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1379 lines
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1379 lines
57 KiB
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<div class="header">
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
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<h2 title="Class SwerveDrive" class="title">Class SwerveDrive</h2>
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</div>
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<ul class="inheritance">
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<li>java.lang.Object</li>
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<li>
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<ul class="inheritance">
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<li>edu.wpi.first.wpilibj.MotorSafety</li>
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<li>
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<ul class="inheritance">
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<li>edu.wpi.first.wpilibj.drive.RobotDriveBase</li>
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<li>
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<ul class="inheritance">
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<li>frc.robot.subsystems.swervedrive.swerve.SwerveDrive</li>
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</ul>
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</li>
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</ul>
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<dl>
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<dt>All Implemented Interfaces:</dt>
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<dd><code>edu.wpi.first.util.sendable.Sendable</code>, <code>java.lang.AutoCloseable</code></dd>
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</dl>
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<hr>
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<pre>public class <span class="typeNameLabel">SwerveDrive</span>
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extends edu.wpi.first.wpilibj.drive.RobotDriveBase
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implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
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<div class="block">SwerveDrive base which is meant to be platform agnostic. This implementation expect second order kinematics because
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second order kinematics prevents the drift that builds up when using first order kinematics. As per this <a href="https://www.chiefdelphi.com/t/whitepaper-swerve-drive-skew-and-second-order-kinematics/416964">ChiefDelphi
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post</a></div>
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</li>
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</ul>
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<div class="summary">
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<li class="blockList">
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<!-- ======== NESTED CLASS SUMMARY ======== -->
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<section role="region">
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<li class="blockList"><a id="nested.class.summary">
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</a>
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<h3>Nested Class Summary</h3>
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<table class="memberSummary">
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<caption><span>Nested Classes</span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Class</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>static class </code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a><<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a> extends com.ctre.phoenix.sensors.CANCoder></span></code></th>
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<td class="colLast">
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<div class="block">Helper class for easier swerve module creation</div>
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</td>
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</tr>
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</table>
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<ul class="blockList">
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<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj.drive.RobotDriveBase">
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<!-- -->
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</a>
|
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<h3>Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.drive.RobotDriveBase</h3>
|
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<code>edu.wpi.first.wpilibj.drive.RobotDriveBase.MotorType</code></li>
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</ul>
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</li>
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</ul>
|
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</section>
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<!-- =========== FIELD SUMMARY =========== -->
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<section role="region">
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<ul class="blockList">
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<li class="blockList"><a id="field.summary">
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<!-- -->
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</a>
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<h3>Field Summary</h3>
|
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<table class="memberSummary">
|
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
|
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<th class="colSecond" scope="col">Field</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private static int</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#instances">instances</a></span></code></th>
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<td class="colLast">
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<div class="block">Count of SwerveModule instances created.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>private double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_angle">m_angle</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_backLeft">m_backLeft</a></span></code></th>
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<td class="colLast">
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<div class="block">Back left swerve drive</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_backRight">m_backRight</a></span></code></th>
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<td class="colLast">
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<div class="block">Back right swerve drive</div>
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_driverMaxAngularVelocity">m_driverMaxAngularVelocity</a></span></code></th>
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<td class="colLast">
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<div class="block">Maximum speed in meters per second.</div>
|
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_driverMaxSpeedMPS">m_driverMaxSpeedMPS</a></span></code></th>
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<td class="colLast">
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<div class="block">Maximum speed in meters per second.</div>
|
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private edu.wpi.first.wpilibj.Timer</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_driveTimer">m_driveTimer</a></span></code></th>
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<td class="colLast"> </td>
|
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>private edu.wpi.first.wpilibj.smartdashboard.Field2d</code></td>
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_field">m_field</a></span></code></th>
|
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<td class="colLast">
|
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<div class="block">Field2d displayed on shuffleboard with current position.</div>
|
||
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</td>
|
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</tr>
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<tr class="altColor">
|
||
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<td class="colFirst"><code><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?></code></td>
|
||
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_frontLeft">m_frontLeft</a></span></code></th>
|
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<td class="colLast">
|
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<div class="block">Front left swerve drive</div>
|
||
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</td>
|
||
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</tr>
|
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<tr class="rowColor">
|
||
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<td class="colFirst"><code><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?></code></td>
|
||
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_frontRight">m_frontRight</a></span></code></th>
|
||
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<td class="colLast">
|
||
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<div class="block">Front right swerve drive</div>
|
||
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</td>
|
||
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</tr>
|
||
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<tr class="altColor">
|
||
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<td class="colFirst"><code>private boolean</code></td>
|
||
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_gyroInverted">m_gyroInverted</a></span></code></th>
|
||
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<td class="colLast">
|
||
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<div class="block">Invert the gyro reading.</div>
|
||
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</td>
|
||
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</tr>
|
||
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<tr class="rowColor">
|
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<td class="colFirst"><code>double</code></td>
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_physicalMaxSpeedMPS">m_physicalMaxSpeedMPS</a></span></code></th>
|
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<td class="colLast">
|
||
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<div class="block">Maximum speed in meters per second.</div>
|
||
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</td>
|
||
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</tr>
|
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<tr class="altColor">
|
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<td class="colFirst"><code>private com.ctre.phoenix.sensors.WPI_Pigeon2</code></td>
|
||
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_pigeonIMU">m_pigeonIMU</a></span></code></th>
|
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<td class="colLast">
|
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<div class="block">Pigeon 2.0 centered on the robot.</div>
|
||
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>private edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
|
||
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_prevChassisSpeed">m_prevChassisSpeed</a></span></code></th>
|
||
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<td class="colLast"> </td>
|
||
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</tr>
|
||
|
|
<tr class="altColor">
|
||
|
|
<td class="colFirst"><code>private <a href="kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_swerveKinematics">m_swerveKinematics</a></span></code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Swerve drive kinematics.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr class="rowColor">
|
||
|
|
<td class="colFirst"><code>private edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_swervePoseEstimator">m_swervePoseEstimator</a></span></code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Swerve drive pose estimator for attempting to figure out our current position.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr class="altColor">
|
||
|
|
<td class="colFirst"><code>private double</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_timerPrev">m_timerPrev</a></span></code></th>
|
||
|
|
<td class="colLast"> </td>
|
||
|
|
</tr>
|
||
|
|
<tr class="rowColor">
|
||
|
|
<td class="colFirst"><code>private edu.wpi.first.math.filter.SlewRateLimiter</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_turningLimiter">m_turningLimiter</a></span></code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">The slew rate limiters to make control smooth.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr class="altColor">
|
||
|
|
<td class="colFirst"><code>private edu.wpi.first.math.filter.SlewRateLimiter</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_xLimiter">m_xLimiter</a></span></code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">The slew rate limiters to make control smooth.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr class="rowColor">
|
||
|
|
<td class="colFirst"><code>private edu.wpi.first.math.filter.SlewRateLimiter</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_yLimiter">m_yLimiter</a></span></code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">The slew rate limiters to make control smooth.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj.drive.RobotDriveBase">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<h3>Fields inherited from class edu.wpi.first.wpilibj.drive.RobotDriveBase</h3>
|
||
|
|
<code>kDefaultDeadband, kDefaultMaxOutput, m_deadband, m_maxOutput</code></li>
|
||
|
|
</ul>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
|
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||
|
|
<section role="region">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList"><a id="constructor.summary">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<h3>Constructor Summary</h3>
|
||
|
|
<table class="memberSummary">
|
||
|
|
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||
|
|
<tr>
|
||
|
|
<th class="colFirst" scope="col">Constructor</th>
|
||
|
|
<th class="colLast" scope="col">Description</th>
|
||
|
|
</tr>
|
||
|
|
<tr class="altColor">
|
||
|
|
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.robot.subsystems.swervedrive.swerve.SwerveModule,frc.robot.subsystems.swervedrive.swerve.SwerveModule,frc.robot.subsystems.swervedrive.swerve.SwerveModule,frc.robot.subsystems.swervedrive.swerve.SwerveModule,com.ctre.phoenix.sensors.WPI_Pigeon2,double,double,double,double,double,boolean,edu.wpi.first.math.geometry.Pose2d)">SwerveDrive</a></span>​(<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> frontLeft,
|
||
|
|
<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> frontRight,
|
||
|
|
<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> backLeft,
|
||
|
|
<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> backRight,
|
||
|
|
com.ctre.phoenix.sensors.WPI_Pigeon2 pigeon,
|
||
|
|
double driverMaxSpeedMetersPerSecond,
|
||
|
|
double driverMaxAngularVelocityRadiansPerSecond,
|
||
|
|
double driverMaxDriveAccelerationMetersPerSecond,
|
||
|
|
double driverMaxAngularAccelerationRadiansPerSecond,
|
||
|
|
double physicalMaxSpeedMPS,
|
||
|
|
boolean gyroInverted,
|
||
|
|
edu.wpi.first.math.geometry.Pose2d start)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Constructor for Swerve Drive assuming modules have been created and configured with PIDF and conversions.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
|
<!-- ========== METHOD SUMMARY =========== -->
|
||
|
|
<section role="region">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList"><a id="method.summary">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<h3>Method Summary</h3>
|
||
|
|
<table class="memberSummary">
|
||
|
|
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||
|
|
<tr>
|
||
|
|
<th class="colFirst" scope="col">Modifier and Type</th>
|
||
|
|
<th class="colSecond" scope="col">Method</th>
|
||
|
|
<th class="colLast" scope="col">Description</th>
|
||
|
|
</tr>
|
||
|
|
<tr id="i0" class="altColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#close()">close</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Closes this resource, relinquishing any underlying resources.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i1" class="rowColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configurePigeonIMU()">configurePigeonIMU</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Configure the PigeonIMU with factory default settings and a zeroed gyroscope.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i2" class="altColor">
|
||
|
|
<td class="colFirst"><code>static <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?>[]</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createModules(double,double,double,double,double,double,double,double,boolean,boolean,frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig%5B%5D)">createModules</a></span>​(double driveGearRatio,
|
||
|
|
double steerGearRatio,
|
||
|
|
double wheelDiameterMeters,
|
||
|
|
double wheelBaseMeters,
|
||
|
|
double driveTrainWidthMeters,
|
||
|
|
double steeringMotorFreeSpeedRPM,
|
||
|
|
double maxSpeedMPS,
|
||
|
|
double maxDriveAcceleration,
|
||
|
|
boolean steeringMotorInverted,
|
||
|
|
boolean drivingMotorInverted,
|
||
|
|
<a href="SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a><?,​?,​?>[] configs)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Create swerve drive modules</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i3" class="rowColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive(double,double,double,boolean)">drive</a></span>​(double forward,
|
||
|
|
double strafe,
|
||
|
|
double turn,
|
||
|
|
boolean fieldRelative)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Drive swerve based off controller input.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i4" class="altColor">
|
||
|
|
<td class="colFirst"><code>java.lang.String</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getDescription()">getDescription</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Get the description of the robot drive base.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i5" class="rowColor">
|
||
|
|
<td class="colFirst"><code>edu.wpi.first.math.geometry.Pose2d</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPose()">getPose</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Get the current Pose, used in autonomous.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i6" class="altColor">
|
||
|
|
<td class="colFirst"><code>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPositions()">getPositions</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Get current swerve module positions in order.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i7" class="rowColor">
|
||
|
|
<td class="colFirst"><code>edu.wpi.first.math.geometry.Rotation2d</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getRotation()">getRotation</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Get the current robot rotation.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i8" class="altColor">
|
||
|
|
<td class="colFirst"><code><a href="kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getStates()">getStates</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Get current swerve module states in order.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i9" class="rowColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable</a></span>​(edu.wpi.first.util.sendable.SendableBuilder builder)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Initializes this <code>Sendable</code> object.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i10" class="altColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#publish(frc.robot.subsystems.swervedrive.swerve.SwerveModule.Verbosity)">publish</a></span>​(<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> level)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Publish data from the Swerve Modules to the dashboard.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i11" class="rowColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#resetEncoders()">resetEncoders</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Resets the drive encoders to currently read a position of 0.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i12" class="altColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)">resetOdometry</a></span>​(edu.wpi.first.math.geometry.Pose2d pose)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Reset the odometry given the position and using current rotation from the PigeonIMU 2.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i13" class="rowColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(double,double,double,boolean)">set</a></span>​(double forward,
|
||
|
|
double strafe,
|
||
|
|
double radianPerSecond,
|
||
|
|
boolean fieldRelative)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Swerve drive function</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i14" class="altColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setGyroInverted(boolean)">setGyroInverted</a></span>​(boolean isInverted)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Invert the gyroscope reading.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i15" class="rowColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setModuleStates(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D)">setModuleStates</a></span>​(<a href="kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] states)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Set the swerve module states given an array of states.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i16" class="altColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDF(double,double,double,double,double,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">setPIDF</a></span>​(double p,
|
||
|
|
double i,
|
||
|
|
double d,
|
||
|
|
double f,
|
||
|
|
double integralZone,
|
||
|
|
<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> moduleMotorType)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the motor controller.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i17" class="rowColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation()">setVoltageCompensation</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Enable voltage compensation to the current battery voltage on all modules.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i18" class="altColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setX()">setX</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Sets the wheels into an X formation to prevent movement.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i19" class="rowColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stopMotor()">stopMotor</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Stop all running and turning motors.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i20" class="altColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#subscribe()">subscribe</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Update swerve module parameters based on data in the dashboard.</div>
|
||
|
|
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|
||
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<tr id="i21" class="rowColor">
|
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<td class="colFirst"><code>void</code></td>
|
||
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#synchronizeEncoders()">synchronizeEncoders</a></span>()</code></th>
|
||
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<td class="colLast">
|
||
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<div class="block">Synchronize internal steering encoders with the absolute encoder.</div>
|
||
|
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|
||
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|
||
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<tr id="i22" class="altColor">
|
||
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<td class="colFirst"><code>edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></td>
|
||
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#update()">update</a></span>()</code></th>
|
||
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<td class="colLast">
|
||
|
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<div class="block">Update the swerve drive odometry.</div>
|
||
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|
||
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|
||
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<tr id="i23" class="rowColor">
|
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<td class="colFirst"><code>void</code></td>
|
||
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#zeroGyro()">zeroGyro</a></span>()</code></th>
|
||
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|
||
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<div class="block">Set the current rotation of the gyroscope (pigeonIMU 2) to 0.</div>
|
||
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|
||
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|
||
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|
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<td class="colFirst"><code>void</code></td>
|
||
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#zeroModules()">zeroModules</a></span>()</code></th>
|
||
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|
||
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<div class="block">Sets the speed to 0 and angle to 0 for all the swerve drive modules.</div>
|
||
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|
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|
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|
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|
||
|
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<h3>Methods inherited from class edu.wpi.first.wpilibj.drive.RobotDriveBase</h3>
|
||
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<h3>Methods inherited from class edu.wpi.first.wpilibj.MotorSafety</h3>
|
||
|
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<code>check, checkMotors, feed, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled</code></li>
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|
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|
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|
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<pre>private static int instances</pre>
|
||
|
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<div class="block">Count of SwerveModule instances created.</div>
|
||
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|
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|
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|
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<pre>public final <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> m_frontLeft</pre>
|
||
|
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<div class="block">Front left swerve drive</div>
|
||
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|
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|
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|
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|
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<pre>public final <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> m_backLeft</pre>
|
||
|
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<div class="block">Back left swerve drive</div>
|
||
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|
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|
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|
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|
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<pre>public final <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> m_frontRight</pre>
|
||
|
|
<div class="block">Front right swerve drive</div>
|
||
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|
||
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|
||
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|
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|
||
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<pre>public final <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> m_backRight</pre>
|
||
|
|
<div class="block">Back right swerve drive</div>
|
||
|
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</li>
|
||
|
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|
||
|
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<a id="m_driverMaxSpeedMPS">
|
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|
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<h4>m_driverMaxSpeedMPS</h4>
|
||
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<pre>public final double m_driverMaxSpeedMPS</pre>
|
||
|
|
<div class="block">Maximum speed in meters per second.</div>
|
||
|
|
</li>
|
||
|
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</ul>
|
||
|
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<a id="m_driverMaxAngularVelocity">
|
||
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|
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|
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|
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<h4>m_driverMaxAngularVelocity</h4>
|
||
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<pre>public final double m_driverMaxAngularVelocity</pre>
|
||
|
|
<div class="block">Maximum speed in meters per second.</div>
|
||
|
|
</li>
|
||
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</ul>
|
||
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<a id="m_physicalMaxSpeedMPS">
|
||
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|
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|
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|
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|
||
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<pre>public final double m_physicalMaxSpeedMPS</pre>
|
||
|
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<div class="block">Maximum speed in meters per second.</div>
|
||
|
|
</li>
|
||
|
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</ul>
|
||
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<a id="m_swerveKinematics">
|
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|
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|
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|
||
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<pre>private final <a href="kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a> m_swerveKinematics</pre>
|
||
|
|
<div class="block">Swerve drive kinematics.</div>
|
||
|
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</li>
|
||
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|
||
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<a id="m_swervePoseEstimator">
|
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|
||
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<pre>private final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator m_swervePoseEstimator</pre>
|
||
|
|
<div class="block">Swerve drive pose estimator for attempting to figure out our current position.</div>
|
||
|
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</li>
|
||
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|
||
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<a id="m_pigeonIMU">
|
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|
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|
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|
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<h4>m_pigeonIMU</h4>
|
||
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<pre>private final com.ctre.phoenix.sensors.WPI_Pigeon2 m_pigeonIMU</pre>
|
||
|
|
<div class="block">Pigeon 2.0 centered on the robot.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="m_field">
|
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|
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<h4>m_field</h4>
|
||
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<pre>private final edu.wpi.first.wpilibj.smartdashboard.Field2d m_field</pre>
|
||
|
|
<div class="block">Field2d displayed on shuffleboard with current position.</div>
|
||
|
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</li>
|
||
|
|
</ul>
|
||
|
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<a id="m_xLimiter">
|
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|
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|
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<h4>m_xLimiter</h4>
|
||
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<pre>private final edu.wpi.first.math.filter.SlewRateLimiter m_xLimiter</pre>
|
||
|
|
<div class="block">The slew rate limiters to make control smooth.</div>
|
||
|
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</li>
|
||
|
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|
||
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|
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|
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<h4>m_yLimiter</h4>
|
||
|
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<pre>private final edu.wpi.first.math.filter.SlewRateLimiter m_yLimiter</pre>
|
||
|
|
<div class="block">The slew rate limiters to make control smooth.</div>
|
||
|
|
</li>
|
||
|
|
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|
||
|
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|
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|
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|
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|
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|
||
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<pre>private final edu.wpi.first.math.filter.SlewRateLimiter m_turningLimiter</pre>
|
||
|
|
<div class="block">The slew rate limiters to make control smooth.</div>
|
||
|
|
</li>
|
||
|
|
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|
||
|
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|
||
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|
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|
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|
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<pre>private final edu.wpi.first.wpilibj.Timer m_driveTimer</pre>
|
||
|
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|
||
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|
||
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|
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|
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|
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|
||
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<pre>private boolean m_gyroInverted</pre>
|
||
|
|
<div class="block">Invert the gyro reading.</div>
|
||
|
|
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|
||
|
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|
||
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|
||
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|
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|
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|
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|
||
|
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<pre>private double m_angle</pre>
|
||
|
|
</li>
|
||
|
|
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|
||
|
|
<a id="m_prevChassisSpeed">
|
||
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|
||
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|
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|
||
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|
||
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<h4>m_prevChassisSpeed</h4>
|
||
|
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<pre>private edu.wpi.first.math.kinematics.ChassisSpeeds m_prevChassisSpeed</pre>
|
||
|
|
</li>
|
||
|
|
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|
||
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|
||
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|
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|
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|
||
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|
||
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<h4>m_timerPrev</h4>
|
||
|
|
<pre>private double m_timerPrev</pre>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</li>
|
||
|
|
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|
||
|
|
</section>
|
||
|
|
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||
|
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|
||
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|
||
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|
||
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|
||
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|
||
|
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<h3>Constructor Detail</h3>
|
||
|
|
<a id="<init>(frc.robot.subsystems.swervedrive.swerve.SwerveModule,frc.robot.subsystems.swervedrive.swerve.SwerveModule,frc.robot.subsystems.swervedrive.swerve.SwerveModule,frc.robot.subsystems.swervedrive.swerve.SwerveModule,com.ctre.phoenix.sensors.WPI_Pigeon2,double,double,double,double,double,boolean,edu.wpi.first.math.geometry.Pose2d)">
|
||
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|
||
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|
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|
||
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<h4>SwerveDrive</h4>
|
||
|
|
<pre>public SwerveDrive​(<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> frontLeft,
|
||
|
|
<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> frontRight,
|
||
|
|
<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> backLeft,
|
||
|
|
<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> backRight,
|
||
|
|
com.ctre.phoenix.sensors.WPI_Pigeon2 pigeon,
|
||
|
|
double driverMaxSpeedMetersPerSecond,
|
||
|
|
double driverMaxAngularVelocityRadiansPerSecond,
|
||
|
|
double driverMaxDriveAccelerationMetersPerSecond,
|
||
|
|
double driverMaxAngularAccelerationRadiansPerSecond,
|
||
|
|
double physicalMaxSpeedMPS,
|
||
|
|
boolean gyroInverted,
|
||
|
|
edu.wpi.first.math.geometry.Pose2d start)</pre>
|
||
|
|
<div class="block">Constructor for Swerve Drive assuming modules have been created and configured with PIDF and conversions.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>frontLeft</code> - Front left swerve module configured.</dd>
|
||
|
|
<dd><code>backLeft</code> - Back left swerve module.</dd>
|
||
|
|
<dd><code>frontRight</code> - Front right swerve module.</dd>
|
||
|
|
<dd><code>backRight</code> - Back right swerve module</dd>
|
||
|
|
<dd><code>pigeon</code> - Pigeon IMU.</dd>
|
||
|
|
<dd><code>driverMaxSpeedMetersPerSecond</code> - Maximum speed for all modules to follow when in teleop.</dd>
|
||
|
|
<dd><code>driverMaxAngularVelocityRadiansPerSecond</code> - Maximum angular velocity for turning when using the drive
|
||
|
|
function.</dd>
|
||
|
|
<dd><code>driverMaxDriveAccelerationMetersPerSecond</code> - Maximum acceleration in meters per second for the drive motors
|
||
|
|
when in teleop for the slew rate limiter.</dd>
|
||
|
|
<dd><code>driverMaxAngularAccelerationRadiansPerSecond</code> - Maximum angular acceleration in meters per second for the
|
||
|
|
steering motors when in teleop for the slew rate limiters.</dd>
|
||
|
|
<dd><code>physicalMaxSpeedMPS</code> - Maximum speed a module can go physically, used to desaturate
|
||
|
|
wheel speeds.</dd>
|
||
|
|
<dd><code>gyroInverted</code> - Invert the gyroscope for the robot.</dd>
|
||
|
|
<dd><code>start</code> - The starting pose on the field.</dd>
|
||
|
|
</dl>
|
||
|
|
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|
||
|
|
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|
||
|
|
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|
||
|
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|
||
|
|
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|
||
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<!-- ============ METHOD DETAIL ========== -->
|
||
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|
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<h3>Method Detail</h3>
|
||
|
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<a id="setVoltageCompensation()">
|
||
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|
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<h4>setVoltageCompensation</h4>
|
||
|
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<pre class="methodSignature">public void setVoltageCompensation()</pre>
|
||
|
|
<div class="block">Enable voltage compensation to the current battery voltage on all modules.</div>
|
||
|
|
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|
||
|
|
</ul>
|
||
|
|
<a id="createModules(double,double,double,double,double,double,double,double,boolean,boolean,frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig[])">
|
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|
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<h4>createModules</h4>
|
||
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<pre class="methodSignature">public static <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?>[] createModules​(double driveGearRatio,
|
||
|
|
double steerGearRatio,
|
||
|
|
double wheelDiameterMeters,
|
||
|
|
double wheelBaseMeters,
|
||
|
|
double driveTrainWidthMeters,
|
||
|
|
double steeringMotorFreeSpeedRPM,
|
||
|
|
double maxSpeedMPS,
|
||
|
|
double maxDriveAcceleration,
|
||
|
|
boolean steeringMotorInverted,
|
||
|
|
boolean drivingMotorInverted,
|
||
|
|
<a href="SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a><?,​?,​?>[] configs)</pre>
|
||
|
|
<div class="block">Create swerve drive modules</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>driveGearRatio</code> - Drive gear ratio in form of (rotation:1 AKA rotations/1) to get the encoder ticks
|
||
|
|
per rotation.</dd>
|
||
|
|
<dd><code>steerGearRatio</code> - Steering motor gear ratio (usually 12.8:1 for MK4 in form of rotations:1 or
|
||
|
|
rotations/1), only applied if using Neo's.</dd>
|
||
|
|
<dd><code>wheelDiameterMeters</code> - The wheel diameter of the swerve drive module in meters.</dd>
|
||
|
|
<dd><code>wheelBaseMeters</code> - The Distance between front and back wheels of the robot in meters.</dd>
|
||
|
|
<dd><code>driveTrainWidthMeters</code> - The Distance between centers of right and left wheels in meters.</dd>
|
||
|
|
<dd><code>steeringMotorFreeSpeedRPM</code> - The RPM free speed of the steering motor.</dd>
|
||
|
|
<dd><code>maxSpeedMPS</code> - The maximum drive speed in meters per second.</dd>
|
||
|
|
<dd><code>maxDriveAcceleration</code> - The maximum drive acceleration in meters^2 per second.</dd>
|
||
|
|
<dd><code>steeringMotorInverted</code> - The steering motor is inverted.</dd>
|
||
|
|
<dd><code>drivingMotorInverted</code> - The driving motor is inverted.</dd>
|
||
|
|
<dd><code>configs</code> - The swerve module configuration classes for the swerve drive given.</dd>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>Array of swerve modules in the order of front left, front right, back left, back right.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="zeroModules()">
|
||
|
|
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|
||
|
|
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|
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|
||
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|
<h4>zeroModules</h4>
|
||
|
|
<pre class="methodSignature">public void zeroModules()</pre>
|
||
|
|
<div class="block">Sets the speed to 0 and angle to 0 for all the swerve drive modules.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="configurePigeonIMU()">
|
||
|
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|
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|
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<h4>configurePigeonIMU</h4>
|
||
|
|
<pre class="methodSignature">public void configurePigeonIMU()</pre>
|
||
|
|
<div class="block">Configure the PigeonIMU with factory default settings and a zeroed gyroscope.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="update()">
|
||
|
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|
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|
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|
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|
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|
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<h4>update</h4>
|
||
|
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<pre class="methodSignature">public edu.wpi.first.math.estimator.SwerveDrivePoseEstimator update()</pre>
|
||
|
|
<div class="block">Update the swerve drive odometry.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>Swerve drive odometry.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="drive(double,double,double,boolean)">
|
||
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|
||
|
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|
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|
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<h4>drive</h4>
|
||
|
|
<pre class="methodSignature">public void drive​(double forward,
|
||
|
|
double strafe,
|
||
|
|
double turn,
|
||
|
|
boolean fieldRelative)</pre>
|
||
|
|
<div class="block">Drive swerve based off controller input.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>forward</code> - The speed (-1 to 1) in which the Y axis should go.</dd>
|
||
|
|
<dd><code>strafe</code> - The speed (-1 to 1) in which the X axis should go.</dd>
|
||
|
|
<dd><code>turn</code> - The speed (-1 to 1) in which the robot should turn.</dd>
|
||
|
|
<dd><code>fieldRelative</code> - Whether or not to use field relative controls.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
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</ul>
|
||
|
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<a id="set(double,double,double,boolean)">
|
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|
||
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|
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<h4>set</h4>
|
||
|
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<pre class="methodSignature">public void set​(double forward,
|
||
|
|
double strafe,
|
||
|
|
double radianPerSecond,
|
||
|
|
boolean fieldRelative)</pre>
|
||
|
|
<div class="block">Swerve drive function</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>forward</code> - forward meters per second, strafe facing left from alliance wall</dd>
|
||
|
|
<dd><code>strafe</code> - strafe meters per second, forward away from alliance wall</dd>
|
||
|
|
<dd><code>radianPerSecond</code> - radians per second</dd>
|
||
|
|
<dd><code>fieldRelative</code> - field relative</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="setModuleStates(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2[])">
|
||
|
|
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|
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|
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|
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|
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|
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<h4>setModuleStates</h4>
|
||
|
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<pre class="methodSignature">public void setModuleStates​(<a href="kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] states)</pre>
|
||
|
|
<div class="block">Set the swerve module states given an array of states. Normalize the wheel speeds to abide by maximum supplied</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>states</code> - Module states in a specified order. [front left, front right, back left, back right]</dd>
|
||
|
|
<dt><span class="throwsLabel">Throws:</span></dt>
|
||
|
|
<dd><code>java.lang.RuntimeException</code> - If the CANCoder is inaccessible or not configured.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
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</ul>
|
||
|
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<a id="setX()">
|
||
|
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|
||
|
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|
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|
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<h4>setX</h4>
|
||
|
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<pre class="methodSignature">public void setX()</pre>
|
||
|
|
<div class="block">Sets the wheels into an X formation to prevent movement.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="setGyroInverted(boolean)">
|
||
|
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|
||
|
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</a>
|
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|
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|
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|
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<h4>setGyroInverted</h4>
|
||
|
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<pre class="methodSignature">public void setGyroInverted​(boolean isInverted)</pre>
|
||
|
|
<div class="block">Invert the gyroscope reading.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>isInverted</code> - Inversion of the gryoscope, true is inverted.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="getRotation()">
|
||
|
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|
||
|
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|
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|
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|
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|
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<h4>getRotation</h4>
|
||
|
|
<pre class="methodSignature">public edu.wpi.first.math.geometry.Rotation2d getRotation()</pre>
|
||
|
|
<div class="block">Get the current robot rotation.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd><code>Rotation2d</code> of the robot.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="getPose()">
|
||
|
|
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|
||
|
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|
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|
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|
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<h4>getPose</h4>
|
||
|
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<pre class="methodSignature">public edu.wpi.first.math.geometry.Pose2d getPose()</pre>
|
||
|
|
<div class="block">Get the current Pose, used in autonomous.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>Current pose based off odometry.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="getPositions()">
|
||
|
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|
||
|
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|
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|
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|
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<h4>getPositions</h4>
|
||
|
|
<pre class="methodSignature">public edu.wpi.first.math.kinematics.SwerveModulePosition[] getPositions()</pre>
|
||
|
|
<div class="block">Get current swerve module positions in order.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>Swerve module positions array.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="getStates()">
|
||
|
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|
||
|
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|
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|
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|
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<h4>getStates</h4>
|
||
|
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<pre class="methodSignature">public <a href="kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] getStates()</pre>
|
||
|
|
<div class="block">Get current swerve module states in order.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>Swerve module states array.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="resetOdometry(edu.wpi.first.math.geometry.Pose2d)">
|
||
|
|
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|
||
|
|
</a>
|
||
|
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|
||
|
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|
||
|
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<h4>resetOdometry</h4>
|
||
|
|
<pre class="methodSignature">public void resetOdometry​(edu.wpi.first.math.geometry.Pose2d pose)</pre>
|
||
|
|
<div class="block">Reset the odometry given the position and using current rotation from the PigeonIMU 2.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>pose</code> - Current position on the field.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="resetEncoders()">
|
||
|
|
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|
||
|
|
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|
||
|
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|
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|
||
|
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<h4>resetEncoders</h4>
|
||
|
|
<pre class="methodSignature">public void resetEncoders()</pre>
|
||
|
|
<div class="block">Resets the drive encoders to currently read a position of 0.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="zeroGyro()">
|
||
|
|
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|
||
|
|
</a>
|
||
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|
||
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|
||
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<h4>zeroGyro</h4>
|
||
|
|
<pre class="methodSignature">public void zeroGyro()</pre>
|
||
|
|
<div class="block">Set the current rotation of the gyroscope (pigeonIMU 2) to 0.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="stopMotor()">
|
||
|
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|
||
|
|
</a>
|
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|
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<h4>stopMotor</h4>
|
||
|
|
<pre class="methodSignature">public void stopMotor()</pre>
|
||
|
|
<div class="block">Stop all running and turning motors.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||
|
|
<dd><code>stopMotor</code> in class <code>edu.wpi.first.wpilibj.drive.RobotDriveBase</code></dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="subscribe()">
|
||
|
|
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|
||
|
|
</a>
|
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|
||
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|
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<h4>subscribe</h4>
|
||
|
|
<pre class="methodSignature">public void subscribe()</pre>
|
||
|
|
<div class="block">Update swerve module parameters based on data in the dashboard.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="publish(frc.robot.subsystems.swervedrive.swerve.SwerveModule.Verbosity)">
|
||
|
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|
||
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|
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|
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|
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<h4>publish</h4>
|
||
|
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<pre class="methodSignature">public void publish​(<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> level)</pre>
|
||
|
|
<div class="block">Publish data from the Swerve Modules to the dashboard.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>level</code> - Verbosity level in terms of CAN utilization.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="setPIDF(double,double,double,double,double,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">
|
||
|
|
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|
||
|
|
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|
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|
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||
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<h4>setPIDF</h4>
|
||
|
|
<pre class="methodSignature">public void setPIDF​(double p,
|
||
|
|
double i,
|
||
|
|
double d,
|
||
|
|
double f,
|
||
|
|
double integralZone,
|
||
|
|
<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> moduleMotorType)</pre>
|
||
|
|
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the motor controller. Tuning the PID
|
||
|
|
<p>
|
||
|
|
<b>P</b> = .5 and increase it by .1 until oscillations occur, then decrease by .05 then .005 until oscillations
|
||
|
|
stop and angle is perfect or near perfect.
|
||
|
|
</p>
|
||
|
|
<p>
|
||
|
|
<b>I</b> = 0 tune this if your PID never quite reaches the target, after tuning <b>D</b>. Increase this by
|
||
|
|
<b>P</b>*.01 each time and adjust accordingly.
|
||
|
|
</p>
|
||
|
|
<p>
|
||
|
|
<b>D</b> = 0 tune this if the PID accelerates too fast, it will smooth the motion. Increase this by <b>P</b>*10
|
||
|
|
and adjust accordingly.
|
||
|
|
</p>
|
||
|
|
<p>
|
||
|
|
<b>F</b> = 0 tune this if the PID is being used for velocity, the <b>F</b> is multiplied by the target and added
|
||
|
|
to the voltage output. Increase this by 0.01 until the PIDF reaches the desired state in a fast enough manner.
|
||
|
|
</p>
|
||
|
|
Documentation for this is best described by CTRE <a href="https://docs.ctre-phoenix.com/en/stable/ch16_ClosedLoop.html#position-closed-loop-control-mode">here</a>.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>p</code> - Proportional gain for closed loop. This is multiplied by closed loop error in sensor units.</dd>
|
||
|
|
<dd><code>i</code> - Integral gain for closed loop. This is multiplied by closed loop error in sensor units every
|
||
|
|
PID Loop.</dd>
|
||
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<dd><code>d</code> - Derivative gain for closed loop. This is multiplied by derivative error (sensor units per
|
||
|
|
PID loop).</dd>
|
||
|
|
<dd><code>f</code> - Feed Fwd gain for Closed loop.</dd>
|
||
|
|
<dd><code>integralZone</code> - Integral Zone can be used to auto clear the integral accumulator if the sensor pos is too
|
||
|
|
far from the target. This prevents unstable oscillation if the kI is too large. Value is in
|
||
|
|
sensor units.</dd>
|
||
|
|
<dd><code>moduleMotorType</code> - Swerve drive motor type.</dd>
|
||
|
|
</dl>
|
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</li>
|
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</ul>
|
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<a id="synchronizeEncoders()">
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<h4>synchronizeEncoders</h4>
|
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<pre class="methodSignature">public void synchronizeEncoders()</pre>
|
||
|
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<div class="block">Synchronize internal steering encoders with the absolute encoder.</div>
|
||
|
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</li>
|
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</ul>
|
||
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<a id="getDescription()">
|
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</a>
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<h4>getDescription</h4>
|
||
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<pre class="methodSignature">public java.lang.String getDescription()</pre>
|
||
|
|
<div class="block">Get the description of the robot drive base.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||
|
|
<dd><code>getDescription</code> in class <code>edu.wpi.first.wpilibj.drive.RobotDriveBase</code></dd>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>string of the RobotDriveBase</dd>
|
||
|
|
</dl>
|
||
|
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</li>
|
||
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</ul>
|
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<a id="initSendable(edu.wpi.first.util.sendable.SendableBuilder)">
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</a>
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<h4>initSendable</h4>
|
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<pre class="methodSignature">public void initSendable​(edu.wpi.first.util.sendable.SendableBuilder builder)</pre>
|
||
|
|
<div class="block">Initializes this <code>Sendable</code> object.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||
|
|
<dd><code>initSendable</code> in interface <code>edu.wpi.first.util.sendable.Sendable</code></dd>
|
||
|
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<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>builder</code> - sendable builder</dd>
|
||
|
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</dl>
|
||
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</li>
|
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</ul>
|
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<h4>close</h4>
|
||
|
|
<pre class="methodSignature">public void close()
|
||
|
|
throws java.lang.Exception</pre>
|
||
|
|
<div class="block">Closes this resource, relinquishing any underlying resources. This method is invoked automatically on objects
|
||
|
|
managed by the <code>try</code>-with-resources statement.
|
||
|
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|
||
|
|
<p>While this interface method is declared to throw <code>
|
||
|
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Exception</code>, implementers are <em>strongly</em> encouraged to declare concrete implementations of the <code>close</code>
|
||
|
|
method to throw more specific exceptions, or to throw no exception at all if the close operation cannot fail.
|
||
|
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|
||
|
|
<p> Cases where the close operation may fail require careful
|
||
|
|
attention by implementers. It is strongly advised to relinquish the underlying resources and to internally
|
||
|
|
<em>mark</em> the resource as closed, prior to throwing the exception. The <code>close</code> method is unlikely to be
|
||
|
|
invoked more than once and so this ensures that the resources are released in a timely manner. Furthermore it
|
||
|
|
reduces problems that could arise when the resource wraps, or is wrapped, by another resource.
|
||
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|
|
||
|
|
<p><em>Implementers of this interface are also strongly advised
|
||
|
|
to not have the <code>close</code> method throw <code>InterruptedException</code>.</em>
|
||
|
|
<p>
|
||
|
|
This exception interacts with a thread's interrupted status, and runtime misbehavior is likely to occur if an
|
||
|
|
<code>InterruptedException</code> is suppressed.
|
||
|
|
<p>
|
||
|
|
More generally, if it would cause problems for an exception to be suppressed, the <code>AutoCloseable.close</code>
|
||
|
|
method should not throw it.
|
||
|
|
|
||
|
|
<p>Note that unlike the <code>close</code>
|
||
|
|
method of <code>Closeable</code>, this <code>close</code> method is <em>not</em> required to be idempotent. In other words,
|
||
|
|
calling this <code>close</code> method more than once may have some visible side effect, unlike <code>Closeable.close</code>
|
||
|
|
which is required to have no effect if called more than once.
|
||
|
|
<p>
|
||
|
|
However, implementers of this interface are strongly encouraged to make their <code>close</code> methods idempotent.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||
|
|
<dd><code>close</code> in interface <code>java.lang.AutoCloseable</code></dd>
|
||
|
|
<dt><span class="throwsLabel">Throws:</span></dt>
|
||
|
|
<dd><code>java.lang.Exception</code> - if this resource cannot be closed</dd>
|
||
|
|
</dl>
|
||
|
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|
||
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|
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|
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|
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|
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