Class SwerveDrive

java.lang.Object

yams.core.mechanisms.swerve.SwerveDrive

yams.commands3.swerve.SwerveDrive

public class SwerveDrive
extends SwerveDrive

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

The typical pattern is to wrap SwerveDrive inside a class implementing Mechanism.

public class SwerveSubsystem implements Mechanism {
    private final SwerveDrive drive;

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

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

    public Command driveFieldRelative(Supplier<ChassisVelocities> speedsSupplier) {
        return run(coroutine -> {
            while (true) {
                drive.setFieldRelativeChassisSpeeds(speedsSupplier.get());
                coroutine.yield();
            }
        }).named("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.command3.Command	drive(Supplier<org.wpilib.math.kinematics.ChassisVelocities> robotRelativeChassisSpeeds)	Create a Command to drive the swerve drive with robot relative chassis speeds.
org.wpilib.command3.Command	driveToPose(org.wpilib.math.geometry.Pose2d pose)	Drive the robot to the given pose.
org.wpilib.command3.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.command3.Mechanism	getMechanism()	Mechanism 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 Mechanism set via withMechanism(Mechanism).

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

getMechanism

public org.wpilib.command3.Mechanism getMechanism()

Mechanism the drive's commands require.

Returns:

Mechanism for the drive.

drive

public org.wpilib.command3.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. For driver input, use a SwerveInputStream (field relative) in your own drive loop instead.

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.command3.Command driveToPose(org.wpilib.math.geometry.Pose2d pose)

Drive the robot to the given pose. The command runs until it is canceled 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 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

driveToPose

public org.wpilib.command3.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 canceled.

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