Class SwerveDrive

java.lang.Object

yams.core.mechanisms.swerve.SwerveDrive

yams.commands2.swerve.SwerveDrive

public class SwerveDrive
extends SwerveDrive

Command-based extension of SwerveDrive that adds the Subsystem binding and Command factories.

The typical pattern is to wrap SwerveDrive inside a WPILib SubsystemBase.

public class SwerveSubsystem extends SubsystemBase {
    private final SwerveDrive drive;

    public SwerveSubsystem() {
        drive = new SwerveDrive(new SwerveDriveConfig(this, modules)....);
    }

    public Command driveWithJoystick(CommandXboxController controller) {
        return drive.drive(() -> new ChassisVelocities(...));
    }

    public Command driveFieldRelative(Supplier<ChassisVelocities> speedsSupplier) {
        return run(() -> drive.setFieldRelativeChassisSpeeds(speedsSupplier.get()))
            .withName("Drive Field Relative");
    }
}

Field Summary

Fields inherited from class SwerveDrive

m_swerveTelemetry

Constructor Summary

Constructors

Constructor	Description
SwerveDrive(SwerveDriveConfig config)	Construct a SwerveDrive.

Method Summary

Modifier and Type	Method	Description
org.wpilib.command2.Command	drive(Supplier<org.wpilib.math.kinematics.ChassisVelocities> robotRelativeChassisSpeeds)	Create a Command to drive the swerve drive with robot relative chassis speeds.
org.wpilib.command2.Command	driveToPose(org.wpilib.math.geometry.Pose2d pose)	Drive the robot to the given pose.
org.wpilib.command2.Command	driveToPose(org.wpilib.math.geometry.Pose2d pose, org.wpilib.units.measure.Distance translationTolerance, org.wpilib.units.measure.Angle rotationTolerance)	Drive the robot to the given pose, ending once the robot is within the given tolerances.
org.wpilib.command2.Subsystem	getSubsystem()	Subsystem the drive's commands require.

Methods inherited from class SwerveDrive

addVisionMeasurement, addVisionMeasurement, applyTuningValues, driveToPoseSetpoint, driveToPoseSetpoint, getAngleDifferenceFromPose, getConfig, getDesiredChassisSpeeds, getDesiredModuleStates, getDistanceFromPose, getField2d, getFieldRelativeSpeed, getGyroRotation3d, getKinematics, getModule, getModulePositions, getModules, getModuleStates, getName, getPose, getRobotRelativeChassisSpeedsFromState, getRobotRelativeSpeed, getSimPose, getStateFromRobotRelativeChassisSpeeds, isNear, lockPose, resetOdometry, resetRotationPID, resetTranslationPID, setAzimuthAngles, setFieldRelativeChassisSpeeds, setRobotRelativeChassisSpeeds, setRobotRelativeChassisSpeeds, setRotationPID, setSwerveModuleStates, setSwerveModuleStates, setTranslationPID, setVisionMeasurementStdDevs, simIterate, startDriveToPoseTuning, stop, updateTelemetry, zeroGyro

Methods inherited from class Object

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

Constructor Details

SwerveDrive

public SwerveDrive(SwerveDriveConfig config)

Construct a SwerveDrive.

Parameters:

config - SwerveDriveConfig to use, with a Subsystem set via withSubsystem(Subsystem).

Throws:

IllegalStateException - on a real robot (not in simulation), if no gyro supplier was set with withGyro(Supplier).

SmartMotorControllerConfigurationException - if a module's drive motor has no mechanism circumference configured (e.g. via SwerveModuleConfig.withWheelRadius(Distance)).

Method Details

getSubsystem

public org.wpilib.command2.Subsystem getSubsystem()

Subsystem the drive's commands require.

Returns:

Subsystem for the drive.

drive

public org.wpilib.command2.Command drive(Supplier<org.wpilib.math.kinematics.ChassisVelocities> robotRelativeChassisSpeeds)

Create a Command to drive the swerve drive with robot relative chassis speeds.

Parameters:

robotRelativeChassisSpeeds - Supplier of ChassisVelocities for the robot relative chassis speeds. Could also use SwerveInputStream

Returns:

Command to drive the swerve drive.

Throws:

IllegalStateException - when the returned command runs, if a gyro angular velocity scale factor is configured but no gyro supplier was set with withGyro(Supplier).

Implementation Note:

Not compatible with AdvantageKit

driveToPose

public org.wpilib.command2.Command driveToPose(org.wpilib.math.geometry.Pose2d pose)

Drive the robot to the given pose. The command runs until it is interrupted and stops the drive when it is.

Parameters:

pose - Pose2d to drive the robot to. Field relative, blue-origin where 0deg is facing towards RED

Returns:

Command that drives the robot toward the given pose until interrupted.

Throws:

SwerveDriveConfigurationException - when the returned command runs, if the translation PID controller is not configured.

SwerveDriveConfigurationException - when the returned command runs, if the rotation PID controller is not configured.

IllegalStateException - when the returned command runs, if a gyro angular velocity scale factor is configured but no gyro supplier was set with withGyro(Supplier).

Implementation Note:

Not compatible with AdvantageKit

driveToPose

public org.wpilib.command2.Command driveToPose(org.wpilib.math.geometry.Pose2d pose,
 org.wpilib.units.measure.Distance translationTolerance,
 org.wpilib.units.measure.Angle rotationTolerance)

Drive the robot to the given pose, ending once the robot is within the given tolerances. The drive is stopped when the command ends or is interrupted.

Parameters:

pose - Pose2d to drive the robot to. Field relative, blue-origin where 0deg is facing towards RED

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 to drive the robot to the given pose.

Throws:

SwerveDriveConfigurationException - when the returned command runs, if the translation PID controller is not configured.

SwerveDriveConfigurationException - when the returned command runs, if the rotation PID controller is not configured.

IllegalStateException - when the returned command runs, if a gyro angular velocity scale factor is configured but no gyro supplier was set with withGyro(Supplier).

Implementation Note:

Not compatible with AdvantageKit