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YAGSL/docs/frc/robot/subsystems/swervedrive2/swervelib/SwerveController.html
thenetworkgrinch 6a40ec018e Updated swervelib
2023-02-13 14:37:05 -06:00

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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib</a></div>
<h2 title="Class SwerveController" class="title">Class SwerveController</h2>
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<pre>public class <span class="typeNameLabel">SwerveController</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="block">Controller class used to convert raw inputs into robot speeds.</div>
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<td class="colFirst"><code><a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#config">config</a></span></code></th>
<td class="colLast">
<div class="block"><a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveControllerConfiguration</code></a> object storing data to generate the <code>PIDController</code> for controlling the
robot heading, and deadband for heading joystick.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#lastAngle">lastAngle</a></span></code></th>
<td class="colLast">
<div class="block">Last angle to robot was set to.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private edu.wpi.first.math.controller.PIDController</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#thetaController">thetaController</a></span></code></th>
<td class="colLast">
<div class="block">PID Controller for the robot heading.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveControllerConfiguration)">SwerveController</a></span>&#8203;(<a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a>&nbsp;cfg)</code></th>
<td class="colLast">
<div class="block">Construct the SwerveController object which is used for determining the speeds of the robot based on controller
input.</div>
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<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTargetSpeeds(double,double,double,double)">getTargetSpeeds</a></span>&#8203;(double&nbsp;xInput,
double&nbsp;yInput,
double&nbsp;angle,
double&nbsp;currentHeadingAngleRadians)</code></th>
<td class="colLast">
<div class="block">Get the chassis speeds based on controller input of 1 joystick and a angle.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTargetSpeeds(double,double,double,double,double)">getTargetSpeeds</a></span>&#8203;(double&nbsp;xInput,
double&nbsp;yInput,
double&nbsp;headingX,
double&nbsp;headingY,
double&nbsp;currentHeadingAngleRadians)</code></th>
<td class="colLast">
<div class="block">Get the chassis speeds based on controller input of 2 joysticks.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>static edu.wpi.first.math.geometry.Translation2d</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)">getTranslation2d</a></span>&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;speeds)</code></th>
<td class="colLast">
<div class="block">Helper function to get the <code>Translation2d</code> of the chassis speeds given the <code>ChassisSpeeds</code>.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#withinHypotDeadband(double,double)">withinHypotDeadband</a></span>&#8203;(double&nbsp;x,
double&nbsp;y)</code></th>
<td class="colLast">
<div class="block">Calculate the hypot deadband and check if the joystick is within it.</div>
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<h4>config</h4>
<pre>public final&nbsp;<a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a> config</pre>
<div class="block"><a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveControllerConfiguration</code></a> object storing data to generate the <code>PIDController</code> for controlling the
robot heading, and deadband for heading joystick.</div>
</li>
</ul>
<a id="thetaController">
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</a>
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<h4>thetaController</h4>
<pre>private final&nbsp;edu.wpi.first.math.controller.PIDController thetaController</pre>
<div class="block">PID Controller for the robot heading.</div>
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<h4>lastAngle</h4>
<pre>public&nbsp;double lastAngle</pre>
<div class="block">Last angle to robot was set to.</div>
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<h4>SwerveController</h4>
<pre>public&nbsp;SwerveController&#8203;(<a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a>&nbsp;cfg)</pre>
<div class="block">Construct the SwerveController object which is used for determining the speeds of the robot based on controller
input.</div>
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<h4>getTranslation2d</h4>
<pre class="methodSignature">public static&nbsp;edu.wpi.first.math.geometry.Translation2d&nbsp;getTranslation2d&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;speeds)</pre>
<div class="block">Helper function to get the <code>Translation2d</code> of the chassis speeds given the <code>ChassisSpeeds</code>.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>speeds</code> - Chassis speeds.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd><code>Translation2d</code> of the speed the robot is going in.</dd>
</dl>
</li>
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<a id="withinHypotDeadband(double,double)">
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<h4>withinHypotDeadband</h4>
<pre class="methodSignature">public&nbsp;boolean&nbsp;withinHypotDeadband&#8203;(double&nbsp;x,
double&nbsp;y)</pre>
<div class="block">Calculate the hypot deadband and check if the joystick is within it.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>x</code> - The x value for the joystick in which the deadband should be applied.</dd>
<dd><code>y</code> - The y value for the joystick in which the deadband should be applied.</dd>
</dl>
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<a id="getTargetSpeeds(double,double,double,double)">
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<h4>getTargetSpeeds</h4>
<pre class="methodSignature">public&nbsp;edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;getTargetSpeeds&#8203;(double&nbsp;xInput,
double&nbsp;yInput,
double&nbsp;angle,
double&nbsp;currentHeadingAngleRadians)</pre>
<div class="block">Get the chassis speeds based on controller input of 1 joystick and a angle.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>xInput</code> - X joystick input for the robot to move in the X direction.</dd>
<dd><code>yInput</code> - Y joystick input for the robot to move in the Y direction.</dd>
<dd><code>angle</code> - The desired angle of the robot in radians.</dd>
<dd><code>currentHeadingAngleRadians</code> - The current robot heading in radians.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd><code>ChassisSpeeds</code> which can be sent to th Swerve Drive.</dd>
</dl>
</li>
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<a id="getTargetSpeeds(double,double,double,double,double)">
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<h4>getTargetSpeeds</h4>
<pre class="methodSignature">public&nbsp;edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;getTargetSpeeds&#8203;(double&nbsp;xInput,
double&nbsp;yInput,
double&nbsp;headingX,
double&nbsp;headingY,
double&nbsp;currentHeadingAngleRadians)</pre>
<div class="block">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.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>xInput</code> - X joystick input for the robot to move in the X direction.</dd>
<dd><code>yInput</code> - Y joystick input for the robot to move in the Y direction.</dd>
<dd><code>headingX</code> - X joystick which controls the angle of the robot.</dd>
<dd><code>headingY</code> - Y joystick which controls the angle of the robot.</dd>
<dd><code>currentHeadingAngleRadians</code> - The current robot heading in radians.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd><code>ChassisSpeeds</code> which can be sent to th Swerve Drive.</dd>
</dl>
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