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Updated documentation. Fixed setChassisSpeeds

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This commit is contained in:
thenetworkgrinch
2023-02-15 00:08:44 -06:00
parent 95b089960b
commit e4436b5ed2
89 changed files with 238 additions and 208 deletions
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20
swervelib/SwerveDrive.java
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@@ -10,6 +10,7 @@ import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -168,17 +169,16 @@ public class SwerveDrive
}
/**
* Set field-relative chassis speeds with closed-loop velocity control.
* Set chassis speeds with closed-loop velocity control.
*
* @param chassisSpeeds Field-relative.
* @param chassisSpeeds Chassis speeds to set.
*/
public void setChassisSpeeds(ChassisSpeeds chassisSpeeds)
{
setModuleStates(kinematics.toSwerveModuleStates(ChassisSpeeds.fromFieldRelativeSpeeds(chassisSpeeds, getYaw())),
setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds),
false);
}
/**
* Gets the current pose (position and rotation) of the robot, as reported by odometry.
*
@@ -225,6 +225,16 @@ public class SwerveDrive
swerveDrivePoseEstimator.resetPosition(getYaw(), getModulePositions(), pose);
}
/**
* Post the trajectory to the field
*
* @param trajectory the trajectory to post.
*/
public void postTrajectory(Trajectory trajectory)
{
field.getObject("Trajectory").setTrajectory(trajectory);
}
/**
* Gets the current module states (azimuth and velocity)
*
@@ -425,7 +435,7 @@ public class SwerveDrive
field.setRobotPose(swerveDrivePoseEstimator.getEstimatedPosition());
double[] moduleStates = new double[8];
double[] moduleStates = new double[swerveModules.length * 2];
for (SwerveModule module : swerveModules)
{
SmartDashboard.putNumber("Module" + module.moduleNumber + "Absolute Encoder", module.getAbsolutePosition());