Package org.team1126.lib.swerve

Class SwerveAPI

java.lang.Object
org.team1126.lib.swerve.SwerveAPI
All Implemented Interfaces:
AutoCloseable, Tunables.Tunable
public class SwerveAPI extends Object implements Tunables.Tunable, AutoCloseable
An implementation of a swerve drivetrain, with support for various hardware configurations.

Includes features such as high frequency odometry, a custom ratelimiter to improve driver control while also reducing wheel scrub, and built-in support for tuning the drivetrain's configuration live via NetworkTables.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final SwerveConfig
    config
     
    final SwerveState
    state
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    SwerveAPI(SwerveConfig config)
    Create the drivetrain.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    addVisionMeasurements(VisionMeasurement... measurements)
    Adds vision measurements to the pose estimator.
    void
    applyAssistedDriverInput(double x, double y, double angular, edu.wpi.first.math.kinematics.ChassisSpeeds assist, Perspective perspective, boolean discretize, boolean ratelimit)
    Drives using inputs from the driver's controller, with a specified additional chassis velocity.
    void
    applyDriverInput(double x, double y, double angular, Perspective perspective, boolean discretize, boolean ratelimit)
    Drives using inputs from the driver's controller.
    void
    applySpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds speeds, Perspective perspective, boolean discretize, boolean ratelimit)
    Drives using chassis speeds.
    void
    applyStates(edu.wpi.first.math.kinematics.SwerveModuleState[] states)
    Drives using module states.
    void
    applyStop(boolean lock)
    Drives the modules to stop the robot from moving.
    void
    applyVoltage(double voltage, edu.wpi.first.math.geometry.Rotation2d angle)
    Drives the robot using open-loop voltage.
    edu.wpi.first.math.kinematics.ChassisSpeeds
    calculateDriverSpeeds(double x, double y, double angular)
    Utility method for converting driver input to chassis speeds.
    void
    close()
     
    void
    initTunable(TunableTable table)
    Initializes the object to be tuned.
    void
    refresh()
    Refreshes inputs from all swerve hardware.
    void
    resetPose(edu.wpi.first.math.geometry.Pose2d pose)
    Resets the pose of the robot, inherently seeding field-relative movement.
    void
    setBrakeMode(boolean move, boolean turn)
    Sets motor brake modes.
    void
    tareRotation(Perspective perspective)
    Tares the rotation of the robot.

    Methods inherited from class java.lang.Object

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

  • Field Details

  • Constructor Details

    • SwerveAPI

      public SwerveAPI(SwerveConfig config)
      Create the drivetrain.
      Parameters:
      config - The drivetrain's config.

  • Method Details

    • refresh

      public void refresh()
      Refreshes inputs from all swerve hardware. This must be called periodically in order for the API to function. Typically, this method is called at the start of the swerve subsystem's periodic() method.

    • addVisionMeasurements

      public void addVisionMeasurements(VisionMeasurement... measurements)
      Adds vision measurements to the pose estimator.
      Parameters:
      measurements - Vision measurements to apply to the pose estimator.

    • resetPose

      public void resetPose(edu.wpi.first.math.geometry.Pose2d pose)
      Resets the pose of the robot, inherently seeding field-relative movement. Additionally, odometry and vision measurement history is flushed. This method is typically invoked at the start of a match to set the robot's position to the starting location of an autonomous mode. The supplied pose is expected to be blue origin relative.
      Parameters:
      pose - The new blue origin relative pose to apply to the pose estimator.

    • tareRotation

      public void tareRotation(Perspective perspective)
      Tares the rotation of the robot. Useful for fixing an out of sync or drifting IMU. For most cases, a perspective of Perspective.OPERATOR is desirable. Perspective.ROBOT will no-op.
      Parameters:
      perspective - The perspective to tare the rotation to.

    • calculateDriverSpeeds

      public edu.wpi.first.math.kinematics.ChassisSpeeds calculateDriverSpeeds(double x, double y, double angular)
      Utility method for converting driver input to chassis speeds. The x and y parameters expect the controller's NED (north-east-down) convention, and will automatically convert to WPILib's typical NWU (north-west-up) convention when calculating chassis speeds.
      Parameters:
      x - The X value of the driver's joystick, from [-1.0, 1.0].
      y - The Y value of the driver's joystick, from [-1.0, 1.0].
      angular - The CCW+ angular speed to apply, from [-1.0, 1.0].

    • applyDriverInput

      public void applyDriverInput(double x, double y, double angular, Perspective perspective, boolean discretize, boolean ratelimit)
      Drives using inputs from the driver's controller. The x and y parameters expect the controller's NED (north-east-down) convention, and will automatically convert to WPILib's typical NWU (north-west-up) convention when applying chassis speeds.
      Parameters:
      x - The X value of the driver's joystick, from [-1.0, 1.0].
      y - The Y value of the driver's joystick, from [-1.0, 1.0].
      angular - The CCW+ angular speed to apply, from [-1.0, 1.0].
      perspective - The forward perspective for the chassis speeds.
      discretize - If the generated speeds should be discretized.
      ratelimit - If the robot's acceleration should be constrained.

    • applyAssistedDriverInput

      public void applyAssistedDriverInput(double x, double y, double angular, edu.wpi.first.math.kinematics.ChassisSpeeds assist, Perspective perspective, boolean discretize, boolean ratelimit)
      Drives using inputs from the driver's controller, with a specified additional chassis velocity. The x and y parameters expect the controller's NED (north-east-down) convention, and will automatically convert to WPILib's typical NWU (north-west-up) convention when applying chassis speeds.
      Parameters:
      x - The X value of the driver's joystick, from [-1.0, 1.0].
      y - The Y value of the driver's joystick, from [-1.0, 1.0].
      angular - The CCW+ angular speed to apply, from [-1.0, 1.0].
      assist - Additional velocities to apply. Note that these speeds are relative to the provided perspective, and are still restricted by the ratelimiter if it is active.
      perspective - The forward perspective for the chassis speeds.
      discretize - If the generated speeds should be discretized.
      ratelimit - If the robot's acceleration should be constrained.

    • applySpeeds

      public void applySpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds speeds, Perspective perspective, boolean discretize, boolean ratelimit)
      Drives using chassis speeds.
      Parameters:
      speeds - The chassis speeds to apply. Note that the provided ChassisSpeeds object may be mutated.
      perspective - The forward perspective for the chassis speeds.
      discretize - If the speeds should be discretized.
      ratelimit - If the robot's acceleration should be constrained.

    • applyStates

      public void applyStates(edu.wpi.first.math.kinematics.SwerveModuleState[] states)
      Drives using module states.
      Parameters:
      states - The states to apply.

    • applyStop

      public void applyStop(boolean lock)
      Drives the modules to stop the robot from moving.
      Parameters:
      lock - If the wheels should be driven to an X formation to stop the robot from being pushed.

    • applyVoltage

      public void applyVoltage(double voltage, edu.wpi.first.math.geometry.Rotation2d angle)
      Drives the robot using open-loop voltage. Intended for characterization. Plumbing for recording device voltage via their Java API is intentionally unavailable, as GC pressure and CAN latency will result in inaccurate data. Use Phoenix Signal Logging or REV's StatusLogger instead.
      Parameters:
      voltage - The voltage to apply to the move motors.
      angle - The robot-relative angle to apply to the turn motors.

    • setBrakeMode

      public void setBrakeMode(boolean move, boolean turn)
      Sets motor brake modes.
      Parameters:
      move - If the move motors should have brake mode enabled.
      turn - If the turn motors should have brake mode enabled.

    • initTunable

      public void initTunable(TunableTable table)
      Description copied from interface: Tunables.Tunable
      Initializes the object to be tuned. This method is called when adding the object to a TunableTable.
      Specified by:
      initTunable in interface Tunables.Tunable
      Parameters:
      table - The table the object is being added to.

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable