yams::mechanisms::swerve::SwerveDrive< NumModules > Class Template Reference

#include <SwerveDrive.hpp>

Public Member Functions
	SwerveDrive (SwerveDriveConfig *config)
wpi::cmd::CommandPtr	Drive (std::function< wpi::math::ChassisVelocities()> robotRelativeSpeeds)
wpi::cmd::CommandPtr	DriveToPose (wpi::math::Pose2d pose)
wpi::cmd::CommandPtr	DriveToPose (wpi::math::Pose2d pose, wpi::units::meter_t translationTolerance, wpi::units::degree_t rotationTolerance)
bool	IsNear (wpi::math::Pose2d pose, wpi::units::meter_t translationTolerance, wpi::units::degree_t rotationTolerance)
void	Stop ()
wpi::math::ChassisVelocities	DriveToPoseSetpoint (wpi::math::Pose2d targetPose)
wpi::math::ChassisVelocities	DriveToPoseSetpoint (wpi::math::Pose2d targetPose, wpi::math::Pose2d currentPose, wpi::math::Rotation2d heading)
void	SetSwerveModuleStates (wpi::util::array< wpi::math::SwerveModuleVelocity, NumModules > states)
void	SetSwerveModuleStates (wpi::util::array< wpi::math::SwerveModuleVelocity, NumModules > states, std::span< const wpi::units::newton_t > feedforwardForces)
wpi::util::array< wpi::math::SwerveModuleVelocity, NumModules >	GetStateFromRobotRelativeChassisSpeeds (wpi::math::ChassisVelocities robotRelativeSpeeds)
wpi::math::ChassisVelocities	GetRobotRelativeChassisSpeedsFromState (const wpi::util::array< wpi::math::SwerveModuleVelocity, NumModules > &states)
void	SetRobotRelativeChassisSpeeds (wpi::math::ChassisVelocities robotRelativeSpeeds)
void	SetRobotRelativeChassisSpeeds (wpi::math::ChassisVelocities robotRelativeSpeeds, std::span< const wpi::units::newton_t > feedforwardForces)
void	SetFieldRelativeChassisSpeeds (wpi::math::ChassisVelocities fieldRelativeSpeeds)
void	LockPose ()
void	SetAzimuthAngles (wpi::math::Rotation2d angle)
wpi::math::Pose2d	GetPose ()
void	ResetOdometry (wpi::math::Pose2d pose)
void	ZeroGyro ()
void	AddVisionMeasurement (wpi::math::Pose2d robotPose, wpi::units::second_t timestamp)
void	AddVisionMeasurement (wpi::math::Pose2d robotPose, wpi::units::second_t timestamp, const wpi::util::array< double, 3 > &stdDevs)
void	UpdateTelemetry ()
void	SimIterate ()
wpi::units::degree_t	GetGyroAngle ()
wpi::math::Rotation3d	GetGyroRotation3d ()
void	StartDriveToPoseTuning ()
void	ApplyTuningValues ()
wpi::math::Pose2d	GetSimPose ()
wpi::math::ChassisVelocities	GetRobotRelativeSpeed ()
wpi::math::ChassisVelocities	GetFieldRelativeSpeed ()
wpi::util::array< wpi::math::SwerveModulePosition, NumModules >	GetModulePositions ()
wpi::util::array< wpi::math::SwerveModuleVelocity, NumModules >	GetModuleStates ()
wpi::units::meter_t	GetDistanceFromPose (wpi::math::Pose2d pose)
wpi::units::degree_t	GetAngleDifferenceFromPose (wpi::math::Pose2d pose)
std::optional< SwerveModule * >	GetModule (const std::string &name)
void	ResetRotationPID ()
void	ResetTranslationPID ()
void	SetRotationPID (wpi::math::PIDController controller)
void	SetTranslationPID (wpi::math::PIDController controller)
void	SetVisionMeasurementStdDevs (const wpi::util::array< double, 3 > &stdDevs)
std::string	GetName () const
SwerveDriveConfig &	GetConfig ()
wpi::math::SwerveDriveKinematics< NumModules > &	GetKinematics ()
wpi::Field2d &	GetField2d ()
wpi::math::ChassisVelocities	GetDesiredChassisSpeeds ()
wpi::util::array< wpi::math::SwerveModuleVelocity, NumModules >	GetDesiredModuleStates ()

Detailed Description

template<size_t NumModules = 4>
class yams::mechanisms::swerve::SwerveDrive< NumModules >

Swerve drive mechanism with pose estimation, telemetry, and simulation support.

Owns the kinematics, pose estimator, and all NT4 struct publishers. Modules are created separately and handed in by pointer via SwerveDriveConfig. Call UpdateTelemetry() every loop and SimIterate() in SimulationPeriodic().

Template Parameters

NumModules

Number of swerve modules (default 4).

Example usage (inside a four-module subsystem)

using namespace yams::motorcontrollers;
using namespace yams::motorcontrollers::remote;
using namespace yams::gearing;
using namespace yams::mechanisms::swerve;
using namespace yams::mechanisms::config;
using Cfg = SmartMotorControllerConfig;
 
// Declare as subsystem members:
//   ctre::phoenix6::hardware::Pigeon2     m_pigeon{0};
//   // Four sets of: TalonFX, TalonFX, CANcoder, optional<TalonFXWrapper> ×2,
//   //               SwerveModuleConfig, optional<SwerveModule>
//   std::optional<SwerveDrive<4>>         m_drive;
 
// --- build modules (front-left shown; repeat for FR, BL, BR) ---
SmartMotorControllerConfig driveCfg;
driveCfg.WithSubsystem(this)
        .WithMechanismCircumference(wpi::units::meter_t{4.0 * 0.0254 * std::numbers::pi})
        .WithFeedback(0.1, 0.0, 0.0)
        .WithMotorGearing(MechanismGearing{GearBox::FromStages({"6.75:1"})})
        .WithStatorCurrentLimit(40.0_A)
        .WithZeroPower(Cfg::MotorMode::BRAKE)
        .WithTelemetry("FL_Drive", Cfg::TelemetryVerbosity::HIGH);
 
SmartMotorControllerConfig azimuthCfg;
azimuthCfg.WithSubsystem(this)
          .WithFeedback(50.0, 0.0, 0.5)
          .WithMotorGearing(MechanismGearing{GearBox::FromStages({"21.43:1"})})
          .WithStatorCurrentLimit(20.0_A)
          .WithClosedLoopMode()
          .WithTelemetry("FL_Azimuth", Cfg::TelemetryVerbosity::HIGH);
 
m_flDriveSMC.emplace(m_flDrive, wpi::math::DCMotor::KrakenX60(1), driveCfg);
m_flAzimuthSMC.emplace(m_flAzimuth, wpi::math::DCMotor::KrakenX60(1), azimuthCfg);
 
auto* enc = &m_flEncoder;
SwerveModuleConfig flCfg{&m_flDriveSMC.value(), &m_flAzimuthSMC.value()};
flCfg.WithAbsoluteEncoder([enc]() -> wpi::units::degree_t {
        return wpi::units::degree_t{wpi::units::turn_t{enc->GetAbsolutePosition().GetValue()}};
      })
     .WithAbsoluteEncoderOffset(15.0_deg)
     .WithWheelDiameter(4.0 * 0.0254_m)
     .WithLocation(wpi::units::inch_t{12}, wpi::units::inch_t{12})
     .WithOptimization(true)
     .WithTelemetry("FrontLeft", Cfg::TelemetryVerbosity::HIGH);
m_fl.emplace(flCfg);
// ... repeat for m_fr, m_bl, m_br ...
 
// --- build the drive ---
SwerveDriveConfig driveCfg;
driveCfg.WithSubsystem(this)
        .WithModules({&m_fl.value(), &m_fr.value(), &m_bl.value(), &m_br.value()})
        .WithGyro([this]() -> wpi::units::degree_t {
          return wpi::units::degree_t{wpi::units::turn_t{m_pigeon.GetYaw().GetValue()}};
        })
        .WithMaximumChassisSpeed(4.5_mps, wpi::units::degrees_per_second_t{540})
        .WithDiscretizationTime(0.02_s)
        .WithStartingPose(wpi::math::Pose2d{})
        .WithTranslationController(wpi::math::PIDController{2.0, 0.0, 0.0})
        .WithRotationController(wpi::math::PIDController{4.0, 0.0, 0.0});
m_drive.emplace(&m_driveConfig);
 
// --- in Periodic() ---
//   m_drive->UpdateTelemetry();
 
// --- in SimulationPeriodic() ---
//   m_drive->SimIterate();
 
// --- drive with a joystick ---
//   wpi::cmd::CommandPtr driveCmd = m_drive->Drive([this]() -> wpi::math::ChassisVelocities {
//     return wpi::math::ChassisVelocities{xSpeed, ySpeed, rotSpeed};
//   });

Constructor & Destructor Documentation

SwerveDrive()

template<size_t NumModules = 4>

yams::mechanisms::swerve::SwerveDrive< NumModules >::SwerveDrive ( SwerveDriveConfig *  config )

inlineexplicit

Construct a SwerveDrive.

Parameters

config

Drive configuration. config.GetModules().size() must equal NumModules.

Member Function Documentation

AddVisionMeasurement() [1/2]

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::AddVisionMeasurement ( wpi::math::Pose2d  robotPose, wpi::units::second_t  timestamp  )

inline

Add a vision measurement to the pose estimator.

Parameters

robotPose	Measured field-relative pose from vision.
timestamp	FPGA timestamp of the measurement (seconds).

AddVisionMeasurement() [2/2]

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::AddVisionMeasurement ( wpi::math::Pose2d  robotPose, wpi::units::second_t  timestamp, const wpi::util::array< double, 3 > &  stdDevs  )

inline

Add a vision measurement with custom standard deviations.

Parameters

robotPose	Measured field-relative pose from vision.
timestamp	FPGA timestamp of the measurement (seconds).
stdDevs	Standard deviations {x_m, y_m, theta_rad}.

ApplyTuningValues()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::ApplyTuningValues ( )

inline

Apply the live tuning values from NetworkTables, as the tuning command does each loop.

Drive()

template<size_t NumModules = 4>

wpi::cmd::CommandPtr yams::mechanisms::swerve::SwerveDrive< NumModules >::Drive ( std::function< wpi::math::ChassisVelocities()>  robotRelativeSpeeds )

inline

Create a run command that continuously drives with robot-relative chassis speeds.

Parameters

robotRelativeSpeeds

Callable returning the desired ChassisSpeeds.

Returns

RunCommand requiring the configured subsystem.

DriveToPose() [1/2]

template<size_t NumModules = 4>

wpi::cmd::CommandPtr yams::mechanisms::swerve::SwerveDrive< NumModules >::DriveToPose ( wpi::math::Pose2d  pose )

inline

Create a command that drives the robot to a target field-relative pose using PID. It keeps driving to the pose until it is interrupted, and stops the drive when it ends.

Requires translation and rotation PID controllers to be configured.

Parameters

pose	Target field-relative pose.

Returns

Command requiring the configured subsystem.

DriveToPose() [2/2]

template<size_t NumModules = 4>

wpi::cmd::CommandPtr yams::mechanisms::swerve::SwerveDrive< NumModules >::DriveToPose ( wpi::math::Pose2d  pose, wpi::units::meter_t  translationTolerance, wpi::units::degree_t  rotationTolerance  )

inline

Create a command that drives the robot to a target field-relative pose using PID, ending once the robot is within the given tolerances. The drive is stopped when the command ends or is interrupted.

Requires translation and rotation PID controllers to be configured.

Parameters

pose	Target field-relative pose.
translationTolerance	Maximum distance from the pose to be considered at the pose.
rotationTolerance	Maximum heading error from the pose to be considered at the pose.

Returns

Command requiring the configured subsystem.

DriveToPoseSetpoint() [1/2]

template<size_t NumModules = 4>

wpi::math::ChassisVelocities yams::mechanisms::swerve::SwerveDrive< NumModules >::DriveToPoseSetpoint ( wpi::math::Pose2d  targetPose )

inline

Drive to the target pose, primarily for use in Live Tuning; could also be used for setpoint commands.

Parameters

targetPose

Pose to drive towards.

Returns

robot-relative ChassisSpeeds to drive the robot to the given pose.

Note

Remember to call ResetTranslationPID() and ResetRotationPID() before calling this method in a loop.

Exceptions

SwerveDriveConfigurationException

if the translation or rotation PID controller is not configured.

DriveToPoseSetpoint() [2/2]

template<size_t NumModules = 4>

wpi::math::ChassisVelocities yams::mechanisms::swerve::SwerveDrive< NumModules >::DriveToPoseSetpoint ( wpi::math::Pose2d  targetPose, wpi::math::Pose2d  currentPose, wpi::math::Rotation2d  heading  )

inline

Robot-relative chassis speeds that drive from a given pose to the target pose, for callers that have their own pose or heading, such as a simulated ground truth.

Parameters

targetPose	Pose to drive towards.
currentPose	Pose the robot is at.
heading	Heading used to turn the field-relative speeds into robot-relative ones.

Returns

robot-relative ChassisSpeeds to drive the robot to the given pose.

Exceptions

SwerveDriveConfigurationException

if the translation or rotation PID controller is not configured.

GetAngleDifferenceFromPose()

template<size_t NumModules = 4>

wpi::units::degree_t yams::mechanisms::swerve::SwerveDrive< NumModules >::GetAngleDifferenceFromPose ( wpi::math::Pose2d  pose )

inline

Get the heading difference from the robot's current rotation to the given pose.

Parameters

pose	Target pose.

Returns

Heading difference in degrees.

GetConfig()

template<size_t NumModules = 4>

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDrive< NumModules >::GetConfig ( )

inline

Get a mutable reference to the drive configuration.

GetDesiredChassisSpeeds()

template<size_t NumModules = 4>

wpi::math::ChassisVelocities yams::mechanisms::swerve::SwerveDrive< NumModules >::GetDesiredChassisSpeeds ( )

inline

Get the last-commanded desired robot-relative chassis speeds. This is the value cached by SetRobotRelativeChassisSpeeds() (which SetFieldRelativeChassisSpeeds() and Drive() funnel through) and published on every UpdateTelemetry() call; it is a setpoint, not a measurement of actual robot motion. Use GetRobotRelativeSpeed() or GetFieldRelativeSpeed() instead if you need the drive's actual measured speed.

Returns

Robot-relative chassis speeds last commanded to the drive. Defaults to a zeroed wpi::math::ChassisVelocities if the drive has never been commanded.

GetDesiredModuleStates()

template<size_t NumModules = 4>

wpi::util::array< wpi::math::SwerveModuleVelocity, NumModules > yams::mechanisms::swerve::SwerveDrive< NumModules >::GetDesiredModuleStates ( )

inline

Get the last-commanded desired module states of the drive.

Returns

Module states last commanded to the drive. Defaults to a zeroed set of module states if the drive has never been commanded.

GetDistanceFromPose()

template<size_t NumModules = 4>

wpi::units::meter_t yams::mechanisms::swerve::SwerveDrive< NumModules >::GetDistanceFromPose ( wpi::math::Pose2d  pose )

inline

Get the Euclidean distance from the robot's current pose to the given pose.

Parameters

pose	Target pose.

Returns

Distance in metres.

GetField2d()

template<size_t NumModules = 4>

wpi::Field2d & yams::mechanisms::swerve::SwerveDrive< NumModules >::GetField2d ( )

inline

Get the Field2d used to display the robot's pose, so callers (e.g. vision subsystems) can publish additional objects onto the same field widget instead of creating their own.

GetFieldRelativeSpeed()

template<size_t NumModules = 4>

wpi::math::ChassisVelocities yams::mechanisms::swerve::SwerveDrive< NumModules >::GetFieldRelativeSpeed ( )

inline

Get the field-relative chassis speeds derived from the module states and gyro.

GetGyroAngle()

template<size_t NumModules = 4>

wpi::units::degree_t yams::mechanisms::swerve::SwerveDrive< NumModules >::GetGyroAngle ( )

inline

Get the current gyro angle.

Returns the simulated angle in simulation, or the real gyro angle on hardware.

GetGyroRotation3d()

template<size_t NumModules = 4>

wpi::math::Rotation3d yams::mechanisms::swerve::SwerveDrive< NumModules >::GetGyroRotation3d ( )

inline

The robot's attitude. Its yaw is the robot's heading, and its roll and pitch are the robot's tilt. In simulation it is the simulated heading with no tilt.

Returns

The robot's attitude.

GetKinematics()

template<size_t NumModules = 4>

wpi::math::SwerveDriveKinematics< NumModules > & yams::mechanisms::swerve::SwerveDrive< NumModules >::GetKinematics ( )

inline

Get the SwerveDriveKinematics object.

GetModule()

template<size_t NumModules = 4>

std::optional< SwerveModule * > yams::mechanisms::swerve::SwerveDrive< NumModules >::GetModule ( const std::string &  name )

inline

Find a module by name.

Parameters

name	Telemetry name of the module.

Returns

Pointer to the module if found, or empty optional.

GetModulePositions()

template<size_t NumModules = 4>

wpi::util::array< wpi::math::SwerveModulePosition, NumModules > yams::mechanisms::swerve::SwerveDrive< NumModules >::GetModulePositions ( )

inline

Get the current module positions (distance + angle).

GetModuleStates()

template<size_t NumModules = 4>

wpi::util::array< wpi::math::SwerveModuleVelocity, NumModules > yams::mechanisms::swerve::SwerveDrive< NumModules >::GetModuleStates ( )

inline

Get the current module states (speed + angle).

GetName()

template<size_t NumModules = 4>

std::string yams::mechanisms::swerve::SwerveDrive< NumModules >::GetName ( ) const

inline

Get the drive's telemetry name (from SwerveDriveConfig, defaults to "swerve").

GetPose()

template<size_t NumModules = 4>

wpi::math::Pose2d yams::mechanisms::swerve::SwerveDrive< NumModules >::GetPose ( )

inline

Get the current estimated field-relative pose.

GetRobotRelativeChassisSpeedsFromState()

template<size_t NumModules = 4>

wpi::math::ChassisVelocities yams::mechanisms::swerve::SwerveDrive< NumModules >::GetRobotRelativeChassisSpeedsFromState ( const wpi::util::array< wpi::math::SwerveModuleVelocity, NumModules > &  states )

inline

Convert module states back to robot-relative chassis speeds.

Parameters

states

Module states (one per module, clockwise from front-left).

Returns

Robot-relative chassis speeds corresponding to the given states.

GetRobotRelativeSpeed()

template<size_t NumModules = 4>

wpi::math::ChassisVelocities yams::mechanisms::swerve::SwerveDrive< NumModules >::GetRobotRelativeSpeed ( )

inline

Get the robot-relative chassis speeds derived from the module states.

GetSimPose()

template<size_t NumModules = 4>

wpi::math::Pose2d yams::mechanisms::swerve::SwerveDrive< NumModules >::GetSimPose ( )

inline

Get the simulated pose of the robot, assuming the commanded module states are met perfectly. Useful for feeding a simulated vision system with ground-truth poses under perfect-world conditions.

Only updated in simulation by SimIterate(); on a real robot this remains the configured starting pose.

GetStateFromRobotRelativeChassisSpeeds()

template<size_t NumModules = 4>

wpi::util::array< wpi::math::SwerveModuleVelocity, NumModules > yams::mechanisms::swerve::SwerveDrive< NumModules >::GetStateFromRobotRelativeChassisSpeeds ( wpi::math::ChassisVelocities  robotRelativeSpeeds )

inline

Convert robot-relative chassis speeds to module states (with optional optimisation).

Parameters

robotRelativeSpeeds

Input chassis speeds.

Returns

Corresponding module states.

IsNear()

template<size_t NumModules = 4>

bool yams::mechanisms::swerve::SwerveDrive< NumModules >::IsNear ( wpi::math::Pose2d  pose, wpi::units::meter_t  translationTolerance, wpi::units::degree_t  rotationTolerance  )

inline

Whether the robot is within the given tolerances of a pose.

Parameters

pose	Pose to compare against.
translationTolerance	Maximum distance from the pose.
rotationTolerance	Maximum heading error from the pose.

Returns

True if the robot is within both tolerances of the pose.

LockPose()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::LockPose ( )

inline

Lock all modules to an X-pattern to resist being pushed.

ResetOdometry()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::ResetOdometry ( wpi::math::Pose2d  pose )

inline

Reset odometry to the given pose, and set the gyro to read the pose's heading. Field relative driving and heading control use the gyro, so keeping it aligned with the pose makes them agree with the reset pose.

Parameters

pose	New field-relative pose (blue-origin, 0° facing red alliance wall).

ResetRotationPID()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::ResetRotationPID ( )

inline

Reset the auto-align rotational PID controller, if one is configured.

ResetTranslationPID()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::ResetTranslationPID ( )

inline

Reset the auto-align translation PID controller, if one is configured.

SetAzimuthAngles()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::SetAzimuthAngles ( wpi::math::Rotation2d  angle )

inline

Turn every module to the given angle without driving, as for tuning the azimuth motors. The velocity deadband does not hold the wheels where they are (see SwerveModule::SetAzimuthAngle()).

Parameters

angle

Angle to turn every module to.

SetFieldRelativeChassisSpeeds()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::SetFieldRelativeChassisSpeeds ( wpi::math::ChassisVelocities  fieldRelativeSpeeds )

inline

Set field-relative chassis speeds.

Parameters

fieldRelativeSpeeds

Desired field-relative chassis speeds.

SetRobotRelativeChassisSpeeds() [1/2]

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::SetRobotRelativeChassisSpeeds ( wpi::math::ChassisVelocities  robotRelativeSpeeds )

inline

Set robot-relative chassis speeds.

Parameters

robotRelativeSpeeds

Desired robot-relative chassis speeds.

SetRobotRelativeChassisSpeeds() [2/2]

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::SetRobotRelativeChassisSpeeds ( wpi::math::ChassisVelocities  robotRelativeSpeeds, std::span< const wpi::units::newton_t >  feedforwardForces  )

inline

Drive at robot relative chassis speeds with a feedforward force on each drive wheel, as a trajectory follower supplies.

Parameters

robotRelativeSpeeds	Robot relative chassis speeds.
feedforwardForces	Empty, or one force per module in the order the modules were given.

Exceptions

std::invalid_argument

if the number of forces is not zero or the number of modules.

SetRotationPID()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::SetRotationPID ( wpi::math::PIDController  controller )

inline

Set the auto-align rotational PID controller.

Parameters

controller

PIDController to use, input units are radians.

SetSwerveModuleStates() [1/2]

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::SetSwerveModuleStates ( wpi::util::array< wpi::math::SwerveModuleVelocity, NumModules >  states )

inline

Directly command the swerve modules to the given states.

Parameters

states

Array of states (one per module, clockwise from front-left).

SetSwerveModuleStates() [2/2]

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::SetSwerveModuleStates ( wpi::util::array< wpi::math::SwerveModuleVelocity, NumModules >  states, std::span< const wpi::units::newton_t >  feedforwardForces  )

inline

Set the swerve module states with a feedforward force on each drive wheel.

Parameters

states	Module states, in the order the modules were given.
feedforwardForces	Force for each module, in the same order.

SetTranslationPID()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::SetTranslationPID ( wpi::math::PIDController  controller )

inline

Set the auto-align translation PID controller.

Parameters

controller

PIDController to use, input units are metres.

SetVisionMeasurementStdDevs()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::SetVisionMeasurementStdDevs ( const wpi::util::array< double, 3 > &  stdDevs )

inline

Set the standard deviations used for the vision pose estimator noise model.

Parameters

stdDevs

Standard deviations {x_m, y_m, theta_rad}.

SimIterate()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::SimIterate ( )

inline

Advance the simulation model.

Iterates each module's sim model, integrates the simulated ground-truth pose from the commanded (desired) module states assuming they are met perfectly, and integrates the simulated gyro angle from the measured chassis angular velocity.

StartDriveToPoseTuning()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::StartDriveToPoseTuning ( )

inline

Reset the drive to pose controllers, as at the start of a drive to pose tuning run.

Stop()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::Stop ( )

inline

Stop the drive by commanding zero chassis speeds.

UpdateTelemetry()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::UpdateTelemetry ( )

inline

Update the pose estimator and publish all telemetry to NetworkTables.

Call this once per robot loop.

ZeroGyro()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::SwerveDrive< NumModules >::ZeroGyro ( )

inline

Zero the gyro and reset odometry to the current translation with 0° heading.

---

The documentation for this class was generated from the following file:

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/mechanisms/swerve/SwerveDrive.hpp