Package frc.robot.systems.drive.controllers

Class ManualTeleopController

java.lang.Object

frc.robot.systems.drive.controllers.ManualTeleopController

public class ManualTeleopController
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	ManualTeleopController.DriverProfiles

Field Summary

Fields

Modifier and Type	Field	Description
static TuneableDriverProfile	driverProfile

Constructor Summary

Constructors

Constructor	Description
ManualTeleopController()

Method Summary

Modifier and Type	Method	Description
void	acceptJoystickInputs(DoubleSupplier xSupplier, DoubleSupplier ySupplier, DoubleSupplier omegaSupplier, DoubleSupplier povSupplierDegrees)
edu.wpi.first.math.kinematics.ChassisSpeeds	computeChassiSpeeds(edu.wpi.first.math.geometry.Rotation2d robotAngle, edu.wpi.first.math.kinematics.ChassisSpeeds currentRobotRelativeSpeeds, boolean joystickSniper)
edu.wpi.first.math.kinematics.ChassisSpeeds	computeSniperPOVChassisSpeeds(edu.wpi.first.math.geometry.Rotation2d robotAngle)
TuneableDriverProfile	getDriverProfile()
double	getSniperScalar(boolean isSniper)
void	toggleFieldOriented()
void	updateTuneablesWithProfiles(ManualTeleopController.DriverProfiles profiles)

Methods inherited from class java.lang.Object

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

Field Details

driverProfile

public static TuneableDriverProfile driverProfile

Constructor Details

ManualTeleopController

public ManualTeleopController()

Method Details

acceptJoystickInputs

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

computeChassiSpeeds

public edu.wpi.first.math.kinematics.ChassisSpeeds computeChassiSpeeds(edu.wpi.first.math.geometry.Rotation2d robotAngle,
 edu.wpi.first.math.kinematics.ChassisSpeeds currentRobotRelativeSpeeds,
 boolean joystickSniper)

getSniperScalar

public double getSniperScalar(boolean isSniper)

computeSniperPOVChassisSpeeds

public edu.wpi.first.math.kinematics.ChassisSpeeds computeSniperPOVChassisSpeeds(edu.wpi.first.math.geometry.Rotation2d robotAngle)

toggleFieldOriented

public void toggleFieldOriented()

updateTuneablesWithProfiles

public void updateTuneablesWithProfiles(ManualTeleopController.DriverProfiles profiles)

getDriverProfile

public TuneableDriverProfile getDriverProfile()