yams::mechanisms::swerve::SwerveDriveConfig Class Reference

#include <SwerveDriveConfig.hpp>

Public Types
using	TelemetryVerbosity = motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity

Public Member Functions
	SwerveDriveConfig ()=default
SwerveDriveConfig &	WithSubsystem (wpi::cmd::SubsystemBase *subsystem)
SwerveDriveConfig &	WithModules (std::vector< SwerveModule * > modules)
SwerveDriveConfig &	WithGyro (std::function< wpi::units::degree_t()> gyroSupplier)
SwerveDriveConfig &	WithGyro (std::function< wpi::math::Rotation3d()> gyroSupplier)
SwerveDriveConfig &	WithGyroHeadingAxis (config::GyroAxis axis)
SwerveDriveConfig &	WithAntiTipping (wpi::units::meters_per_second_t kP, wpi::units::degree_t tippingThreshold, wpi::units::meters_per_second_t maxCorrectionSpeed)
SwerveDriveConfig &	WithAntiTipping (std::optional< wpi::math::AntiTipping > antiTipping)
SwerveDriveConfig &	WithModuleStateOptimization (bool enabled)
SwerveDriveConfig &	WithGyroVelocity (std::function< wpi::units::degrees_per_second_t()> angularVelocitySupplier)
SwerveDriveConfig &	WithGyroOffset (wpi::units::degree_t offset)
SwerveDriveConfig &	WithGyroInverted (bool inverted)
SwerveDriveConfig &	WithStartingPose (wpi::math::Pose2d pose)
SwerveDriveConfig &	WithMaximumChassisSpeed (wpi::units::meters_per_second_t speed, wpi::units::degrees_per_second_t angularVelocity)
SwerveDriveConfig &	WithMaximumModuleSpeed (wpi::units::meters_per_second_t speed)
SwerveDriveConfig &	WithCenterOfRotation (wpi::math::Translation2d center)
SwerveDriveConfig &	WithCenterOfRotation (wpi::units::meter_t forward, wpi::units::meter_t left)
SwerveDriveConfig &	WithDiscretizationTime (wpi::units::second_t dt)
SwerveDriveConfig &	WithSimDiscretizationTime (wpi::units::second_t dt)
SwerveDriveConfig &	WithGyroAngularVelocityScaleFactor (double scaleFactor)
SwerveDriveConfig &	WithSimGyroAngularVelocityScaleFactor (double scaleFactor)
SwerveDriveConfig &	WithTranslationController (wpi::math::PIDController controller)
SwerveDriveConfig &	WithRotationController (wpi::math::PIDController controller)
SwerveDriveConfig &	WithSimTranslationController (wpi::math::PIDController controller)
SwerveDriveConfig &	WithSimRotationController (wpi::math::PIDController controller)
SwerveDriveConfig &	WithTelemetry (const std::string &name, TelemetryVerbosity verbosity)
SwerveDriveConfig &	WithTelemetry (const std::string &name, telemetry::SwerveDriveTelemetryConfig telemetryConfig)
const std::vector< SwerveModule * > &	GetModules () const
wpi::cmd::SubsystemBase *	GetSubsystem () const
wpi::math::Pose2d	GetInitialPose () const
std::optional< wpi::units::meters_per_second_t >	GetMaximumChassisLinearVelocity () const
std::optional< wpi::units::degrees_per_second_t >	GetMaximumChassisAngularVelocity () const
std::optional< wpi::units::meters_per_second_t >	GetMaximumModuleLinearVelocity () const
std::optional< wpi::math::Translation2d >	GetCenterOfRotation () const
std::optional< TelemetryVerbosity >	GetTelemetryVerbosity () const
const std::string &	GetTelemetryName () const
std::optional< telemetry::SwerveDriveTelemetryConfig >	GetSwerveDriveTelemetryConfig ()
wpi::units::degree_t	GetGyroOffset () const
wpi::units::degree_t	GetGyroAngle () const
wpi::math::Rotation3d	GetGyroRotation3d () const
wpi::math::ChassisVelocities	GetAntiTippingCorrection () const
std::optional< bool >	GetModuleStateOptimization () const
std::optional< wpi::units::second_t >	GetDiscretization () const
wpi::math::ChassisVelocities	OptimizeRobotRelativeChassisSpeeds (wpi::math::ChassisVelocities speeds) const
std::optional< std::reference_wrapper< wpi::math::PIDController > >	GetTranslationPID ()
std::optional< std::reference_wrapper< wpi::math::PIDController > >	GetRotationPID ()

Static Public Member Functions
static wpi::math::Translation2d	CubeTranslation (wpi::math::Translation2d translation)
static wpi::math::Translation2d	ScaleTranslation (wpi::math::Translation2d translation, double scalar)

Detailed Description

Configuration for a SwerveDrive.

Uses a fluent builder pattern; all With* methods return *this for chaining.

Member Typedef Documentation

TelemetryVerbosity

using yams::mechanisms::swerve::SwerveDriveConfig::TelemetryVerbosity = motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity

Constructor & Destructor Documentation

SwerveDriveConfig()

yams::mechanisms::swerve::SwerveDriveConfig::SwerveDriveConfig ( )

default

Member Function Documentation

CubeTranslation()

static wpi::math::Translation2d yams::mechanisms::swerve::SwerveDriveConfig::CubeTranslation ( wpi::math::Translation2d  translation )

static

Cube the polar-coordinate magnitude of a Translation2d.

GetAntiTippingCorrection()

wpi::math::ChassisVelocities yams::mechanisms::swerve::SwerveDriveConfig::GetAntiTippingCorrection

(

)

const

The anti-tipping correction for the current attitude, robot relative. Zero when anti-tipping or the gyro is not configured.

Returns

The chassis velocity to add.

GetCenterOfRotation()

std::optional< wpi::math::Translation2d > yams::mechanisms::swerve::SwerveDriveConfig::GetCenterOfRotation

(

)

const

Returns

Optional override centre of rotation (empty = robot centre).

GetDiscretization()

std::optional< wpi::units::second_t > yams::mechanisms::swerve::SwerveDriveConfig::GetDiscretization

(

)

const

The discretization time in use: the simulation one in simulation, the real one otherwise.

Returns

The discretization time, if set.

GetGyroAngle()

wpi::units::degree_t yams::mechanisms::swerve::SwerveDriveConfig::GetGyroAngle

(

)

const

Get the gyro angle with inversion and offset applied.

Exceptions

std::runtime_error

if no gyro supplier has been configured.

GetGyroOffset()

wpi::units::degree_t yams::mechanisms::swerve::SwerveDriveConfig::GetGyroOffset

(

)

const

Get the stored gyro offset (zero if never set).

GetGyroRotation3d()

wpi::math::Rotation3d yams::mechanisms::swerve::SwerveDriveConfig::GetGyroRotation3d

(

)

const

The robot's attitude: the gyro's attitude rotated into the robot's frame (see WithGyroHeadingAxis), with the gyro inversion and offset applied to its yaw. Its yaw is the robot's heading, and its roll and pitch are the robot's tilt.

Returns

The robot's attitude.

Exceptions

std::runtime_error

if no gyro supplier was set with WithGyro.

GetInitialPose()

wpi::math::Pose2d yams::mechanisms::swerve::SwerveDriveConfig::GetInitialPose

(

)

const

Get the starting pose.

GetMaximumChassisAngularVelocity()

std::optional< wpi::units::degrees_per_second_t > yams::mechanisms::swerve::SwerveDriveConfig::GetMaximumChassisAngularVelocity

(

)

const

Returns

Optional maximum chassis angular speed for wheel-speed desaturation.

GetMaximumChassisLinearVelocity()

std::optional< wpi::units::meters_per_second_t > yams::mechanisms::swerve::SwerveDriveConfig::GetMaximumChassisLinearVelocity

(

)

const

Returns

Optional maximum chassis linear speed for wheel-speed desaturation.

GetMaximumModuleLinearVelocity()

std::optional< wpi::units::meters_per_second_t > yams::mechanisms::swerve::SwerveDriveConfig::GetMaximumModuleLinearVelocity

(

)

const

Returns

Optional maximum module linear speed for wheel-speed desaturation.

GetModules()

const std::vector< SwerveModule * > & yams::mechanisms::swerve::SwerveDriveConfig::GetModules

(

)

const

Get the vector of module pointers.

GetModuleStateOptimization()

std::optional< bool > yams::mechanisms::swerve::SwerveDriveConfig::GetModuleStateOptimization

(

)

const

The module state optimization setting from WithModuleStateOptimization, if it was set.

Returns

true or false if set, or std::nullopt to leave each module's own setting.

GetRotationPID()

std::optional< std::reference_wrapper< wpi::math::PIDController > > yams::mechanisms::swerve::SwerveDriveConfig::GetRotationPID

(

)

Get the active rotation PID controller used for drive to pose and heading control (sim variant if in simulation and configured).

Returns

Reference to the rotation PID controller, or empty when none is configured.

GetSubsystem()

wpi::cmd::SubsystemBase * yams::mechanisms::swerve::SwerveDriveConfig::GetSubsystem

(

)

const

Get the subsystem pointer.

GetSwerveDriveTelemetryConfig()

std::optional< telemetry::SwerveDriveTelemetryConfig > yams::mechanisms::swerve::SwerveDriveConfig::GetSwerveDriveTelemetryConfig

(

)

Get the user-specified SwerveDriveTelemetryConfig, if configured via WithTelemetry(name, SwerveDriveTelemetryConfig). Moves the config out of this SwerveDriveConfig; intended to be called exactly once, when the owning SwerveDrive sets up its telemetry.

Returns

SwerveDriveTelemetryConfig if configured.

GetTelemetryName()

const std::string & yams::mechanisms::swerve::SwerveDriveConfig::GetTelemetryName

(

)

const

Returns

The telemetry name for the drive (defaults to "swerve").

GetTelemetryVerbosity()

std::optional< TelemetryVerbosity > yams::mechanisms::swerve::SwerveDriveConfig::GetTelemetryVerbosity

(

)

const

Returns

Optional telemetry verbosity level.

GetTranslationPID()

std::optional< std::reference_wrapper< wpi::math::PIDController > > yams::mechanisms::swerve::SwerveDriveConfig::GetTranslationPID

(

)

Get the active translation PID controller used for drive to pose (sim variant if in simulation and configured).

Returns

Reference to the translation PID controller, or empty when none is configured.

OptimizeRobotRelativeChassisSpeeds()

wpi::math::ChassisVelocities yams::mechanisms::swerve::SwerveDriveConfig::OptimizeRobotRelativeChassisSpeeds

(

wpi::math::ChassisVelocities

speeds

)

const

Apply angular-velocity skew correction and ChassisSpeeds discretization.

Parameters

speeds

Raw robot-relative chassis speeds.

Returns

Optimized chassis speeds.

ScaleTranslation()

static wpi::math::Translation2d yams::mechanisms::swerve::SwerveDriveConfig::ScaleTranslation ( wpi::math::Translation2d  translation, double  scalar  )

static

Scale the polar-coordinate magnitude of a Translation2d by a scalar.

WithAntiTipping() [1/2]

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithAntiTipping

(

std::optional< wpi::math::AntiTipping >

antiTipping

)

Push back against tipping with your own controller, or std::nullopt to turn it off.

Parameters

antiTipping

The anti-tipping controller.

Returns

*this for chaining.

WithAntiTipping() [2/2]

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithAntiTipping	(	wpi::units::meters_per_second_t	kP,
		wpi::units::degree_t	tippingThreshold,
		wpi::units::meters_per_second_t	maxCorrectionSpeed
	)

Push back against tipping: when the robot leans by more than the threshold, a chassis velocity is added in the direction it is leaning, so the drive base moves back under the robot. It needs the gyro's full attitude, from the Rotation3d overload of WithGyro.

Parameters

kP	Correction speed per radian of lean. Must be positive.
tippingThreshold	Lean beyond which the correction applies. Between 0 and 90 degrees.
maxCorrectionSpeed	The largest correction. Must be positive.

Returns

*this for chaining.

Exceptions

std::invalid_argument

if a value is out of range.

WithCenterOfRotation() [1/2]

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithCenterOfRotation

(

wpi::math::Translation2d

center

)

Override the chassis centre of rotation (default is the robot centre).

Parameters

center

Translation2d in metres (X forward, Y left).

Returns

*this for chaining.

WithCenterOfRotation() [2/2]

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithCenterOfRotation	(	wpi::units::meter_t	forward,
		wpi::units::meter_t	left
	)

Override the chassis centre of rotation via forward/left distances.

Parameters

forward	Distance forward from the robot centre.
left	Distance left from the robot centre.

Returns

*this for chaining.

WithDiscretizationTime()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithDiscretizationTime

(

wpi::units::second_t

dt

)

Set the discretization timestep used to compensate for ChassisSpeeds skew.

Parameters

dt	Discretization period (typically one robot loop period).

Returns

*this for chaining.

WithGyro() [1/2]

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithGyro

(

std::function< wpi::math::Rotation3d()>

gyroSupplier

)

Supply the gyro's full 3D attitude. See WithGyroHeadingAxis for a gyro that is not mounted flat.

Parameters

gyroSupplier

Callable returning the gyro's attitude.

Returns

*this for chaining.

WithGyro() [2/2]

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithGyro

(

std::function< wpi::units::degree_t()>

gyroSupplier

)

Supply the gyro's heading in degrees, for a gyro mounted flat.

The attitude is taken to be this yaw with no roll or pitch, so anti-tipping does nothing and WithGyroHeadingAxis has nothing to rotate. Use the Rotation3d overload for either.

Parameters

gyroSupplier

Callable returning the current gyro angle.

Returns

*this for chaining.

WithGyroAngularVelocityScaleFactor()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithGyroAngularVelocityScaleFactor

(

double

scaleFactor

)

Set the angular velocity scale factor for skew correction on the real robot.

Parameters

scaleFactor

Scale applied to the gyro angular velocity [0, 1].

Returns

*this for chaining.

WithGyroHeadingAxis()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithGyroHeadingAxis

(

config::GyroAxis

axis

)

Set which gyro axis points up through the robot, for a gyro mounted on its side. The attitude from WithGyro is rotated into the robot's frame, so GetGyroRotation3d returns the robot's heading as its yaw and the robot's tilt as its roll and pitch.

Parameters

axis	The gyro axis that points up. GyroAxis::YAW, the default, is a gyro mounted flat.

Returns

*this for chaining.

WithGyroInverted()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithGyroInverted

(

bool

inverted

)

Invert the gyro direction.

Parameters

inverted

true to negate the raw gyro angle.

Returns

*this for chaining.

WithGyroOffset()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithGyroOffset

(

wpi::units::degree_t

offset

)

Set the gyro offset (subtracted from the raw gyro reading in GetGyroAngle).

Parameters

offset

Gyro angle offset.

Returns

*this for chaining.

WithGyroVelocity()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithGyroVelocity

(

std::function< wpi::units::degrees_per_second_t()>

angularVelocitySupplier

)

Supply the gyro angular velocity in degrees per second.

Required for angular-velocity skew correction.

Parameters

angularVelocitySupplier

Callable returning the current gyro angular velocity.

Returns

*this for chaining.

WithMaximumChassisSpeed()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithMaximumChassisSpeed	(	wpi::units::meters_per_second_t	speed,
		wpi::units::degrees_per_second_t	angularVelocity
	)

Set the maximum chassis linear and angular speeds for wheel speed desaturation.

Parameters

speed	Maximum chassis linear speed.
angularVelocity	Maximum chassis angular speed.

Returns

*this for chaining.

WithMaximumModuleSpeed()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithMaximumModuleSpeed

(

wpi::units::meters_per_second_t

speed

)

Set the maximum module linear speed for wheel speed desaturation.

Parameters

speed

Maximum module speed.

Returns

*this for chaining.

WithModules()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithModules

(

std::vector< SwerveModule * >

modules

)

Set the swerve modules (must match the NumModules template argument of SwerveDrive).

Parameters

modules

Vector of module pointers (must outlive this config).

Returns

*this for chaining.

WithModuleStateOptimization()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithModuleStateOptimization

(

bool

enabled

)

Turn swerve module state optimization on or off for every module. It is applied to the modules given so far, and to all of them when the SwerveDrive is created.

Parameters

enabled

true to optimize module states.

Returns

*this for chaining.

WithRotationController()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithRotationController

(

wpi::math::PIDController

controller

)

Set the rotation PID controller for DriveToPose (input units: radians).

Continuous input over [-π, π] is enabled automatically.

Parameters

controller

PIDController for heading.

Returns

*this for chaining.

WithSimDiscretizationTime()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithSimDiscretizationTime

(

wpi::units::second_t

dt

)

Set the discretization timestep used during simulation.

Falls back to WithDiscretizationTime if not set.

Parameters

dt	Discretization period for simulation.

Returns

*this for chaining.

WithSimGyroAngularVelocityScaleFactor()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithSimGyroAngularVelocityScaleFactor

(

double

scaleFactor

)

Set the angular velocity scale factor for skew correction in simulation.

Falls back to WithGyroAngularVelocityScaleFactor if not set.

Parameters

scaleFactor

Scale applied to the gyro angular velocity [0, 1].

Returns

*this for chaining.

WithSimRotationController()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithSimRotationController

(

wpi::math::PIDController

controller

)

Set the simulated rotation PID controller for DriveToPose (input units: radians).

Falls back to WithRotationController if not set. Continuous input is enabled automatically.

Parameters

controller

PIDController for heading in simulation.

Returns

*this for chaining.

WithSimTranslationController()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithSimTranslationController

(

wpi::math::PIDController

controller

)

Set the simulated translation PID controller for DriveToPose (input units: metres).

Falls back to WithTranslationController if not set.

Parameters

controller

PIDController for X/Y translation in simulation.

Returns

*this for chaining.

WithStartingPose()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithStartingPose

(

wpi::math::Pose2d

pose

)

Set the starting field pose of the robot.

Parameters

pose	Starting Pose2d (field-relative, blue-origin).

Returns

*this for chaining.

WithSubsystem()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithSubsystem

(

wpi::cmd::SubsystemBase *

subsystem

)

Associate a command subsystem with this drive (used for command requirements).

Parameters

subsystem

Pointer to the subsystem (must outlive this config).

Returns

*this for chaining.

WithTelemetry() [1/2]

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithTelemetry	(	const std::string &	name,
		telemetry::SwerveDriveTelemetryConfig	telemetryConfig
	)

Configure telemetry for the drive with an explicit SwerveDriveTelemetryConfig, taking precedence over WithTelemetry(name, TelemetryVerbosity).

Parameters

name	Telemetry name (defaults to "swerve").
telemetryConfig	Config that specifies what to log.

Returns

*this for chaining.

WithTelemetry() [2/2]

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithTelemetry	(	const std::string &	name,
		TelemetryVerbosity	verbosity
	)

Set the telemetry name and verbosity for the drive.

Parameters

name	Telemetry name (defaults to "swerve").
verbosity	Amount of data to publish.

Returns

*this for chaining.

WithTranslationController()

SwerveDriveConfig & yams::mechanisms::swerve::SwerveDriveConfig::WithTranslationController

(

wpi::math::PIDController

controller

)

Set the translation PID controller for DriveToPose (input units: metres).

Parameters

controller

PIDController for X/Y translation.

Returns

*this for chaining.

---

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

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