Package frc.robot.subsystems.swervedrive2.swervelib

Class SwerveController

java.lang.Object

frc.robot.subsystems.swervedrive2.swervelib.SwerveController

public class SwerveController
extends Object

Controller class used to convert raw inputs into robot speeds.

Field Summary

Fields

Modifier and Type	Field	Description
SwerveControllerConfiguration	config	SwerveControllerConfiguration object storing data to generate the PIDController for controlling the robot heading, and deadband for heading joystick.
double	lastAngle	Last angle to robot was set to.
private edu.wpi.first.math.controller.PIDController	thetaController	PID Controller for the robot heading.

Constructor Summary

Constructors

Constructor	Description
SwerveController(SwerveControllerConfiguration cfg)	Construct the SwerveController object which is used for determining the speeds of the robot based on controller input.

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.kinematics.ChassisSpeeds	getTargetSpeeds(double xInput, double yInput, double angle, double currentHeadingAngleRadians)	Get the chassis speeds based on controller input of 1 joystick and a angle.
edu.wpi.first.math.kinematics.ChassisSpeeds	getTargetSpeeds(double xInput, double yInput, double headingX, double headingY, double currentHeadingAngleRadians)	Get the chassis speeds based on controller input of 2 joysticks.
static edu.wpi.first.math.geometry.Translation2d	getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)	Helper function to get the Translation2d of the chassis speeds given the ChassisSpeeds.
boolean	withinHypotDeadband(double x, double y)	Calculate the hypot deadband and check if the joystick is within it.

Methods inherited from class java.lang.Object

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

Field Detail

config

public final SwerveControllerConfiguration config

SwerveControllerConfiguration object storing data to generate the PIDController for controlling the robot heading, and deadband for heading joystick.

thetaController

private final edu.wpi.first.math.controller.PIDController thetaController

PID Controller for the robot heading.

lastAngle

public double lastAngle

Last angle to robot was set to.

Constructor Detail

SwerveController

public SwerveController(SwerveControllerConfiguration cfg)

Construct the SwerveController object which is used for determining the speeds of the robot based on controller input.

Method Detail

getTranslation2d

public static edu.wpi.first.math.geometry.Translation2d getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)

Helper function to get the Translation2d of the chassis speeds given the ChassisSpeeds.

Parameters:

speeds - Chassis speeds.

Returns:

Translation2d of the speed the robot is going in.

withinHypotDeadband

public boolean withinHypotDeadband(double x,
                                   double y)

Calculate the hypot deadband and check if the joystick is within it.

Parameters:

x - The x value for the joystick in which the deadband should be applied.

y - The y value for the joystick in which the deadband should be applied.

getTargetSpeeds

public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds(double xInput,
                                                                   double yInput,
                                                                   double angle,
                                                                   double currentHeadingAngleRadians)

Get the chassis speeds based on controller input of 1 joystick and a angle.

Parameters:

xInput - X joystick input for the robot to move in the X direction.

yInput - Y joystick input for the robot to move in the Y direction.

angle - The desired angle of the robot in radians.

currentHeadingAngleRadians - The current robot heading in radians.

Returns:

ChassisSpeeds which can be sent to th Swerve Drive.

getTargetSpeeds

public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds(double xInput,
                                                                   double yInput,
                                                                   double headingX,
                                                                   double headingY,
                                                                   double currentHeadingAngleRadians)

Get the chassis speeds based on controller input of 2 joysticks. One for speeds in which direction. The other for the angle of the robot.

Parameters:

xInput - X joystick input for the robot to move in the X direction.

yInput - Y joystick input for the robot to move in the Y direction.

headingX - X joystick which controls the angle of the robot.

headingY - Y joystick which controls the angle of the robot.

currentHeadingAngleRadians - The current robot heading in radians.

Returns:

ChassisSpeeds which can be sent to th Swerve Drive.