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YAGSL/docs/frc/robot/subsystems/swervedrive2/swervelib/SwerveDrive.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 SwerveDrive" class="title">Class SwerveDrive</h2>
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<li>frc.robot.subsystems.swervedrive2.swervelib.SwerveDrive</li>
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<pre>public class <span class="typeNameLabel">SwerveDrive</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">Swerve Drive class representing and controlling the swerve drive.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
<td class="colLast">
<div class="block">The current angle of the robot and last time odometry during simulations.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>edu.wpi.first.wpilibj.smartdashboard.Field2d</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#field">field</a></span></code></th>
<td class="colLast">
<div class="block">Field object.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private <a href="imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#imu">imu</a></span></code></th>
<td class="colLast">
<div class="block">Swerve IMU device for sensing the heading of the robot.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="math/SwerveKinematics2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveKinematics2</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kinematics">kinematics</a></span></code></th>
<td class="colLast">
<div class="block">Swerve Kinematics object utilizing second order kinematics.</div>
</td>
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<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#lastTime">lastTime</a></span></code></th>
<td class="colLast">
<div class="block">The current angle of the robot and last time odometry during simulations.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="SwerveController.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveController</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveController">swerveController</a></span></code></th>
<td class="colLast">
<div class="block">Swerve controller for controlling heading of the robot.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveDriveConfiguration">swerveDriveConfiguration</a></span></code></th>
<td class="colLast">
<div class="block">Swerve drive configuration.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveDrivePoseEstimator">swerveDrivePoseEstimator</a></span></code></th>
<td class="colLast">
<div class="block">Swerve odometry.</div>
</td>
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<tr class="altColor">
<td class="colFirst"><code>private <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveModule</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveModules">swerveModules</a></span></code></th>
<td class="colLast">
<div class="block">Swerve modules.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private edu.wpi.first.wpilibj.Timer</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#timer">timer</a></span></code></th>
<td class="colLast">
<div class="block">Time during simulations.</div>
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<h3>Constructor Summary</h3>
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<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
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<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.swervedrive2.swervelib.parser.SwerveDriveConfiguration,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveControllerConfiguration)">SwerveDrive</a></span>&#8203;(<a href="parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config,
<a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a>&nbsp;controllerConfig)</code></th>
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<div class="block">Creates a new swerve drivebase subsystem.</div>
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<h3>Method Summary</h3>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
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<tr id="i0" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)">drive</a></span>&#8203;(edu.wpi.first.math.geometry.Translation2d&nbsp;translation,
double&nbsp;rotation,
boolean&nbsp;fieldRelative,
boolean&nbsp;isOpenLoop)</code></th>
<td class="colLast">
<div class="block">The primary method for controlling the drivebase.</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="#getFieldVelocity()">getFieldVelocity</a></span>()</code></th>
<td class="colLast">
<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
</td>
</tr>
<tr id="i2" 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="#getModulePositions()">getModulePositions</a></span>()</code></th>
<td class="colLast">
<div class="block">Gets the current module positions (azimuth and wheel position (meters))</div>
</td>
</tr>
<tr id="i3" 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="#getPitch()">getPitch</a></span>()</code></th>
<td class="colLast">
<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<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">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
</td>
</tr>
<tr id="i5" 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="#getRobotVelocity()">getRobotVelocity</a></span>()</code></th>
<td class="colLast">
<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code><a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">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">Gets the current module states (azimuth and velocity)</div>
</td>
</tr>
<tr id="i7" 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="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)">getSwerveModulePoses</a></span>&#8203;(edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose)</code></th>
<td class="colLast">
<div class="block">Get the swerve module poses and on the field relative to the robot.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>edu.wpi.first.math.geometry.Rotation2d</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getYaw()">getYaw</a></span>()</code></th>
<td class="colLast">
<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</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="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)">replaceSwerveModuleFeedforward</a></span>&#8203;(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</code></th>
<td class="colLast">
<div class="block">Setup the swerve module feedforward.</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="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)">resetOdometry</a></span>&#8203;(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></th>
<td class="colLast">
<div class="block">Resets odometry to the given pose.</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="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)">setChassisSpeeds</a></span>&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></th>
<td class="colLast">
<div class="block">Set field-relative chassis speeds with closed-loop velocity control.</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="#setDriveBrake()">setDriveBrake</a></span>()</code></th>
<td class="colLast">
<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</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="#setModuleStates(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2%5B%5D,boolean)">setModuleStates</a></span>&#8203;(<a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
boolean&nbsp;isOpenLoop)</code></th>
<td class="colLast">
<div class="block">Set the module states (azimuth and velocity) directly.</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="#setMotorBrake(boolean)">setMotorBrake</a></span>&#8203;(boolean&nbsp;brake)</code></th>
<td class="colLast">
<div class="block">Sets the drive motors to brake/coast mode.</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="#updateOdometry()">updateOdometry</a></span>()</code></th>
<td class="colLast">
<div class="block">Update odometry should be run every loop.</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="#zeroGyro()">zeroGyro</a></span>()</code></th>
<td class="colLast">
<div class="block">Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<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></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h4>kinematics</h4>
<pre>public final&nbsp;<a href="math/SwerveKinematics2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveKinematics2</a> kinematics</pre>
<div class="block">Swerve Kinematics object utilizing second order kinematics.</div>
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<h4>swerveDriveConfiguration</h4>
<pre>public final&nbsp;<a href="parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> swerveDriveConfiguration</pre>
<div class="block">Swerve drive configuration.</div>
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<h4>swerveDrivePoseEstimator</h4>
<pre>public final&nbsp;edu.wpi.first.math.estimator.SwerveDrivePoseEstimator swerveDrivePoseEstimator</pre>
<div class="block">Swerve odometry.</div>
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<h4>swerveModules</h4>
<pre>private final&nbsp;<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveModule</a>[] swerveModules</pre>
<div class="block">Swerve modules.</div>
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<h4>field</h4>
<pre>public&nbsp;edu.wpi.first.wpilibj.smartdashboard.Field2d field</pre>
<div class="block">Field object.</div>
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<pre>public&nbsp;<a href="SwerveController.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveController</a> swerveController</pre>
<div class="block">Swerve controller for controlling heading of the robot.</div>
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<h4>imu</h4>
<pre>private&nbsp;<a href="imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a> imu</pre>
<div class="block">Swerve IMU device for sensing the heading of the robot.</div>
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<h4>angle</h4>
<pre>private&nbsp;double angle</pre>
<div class="block">The current angle of the robot and last time odometry during simulations.</div>
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<pre>private&nbsp;double lastTime</pre>
<div class="block">The current angle of the robot and last time odometry during simulations.</div>
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<pre>private&nbsp;edu.wpi.first.wpilibj.Timer timer</pre>
<div class="block">Time during simulations.</div>
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<h3>Constructor Detail</h3>
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<h4>SwerveDrive</h4>
<pre>public&nbsp;SwerveDrive&#8203;(<a href="parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config,
<a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a>&nbsp;controllerConfig)</pre>
<div class="block">Creates a new swerve drivebase subsystem. Robot is controlled via the drive() method, or via the setModuleStates()
method. The drive() method incorporates kinematics— it takes a translation and rotation, as well as parameters for
field-centric and closed-loop velocity control. setModuleStates() takes a list of SwerveModuleStates and directly
passes them to the modules. This subsystem also handles odometry.</div>
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<a id="drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)">
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<pre class="methodSignature">public&nbsp;void&nbsp;drive&#8203;(edu.wpi.first.math.geometry.Translation2d&nbsp;translation,
double&nbsp;rotation,
boolean&nbsp;fieldRelative,
boolean&nbsp;isOpenLoop)</pre>
<div class="block">The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, and calculates and
commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>translation</code> - <code>Translation2d</code> that is the commanded linear velocity of the robot, in meters per
second. In robot-relative mode, positive x is torwards the bow (front) and positive y is
torwards port (left). In field-relative mode, positive x is away from the alliance wall
(field North) and positive y is torwards the left wall when looking through the driver station
glass (field West).</dd>
<dd><code>rotation</code> - Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
relativity.</dd>
<dd><code>fieldRelative</code> - Drive mode. True for field-relative, false for robot-relative.</dd>
<dd><code>isOpenLoop</code> - Whether to use closed-loop velocity control. Set to true to disable closed-loop.</dd>
</dl>
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<pre class="methodSignature">public&nbsp;void&nbsp;setModuleStates&#8203;(<a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
boolean&nbsp;isOpenLoop)</pre>
<div class="block">Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>desiredStates</code> - A list of SwerveModuleStates to send to the modules.</dd>
<dd><code>isOpenLoop</code> - Whether to use closed-loop velocity control. Set to true to disable closed-loop.</dd>
</dl>
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<h4>setChassisSpeeds</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setChassisSpeeds&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</pre>
<div class="block">Set field-relative chassis speeds with closed-loop velocity control.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>chassisSpeeds</code> - Field-relative.</dd>
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<h4>getPose</h4>
<pre class="methodSignature">public&nbsp;edu.wpi.first.math.geometry.Pose2d&nbsp;getPose()</pre>
<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The robot's pose</dd>
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<pre class="methodSignature">public&nbsp;edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;getFieldVelocity()</pre>
<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>A ChassisSpeeds object of the current field-relative velocity</dd>
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<pre class="methodSignature">public&nbsp;edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;getRobotVelocity()</pre>
<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>A ChassisSpeeds object of the current robot-relative velocity</dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;resetOdometry&#8203;(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</pre>
<div class="block">Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this
method. However, if either gyro angle or module position is reset, this must be called in order for odometry to
keep working.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>pose</code> - The pose to set the odometry to</dd>
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<pre class="methodSignature">public&nbsp;<a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[]&nbsp;getStates()</pre>
<div class="block">Gets the current module states (azimuth and velocity)</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>A list of SwerveModuleStates containing the current module states</dd>
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<pre class="methodSignature">public&nbsp;edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;getModulePositions()</pre>
<div class="block">Gets the current module positions (azimuth and wheel position (meters))</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>A list of SwerveModulePositions containg the current module positions</dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;zeroGyro()</pre>
<div class="block">Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.</div>
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<pre class="methodSignature">public&nbsp;edu.wpi.first.math.geometry.Rotation2d&nbsp;getYaw()</pre>
<div class="block">Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The yaw as a <code>Rotation2d</code> angle</dd>
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<pre class="methodSignature">public&nbsp;edu.wpi.first.math.geometry.Rotation2d&nbsp;getPitch()</pre>
<div class="block">Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The heading as a <code>Rotation2d</code> angle</dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;setMotorBrake&#8203;(boolean&nbsp;brake)</pre>
<div class="block">Sets the drive motors to brake/coast mode.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>brake</code> - True to set motors to brake mode, false for coast.</dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;setDriveBrake()</pre>
<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
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<pre class="methodSignature">public&nbsp;edu.wpi.first.math.geometry.Pose2d[]&nbsp;getSwerveModulePoses&#8203;(edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose)</pre>
<div class="block">Get the swerve module poses and on the field relative to the robot.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>robotPose</code> - Robot pose.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Swerve module poses.</dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;replaceSwerveModuleFeedforward&#8203;(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</pre>
<div class="block">Setup the swerve module feedforward.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>feedforward</code> - Feedforward for the drive motor on swerve modules.</dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;updateOdometry()</pre>
<div class="block">Update odometry should be run every loop.</div>
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