Class SwerveDriveConfig

java.lang.Object
yams.core.mechanisms.config.SwerveDriveConfig<SwerveDriveConfig>
yams.commands2.config.SwerveDriveConfig
public class SwerveDriveConfig extends SwerveDriveConfig<SwerveDriveConfig>
Command-based extension of SwerveDriveConfig that adds the Subsystem binding.

Usage Example

// Build each SwerveModule (see SwerveModuleConfig for per-module setup), then:
SwerveDriveConfig config = new SwerveDriveConfig(this, fl, fr, bl, br)
    .withGyro(gyro::getRotation3d)
    .withMaximumChassisSpeed(MetersPerSecond.of(4.5), DegreesPerSecond.of(360))
    .withTranslationController(new PIDController(1.0, 0, 0))
    .withRotationController(new PIDController(1.0, 0, 0))
    .withStartingPose(new Pose2d());
SwerveDrive drive = new SwerveDrive(config);