#include <SwerveInputStream.hpp>

Public Types
using	TelemetryVerbosity = SwerveDriveConfig::TelemetryVerbosity

Public Member Functions
	SwerveInputStream (SwerveDrive< NumModules > &drive, std::function< double()> x, std::function< double()> y, std::function< double()> rot)

	SwerveInputStream (SwerveDrive< NumModules > &drive, std::function< double()> x, std::function< double()> y, std::function< double()> headingX, std::function< double()> headingY)

SwerveInputStream	Clone () const

SwerveInputStream &	WithTelemetry (std::string name, TelemetryVerbosity verbosity)

std::optional< std::reference_wrapper< SwerveInputStreamTelemetry< NumModules > > >	GetTelemetry ()

std::string	GetCurrentModeName () const

double	GetAxisDeadband () const

void	SetAxisDeadband (double deadband)

double	GetTranslationAxisScale () const

void	SetTranslationAxisScale (double scale)

double	GetOmegaAxisScale () const

void	SetOmegaAxisScale (double scale)

wpi::units::meters_per_second_t	GetMaximumChassisLinearVelocity () const

void	SetMaximumChassisLinearVelocity (wpi::units::meters_per_second_t velocity)

wpi::units::radians_per_second_t	GetMaximumChassisAngularVelocity () const

void	SetMaximumChassisAngularVelocity (wpi::units::radians_per_second_t velocity)

bool	IsTranslationCubeEnabled () const

void	SetTranslationCubeEnabled (bool enabled)

bool	IsOmegaCubeEnabled () const

void	SetOmegaCubeEnabled (bool enabled)

bool	IsAllianceRelativeEnabled () const

void	SetAllianceRelativeEnabled (bool enabled)

bool	IsRobotRelativeEnabled () const

void	SetRobotRelativeEnabled (bool enabled)

SwerveInputStream &	WithMaximumLinearVelocity (wpi::units::meters_per_second_t velocity)

SwerveInputStream &	WithMaximumAngularVelocity (wpi::units::radians_per_second_t velocity)

SwerveInputStream &	WithControllerRotationAxis (std::function< double()> rot)

SwerveInputStream &	WithControllerHeadingAxis (std::function< double()> headingX, std::function< double()> headingY)

SwerveInputStream &	WithDeadband (double deadband)

SwerveInputStream &	Deadband (double deadband)

SwerveInputStream &	WithScaleTranslation (double scale)

SwerveInputStream &	WithScaleRotation (double scale)

SwerveInputStream &	WithHeadingControl (std::function< bool()> trigger)

SwerveInputStream &	WithHeading (std::function< wpi::units::radian_t()> heading)

SwerveInputStream &	WithAim (std::function< wpi::math::Pose2d()> aimTarget, std::function< bool()> trigger)

SwerveInputStream &	WithAimLookahead (wpi::units::second_t lookahead)

SwerveInputStream &	WithAimFeedforward (wpi::math::SimpleMotorFeedforward< wpi::units::radians > feedforward)

SwerveInputStream &	WithAimHeadingOffset (wpi::math::Rotation2d offset, std::function< bool()> enabled)

SwerveInputStream &	WithAimHeadingOffset (wpi::math::Rotation2d offset)

bool	IsAimLocked (wpi::units::radian_t tolerance)

wpi::math::Translation2d	GetTargetVector (const wpi::math::Pose2d &target)

wpi::units::radians_per_second_t	CalculateAngularVelocity (wpi::units::radian_t target)

SwerveInputStream &	WithTranslationOnly (std::function< bool()> trigger)

SwerveInputStream &	WithCubeRotationControllerAxis (std::function< bool()> enabled)

SwerveInputStream &	WithCubeRotationControllerAxis ()

SwerveInputStream &	WithCubeTranslationControllerAxis (std::function< bool()> enabled)

SwerveInputStream &	WithCubeTranslationControllerAxis ()

SwerveInputStream &	WithAllianceRelativeControl (std::function< bool()> enabled)

SwerveInputStream &	WithAllianceRelativeControl ()

SwerveInputStream &	WithRobotRelative (std::function< bool()> enabled)

SwerveInputStream &	WithRobotRelative ()

SwerveInputStream &	WithTranslationHeadingOffset (wpi::math::Rotation2d angle, std::function< bool()> enabled)

SwerveInputStream &	WithTranslationHeadingOffset (wpi::math::Rotation2d angle)

wpi::math::ChassisVelocities	Get ()

wpi::math::ChassisVelocities	operator() ()

Static Public Member Functions
static SwerveInputStream	Of (SwerveDrive< NumModules > &drive, std::function< double()> x, std::function< double()> y)

Member Typedef Documentation

◆ TelemetryVerbosity

template<size_t NumModules = 4>

using yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::TelemetryVerbosity = SwerveDriveConfig::TelemetryVerbosity

Constructor & Destructor Documentation

◆ SwerveInputStream() [1/2]

template<size_t NumModules = 4>

yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::SwerveInputStream	(	SwerveDrive< NumModules > &	drive,
		std::function< double()>	x,
		std::function< double()>	y,
		std::function< double()>	rot
	)

inline

◆ SwerveInputStream() [2/2]

template<size_t NumModules = 4>

yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::SwerveInputStream	(	SwerveDrive< NumModules > &	drive,
		std::function< double()>	x,
		std::function< double()>	y,
		std::function< double()>	headingX,
		std::function< double()>	headingY
	)

inline

Member Function Documentation

◆ CalculateAngularVelocity()

template<size_t NumModules = 4>

wpi::units::radians_per_second_t yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::CalculateAngularVelocity ( wpi::units::radian_t target )

inline

Angular velocity that turns the robot to a heading in the gyro's frame, from the drive's rotation controller and the WithAimFeedforward feedforward if there is one.

◆ Clone()

template<size_t NumModules = 4>

SwerveInputStream yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::Clone ( ) const

inline

Copy this stream. Unlike a plain copy, the clone has no telemetry, so it does not publish under this stream's name.

◆ Deadband()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::Deadband ( double deadband )

inline

The same as WithDeadband.

◆ Get()

template<size_t NumModules = 4>

wpi::math::ChassisVelocities yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::Get ( )

inline

◆ GetAxisDeadband()

template<size_t NumModules = 4>

double yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::GetAxisDeadband ( ) const

inline

◆ GetCurrentModeName()

template<size_t NumModules = 4>

std::string yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::GetCurrentModeName ( ) const

inline

◆ GetMaximumChassisAngularVelocity()

template<size_t NumModules = 4>

wpi::units::radians_per_second_t yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::GetMaximumChassisAngularVelocity ( ) const

inline

◆ GetMaximumChassisLinearVelocity()

template<size_t NumModules = 4>

wpi::units::meters_per_second_t yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::GetMaximumChassisLinearVelocity ( ) const

inline

◆ GetOmegaAxisScale()

template<size_t NumModules = 4>

double yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::GetOmegaAxisScale ( ) const

inline

◆ GetTargetVector()

template<size_t NumModules = 4>

wpi::math::Translation2d yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::GetTargetVector ( const wpi::math::Pose2d & target )

inline

Field relative vector from the robot to a target, from where the robot will be after the WithAimLookahead time if there is one. Useful for shooting on the move.

◆ GetTelemetry()

template<size_t NumModules = 4>

std::optional< std::reference_wrapper< SwerveInputStreamTelemetry< NumModules > > > yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::GetTelemetry ( )

inline

Get this stream's telemetry, created by WithTelemetry(name, verbosity).

Returns: The SwerveInputStreamTelemetry, or empty if telemetry is not enabled.

◆ GetTranslationAxisScale()

template<size_t NumModules = 4>

double yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::GetTranslationAxisScale ( ) const

inline

◆ IsAimLocked()

template<size_t NumModules = 4>

bool yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::IsAimLocked ( wpi::units::radian_t tolerance )

inline

True while aiming is enabled and the robot's heading is within the tolerance of its aim heading. Only updates while the stream is being read.

◆ IsAllianceRelativeEnabled()

template<size_t NumModules = 4>

bool yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::IsAllianceRelativeEnabled ( ) const

inline

◆ IsOmegaCubeEnabled()

template<size_t NumModules = 4>

bool yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::IsOmegaCubeEnabled ( ) const

inline

◆ IsRobotRelativeEnabled()

template<size_t NumModules = 4>

bool yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::IsRobotRelativeEnabled ( ) const

inline

◆ IsTranslationCubeEnabled()

template<size_t NumModules = 4>

bool yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::IsTranslationCubeEnabled ( ) const

inline

◆ Of()

template<size_t NumModules = 4>

static SwerveInputStream yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::Of	(	SwerveDrive< NumModules > &	drive,
		std::function< double()>	x,
		std::function< double()>	y
	)

inlinestatic

◆ operator()()

template<size_t NumModules = 4>

wpi::math::ChassisVelocities yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::operator() ( )

inline

◆ SetAllianceRelativeEnabled()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::SetAllianceRelativeEnabled ( bool enabled )

inline

◆ SetAxisDeadband()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::SetAxisDeadband ( double deadband )

inline

◆ SetMaximumChassisAngularVelocity()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::SetMaximumChassisAngularVelocity ( wpi::units::radians_per_second_t velocity )

inline

◆ SetMaximumChassisLinearVelocity()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::SetMaximumChassisLinearVelocity ( wpi::units::meters_per_second_t velocity )

inline

◆ SetOmegaAxisScale()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::SetOmegaAxisScale ( double scale )

inline

◆ SetOmegaCubeEnabled()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::SetOmegaCubeEnabled ( bool enabled )

inline

◆ SetRobotRelativeEnabled()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::SetRobotRelativeEnabled ( bool enabled )

inline

◆ SetTranslationAxisScale()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::SetTranslationAxisScale ( double scale )

inline

◆ SetTranslationCubeEnabled()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::SetTranslationCubeEnabled ( bool enabled )

inline

◆ WithAim()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithAim	(	std::function< wpi::math::Pose2d()>	aimTarget,
		std::function< bool()>	trigger
	)

inline

◆ WithAimFeedforward()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithAimFeedforward ( wpi::math::SimpleMotorFeedforward< wpi::units::radians > feedforward )

inline

Add a feedforward to the aim rotation, so the robot keeps up with a target whose direction is changing. The feedforward is calculated from the robot's current angular velocity to the angular velocity the rotation controller asks for, and its result is added to that angular velocity.

◆ WithAimHeadingOffset() [1/2]

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithAimHeadingOffset ( wpi::math::Rotation2d offset )

inline

◆ WithAimHeadingOffset() [2/2]

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithAimHeadingOffset	(	wpi::math::Rotation2d	offset,
		std::function< bool()>	enabled
	)

inline

Rotate the aim heading by an offset while enabled, for a shooter that does not point out of the front of the robot. The offset is counter-clockwise positive.

◆ WithAimLookahead()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithAimLookahead ( wpi::units::second_t lookahead )

inline

Aim from where the robot will be after a delay, instead of where it is now. The pose is moved along the robot's field relative velocity by this time before the direction to the target is worked out.

A game piece leaves the robot a moment after the aim was calculated: the camera, the loop, the motors and the feed all take time, and the robot keeps moving through all of it. Add those delays together for a starting value, then tune it. It is often 100 to 200 milliseconds.

This assumes the robot keeps its current velocity, so it works best while driving in a straight line.

◆ WithAllianceRelativeControl() [1/2]

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithAllianceRelativeControl ( )

inline

◆ WithAllianceRelativeControl() [2/2]

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithAllianceRelativeControl ( std::function< bool()> enabled )

inline

◆ WithControllerHeadingAxis()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithControllerHeadingAxis	(	std::function< double()>	headingX,
		std::function< double()>	headingY
	)

inline

◆ WithControllerRotationAxis()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithControllerRotationAxis ( std::function< double()> rot )

inline

◆ WithCubeRotationControllerAxis() [1/2]

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithCubeRotationControllerAxis ( )

inline

◆ WithCubeRotationControllerAxis() [2/2]

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithCubeRotationControllerAxis ( std::function< bool()> enabled )

inline

◆ WithCubeTranslationControllerAxis() [1/2]

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithCubeTranslationControllerAxis ( )

inline

◆ WithCubeTranslationControllerAxis() [2/2]

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithCubeTranslationControllerAxis ( std::function< bool()> enabled )

inline

◆ WithDeadband()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithDeadband ( double deadband )

inline

◆ WithHeading()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithHeading ( std::function< wpi::units::radian_t()> heading )

inline

◆ WithHeadingControl()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithHeadingControl ( std::function< bool()> trigger )

inline

◆ WithMaximumAngularVelocity()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithMaximumAngularVelocity ( wpi::units::radians_per_second_t velocity )

inline

◆ WithMaximumLinearVelocity()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithMaximumLinearVelocity ( wpi::units::meters_per_second_t velocity )

inline

◆ WithRobotRelative() [1/2]

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithRobotRelative ( )

inline

◆ WithRobotRelative() [2/2]

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithRobotRelative ( std::function< bool()> enabled )

inline

◆ WithScaleRotation()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithScaleRotation ( double scale )

inline

◆ WithScaleTranslation()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithScaleTranslation ( double scale )

inline

◆ WithTelemetry()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithTelemetry	(	std::string	name,
		TelemetryVerbosity	verbosity
	)

inline

Publish this stream's telemetry under SwerveInputStream/<name>, updated every time the stream is read. At HIGH the stream is also live tunable: see SwerveInputStreamTelemetry. Replaces any telemetry this stream already had; NONE turns it off.

The telemetry is created when the stream is first read or GetTelemetry() is called, so copies made while building the stream do not publish. A copy of a stream with telemetry publishes under the same name once read; use Clone() for a copy without telemetry.

Parameters

name	Name of the stream in NetworkTables (e.g., "drive").
verbosity	TelemetryVerbosity to publish at.

Returns: this, for chaining.

◆ WithTranslationHeadingOffset() [1/2]

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithTranslationHeadingOffset ( wpi::math::Rotation2d angle )

inline

◆ WithTranslationHeadingOffset() [2/2]

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithTranslationHeadingOffset	(	wpi::math::Rotation2d	angle,
		std::function< bool()>	enabled
	)

inline

◆ WithTranslationOnly()

template<size_t NumModules = 4>

SwerveInputStream & yams::mechanisms::swerve::utility::SwerveInputStream< NumModules >::WithTranslationOnly ( std::function< bool()> trigger )

inline

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

/home/runner/work/YAMS/YAMS/yams/cpp/include/yams/mechanisms/swerve/utility/SwerveInputStream.hpp

Public Types

Public Member Functions

Static Public Member Functions

Member Typedef Documentation

◆ TelemetryVerbosity

Constructor & Destructor Documentation

◆ SwerveInputStream() [1/2]

◆ SwerveInputStream() [2/2]

Member Function Documentation

◆ CalculateAngularVelocity()

◆ Clone()

◆ Deadband()

◆ Get()

◆ GetAxisDeadband()

◆ GetCurrentModeName()

◆ GetMaximumChassisAngularVelocity()

◆ GetMaximumChassisLinearVelocity()

◆ GetOmegaAxisScale()

◆ GetTargetVector()

◆ GetTelemetry()

◆ GetTranslationAxisScale()

◆ IsAimLocked()

◆ IsAllianceRelativeEnabled()

◆ IsOmegaCubeEnabled()

◆ IsRobotRelativeEnabled()

◆ IsTranslationCubeEnabled()

◆ Of()

◆ operator()()

◆ SetAllianceRelativeEnabled()

◆ SetAxisDeadband()

◆ SetMaximumChassisAngularVelocity()

◆ SetMaximumChassisLinearVelocity()

◆ SetOmegaAxisScale()

◆ SetOmegaCubeEnabled()

◆ SetRobotRelativeEnabled()

◆ SetTranslationAxisScale()

◆ SetTranslationCubeEnabled()

◆ WithAim()

◆ WithAimFeedforward()

◆ WithAimHeadingOffset() [1/2]

◆ WithAimHeadingOffset() [2/2]

◆ WithAimLookahead()

◆ WithAllianceRelativeControl() [1/2]

◆ WithAllianceRelativeControl() [2/2]

◆ WithControllerHeadingAxis()

◆ WithControllerRotationAxis()

◆ WithCubeRotationControllerAxis() [1/2]

◆ WithCubeRotationControllerAxis() [2/2]

◆ WithCubeTranslationControllerAxis() [1/2]

◆ WithCubeTranslationControllerAxis() [2/2]

◆ WithDeadband()

◆ WithHeading()

◆ WithHeadingControl()

◆ WithMaximumAngularVelocity()

◆ WithMaximumLinearVelocity()

◆ WithRobotRelative() [1/2]

◆ WithRobotRelative() [2/2]

◆ WithScaleRotation()

◆ WithScaleTranslation()

◆ WithTelemetry()

◆ WithTranslationHeadingOffset() [1/2]

◆ WithTranslationHeadingOffset() [2/2]

◆ WithTranslationOnly()