpi.first.wpilibj2.command.Command setDriveProfile(ManualTeleopController.DriverProfiles profile)

resetGyro

public void resetGyro()

setPose

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

setPoses

public void setPoses(edu.wpi.first.math.geometry.Pose2d estimatorPose,
 edu.wpi.first.math.geometry.Pose2d odometryPose)

resetModulesEncoders

public void resetModulesEncoders()

characterizeLinearMotion

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

waitUnitllAutoAlignFinishes

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

waitUnitllAutoAlignFinishesSupplier

public BooleanSupplier waitUnitllAutoAlignFinishesSupplier()

runLinearCharcterization

public void runLinearCharcterization(double volts)

setForwardAmperagesForAllModules

public void setForwardAmperagesForAllModules(double amps)

characterizeAngularMotion

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

runAngularCharacterization

public void runAngularCharacterization(double volts)

runMOICharacterization

public void runMOICharacterization(double amps)

getModuleStates

public edu.wpi.first.math.kinematics.SwerveModuleState[] getModuleStates()

getModulePositions

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

getPoseEstimate

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

getOdometryPose

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

getRobotRotation

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

getRobotChassisSpeeds

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

getDesiredChassisSpeeds

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

inHeadingTolerance

public boolean inHeadingTolerance()

distanceFromReefCenter

public double distanceFromReefCenter()

acceptJoystickInputs

public void acceptJoystickInputs(DoubleSupplier xSupplier,
 DoubleSupplier ySupplier,
 DoubleSupplier thetaSupplier,
 DoubleSupplier povSupplierDegrees)

atGoal

public boolean atGoal()

notAtGoal

public boolean notAtGoal()

getDriveToPoseTolerance

public boolean getDriveToPoseTolerance()