Package yams.mechanisms.config

Class SwerveDriveConfig

java.lang.Object

yams.mechanisms.config.SwerveDriveConfig

public class SwerveDriveConfig
extends Object

Swerve Drive Configuration

Constructor Summary

Constructors

Constructor	Description
SwerveDriveConfig()	Create the SwerveDriveConfig for the SwerveDrive
SwerveDriveConfig(Subsystem swerveSubsystem, SwerveModule... modules)	Create the SwerveDriveConfig for the SwerveDrive

Method Summary

Modifier and Type	Method	Description
static Translation2d	cubeTranslation(Translation2d translation)	Cube the Translation2d magnitude given in Polar coordinates.
Optional<Translation2d>	getCenterOfRotation()	Get the center of rotation.
Angle	getGyroAngle()	Get the gyro angle with inversions and offsets applied.
Angle	getGyroOffset()	Get the gyro offset.
Pose2d	getInitialPose()	Get the starting pose of the robot.
Optional<AngularVelocity>	getMaximumChassisAngularVelocity()	Get the maximum angular speed of the chassis.
Optional<LinearVelocity>	getMaximumChassisLinearVelocity()	Get the maximum speed of the chassis.
Optional<LinearVelocity>	getMaximumModuleLinearVelocity()	Get the maximum speed of the modules.
SwerveModule[]	getModules()	Get the SwerveModules for the SwerveDrive.
PIDController	getRotationPID()	Get the rotation PID controller.
Subsystem	getSubsystem()	Get the swerve drive subsystem.
Optional<SmartMotorControllerConfig.TelemetryVerbosity>	getTelemetryVerbosity()	Get the telemetry verbosity for the SwerveModule.
PIDController	getTranslationPID()	Get the translation PID controller.
ChassisSpeeds	optimizeRobotRelativeChassisSpeeds(ChassisSpeeds speeds)	Optimize the given chassis speeds.
static Translation2d	scaleTranslation(Translation2d translation, double scalar)	Scale the Translation2d Polar coordinate magnitude.
SwerveDriveConfig	withCenterOfRotation(Translation2d centerOfRotation)	Set the center of rotation; 0,0 is the center of the robot.
SwerveDriveConfig	withCenterOfRotation(Distance forward, Distance left)	Set the center of rotation; 0,0 is the center of the robot.
SwerveDriveConfig	withDiscretizationTime(Time dt)	Set the discretization time for the pose estimation.
SwerveDriveConfig	withGyro(Supplier<Angle> gyro)	Get the SwerveModules for the SwerveDrive.
SwerveDriveConfig	withGyroAngularVelocityScaleFactor(double scaleFactor)	Set the angular velocity scale factor to improve the accuracy of the pose estimation.
SwerveDriveConfig	withGyroInverted(boolean inverted)	Set the gyro inverted.
SwerveDriveConfig	withGyroOffset(Angle offset)	Set the gyro offset.
SwerveDriveConfig	withGyroVelocity(Supplier<AngularVelocity> angularVelocitySupplier)	Angular velocity of the gyro.
SwerveDriveConfig	withMaximumChassisSpeed(LinearVelocity speed, AngularVelocity angularVelocity)	Maximum speed of the chassis to desaturate towards.
SwerveDriveConfig	withMaximumModuleSpeed(LinearVelocity speed)	Set the maximum speed of the modules to desaturate towards.
SwerveDriveConfig	withModules(SwerveModule... modules)	Set the SwerveModules for the SwerveDrive.
SwerveDriveConfig	withRotationController(PIDController controller)	Set the rotation PID controller.
SwerveDriveConfig	withSimDiscretizationTime(Time dt)	Set the discretization time for the pose estimation.
SwerveDriveConfig	withSimGyroAngularVelocityScaleFactor(double scaleFactor)	Set the angular velocity scale factor to improve the accuracy of the pose estimation.
SwerveDriveConfig	withSimRotationController(PIDController controller)	Set the rotation PID controller.
SwerveDriveConfig	withSimTranslationController(PIDController controller)	Set the translation PID controller.
SwerveDriveConfig	withStartingPose(Pose2d pose)	Set the starting pose of the robot.
SwerveDriveConfig	withSubsystem(Subsystem subsystem)	Define a Subsystem for the SwerveDrive
SwerveDriveConfig	withTelemetry(SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)	Configure telemetry for the SwerveModule mechanism.
SwerveDriveConfig	withTranslationController(PIDController controller)	Set the translation PID controller.

Methods inherited from class java.lang.Object

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

Constructor Details

SwerveDriveConfig

public SwerveDriveConfig(Subsystem swerveSubsystem,
 SwerveModule... modules)

Create the SwerveDriveConfig for the SwerveDrive

Parameters:

modules - SwerveModules for the SwerveDrive

swerveSubsystem - SwerveDrive subsystem.

SwerveDriveConfig

public SwerveDriveConfig()

Create the SwerveDriveConfig for the SwerveDrive

Implementation Note:

Must define a Subsystem with withSubsystem(Subsystem) and modules with withModules(SwerveModule...)

Method Details

withSubsystem

public SwerveDriveConfig withSubsystem(Subsystem subsystem)

Define a Subsystem for the SwerveDrive

Parameters:

subsystem - Subsystem for the SwerveDrive

Returns:

SwerveDriveConfig for chaining.

withModules

public SwerveDriveConfig withModules(SwerveModule... modules)

Set the SwerveModules for the SwerveDrive.

Parameters:

modules - SwerveModules for the SwerveDrive.

Returns:

SwerveDriveConfig for chaining.

withSimTranslationController

public SwerveDriveConfig withSimTranslationController(PIDController controller)

Set the translation PID controller.

Parameters:

controller - PIDController for the translation, input units are meters.

Returns:

SwerveDriveConfig for chaining.

withSimRotationController

public SwerveDriveConfig withSimRotationController(PIDController controller)

Set the rotation PID controller.

Parameters:

controller - PIDController for the rotation, input units are radians.

Returns:

SwerveDriveConfig for chaining.

withTranslationController

public SwerveDriveConfig withTranslationController(PIDController controller)

Set the translation PID controller.

Parameters:

controller - PIDController for the translation, input units are meters.

Returns:

SwerveDriveConfig for chaining.

withRotationController

public SwerveDriveConfig withRotationController(PIDController controller)

Set the rotation PID controller.

Parameters:

controller - PIDController for the rotation, input units are radians.

Returns:

SwerveDriveConfig for chaining.

withCenterOfRotation

public SwerveDriveConfig withCenterOfRotation(Translation2d centerOfRotation)

Set the center of rotation; 0,0 is the center of the robot.

Parameters:

centerOfRotation - Translation2d of the center of rotation in Meters, X is forward, Y is left.

Returns:

SwerveDriveConfig for chaining.

withCenterOfRotation

public SwerveDriveConfig withCenterOfRotation(Distance forward,
 Distance left)

Set the center of rotation; 0,0 is the center of the robot.

Parameters:

forward - Forward distance from the center of robot.

left - Left distance from the center of robot.

Returns:

SwerveDriveConfig for chaining.

withSimDiscretizationTime

public SwerveDriveConfig withSimDiscretizationTime(Time dt)

Set the discretization time for the pose estimation.

Parameters:

dt - Discretization time for the pose estimation.

Returns:

SwerveDriveConfig for chaining.

withSimGyroAngularVelocityScaleFactor

public SwerveDriveConfig withSimGyroAngularVelocityScaleFactor(double scaleFactor)

Set the angular velocity scale factor to improve the accuracy of the pose estimation.

Parameters:

scaleFactor - Scale factor to apply to the gyro angular velocity, [0, 1].

Returns:

SwerveDriveConfig for chaining.

withDiscretizationTime

public SwerveDriveConfig withDiscretizationTime(Time dt)

Set the discretization time for the pose estimation.

Parameters:

dt - Discretization time for the pose estimation.

Returns:

SwerveDriveConfig for chaining.

withGyroAngularVelocityScaleFactor

public SwerveDriveConfig withGyroAngularVelocityScaleFactor(double scaleFactor)

Set the angular velocity scale factor to improve the accuracy of the pose estimation.

Parameters:

scaleFactor - Scale factor to apply to the gyro angular velocity, [0, 1].

Returns:

SwerveDriveConfig for chaining.

withGyroVelocity

public SwerveDriveConfig withGyroVelocity(Supplier<AngularVelocity> angularVelocitySupplier)

Angular velocity of the gyro.

Parameters:

angularVelocitySupplier - Supplier<AngularVelocity> for the gyro angular velocity.

Returns:

SwerveDriveConfig for chaining.

withGyro

public SwerveDriveConfig withGyro(Supplier<Angle> gyro)

Get the SwerveModules for the SwerveDrive.

Parameters:

gyro - Supplier for the gyro.

Returns:

SwerveDriveConfig for chaining.

withGyroOffset

public SwerveDriveConfig withGyroOffset(Angle offset)

Set the gyro offset.

Parameters:

offset - Offset to apply to the gyro.

Returns:

SwerveDriveConfig for chaining.

withGyroInverted

public SwerveDriveConfig withGyroInverted(boolean inverted)

Set the gyro inverted.

Parameters:

inverted - Inverted state of the gyro.

Returns:

SwerveDriveConfig for chaining.

withMaximumChassisSpeed

public SwerveDriveConfig withMaximumChassisSpeed(LinearVelocity speed,
 AngularVelocity angularVelocity)

Maximum speed of the chassis to desaturate towards.

Parameters:

speed - Linear velocity of the Chassis.

angularVelocity - Angular velocity of the Chassis.

Returns:

SwerveDriveConfig for chaining.

withMaximumModuleSpeed

public SwerveDriveConfig withMaximumModuleSpeed(LinearVelocity speed)

Set the maximum speed of the modules to desaturate towards.

Parameters:

speed - Linear velocity of the modules.

Returns:

SwerveDriveConfig for chaining.

withStartingPose

public SwerveDriveConfig withStartingPose(Pose2d pose)

Set the starting pose of the robot.

Parameters:

pose - Pose2d to set the robot to. new Pose2d()

Returns:

SwerveDriveConfig for chaining.

withTelemetry

public SwerveDriveConfig withTelemetry(SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)

Configure telemetry for the SwerveModule mechanism.

Parameters:

telemetryVerbosity - Telemetry verbosity to apply.

Returns:

SwerveDriveConfig for chaining.

getCenterOfRotation

public Optional<Translation2d> getCenterOfRotation()

Get the center of rotation.

Returns:

Translation2d of the center of rotation in Meters, X is forward, Y is left.

getTelemetryVerbosity

public Optional<SmartMotorControllerConfig.TelemetryVerbosity> getTelemetryVerbosity()

Get the telemetry verbosity for the SwerveModule.

Returns:

SmartMotorControllerConfig.TelemetryVerbosity for the SwerveModule.

getModules

public SwerveModule[] getModules()

Get the SwerveModules for the SwerveDrive.

Returns:

SwerveModules for the SwerveDrive.

getGyroAngle

public Angle getGyroAngle()

Get the gyro angle with inversions and offsets applied.

Returns:

Angle of the gyro.

getInitialPose

public Pose2d getInitialPose()

Get the starting pose of the robot.

Returns:

Pose2d of the robot.

getMaximumChassisLinearVelocity

public Optional<LinearVelocity> getMaximumChassisLinearVelocity()

Get the maximum speed of the chassis.

Returns:

Maximum speed of the chassis.

getMaximumChassisAngularVelocity

public Optional<AngularVelocity> getMaximumChassisAngularVelocity()

Get the maximum angular speed of the chassis.

Returns:

Maximum angular speed of the chassis.

getMaximumModuleLinearVelocity

public Optional<LinearVelocity> getMaximumModuleLinearVelocity()

Get the maximum speed of the modules.

Returns:

Maximum speed of the modules.

optimizeRobotRelativeChassisSpeeds

public ChassisSpeeds optimizeRobotRelativeChassisSpeeds(ChassisSpeeds speeds)

Optimize the given chassis speeds.

Parameters:

speeds - ChassisSpeeds to optimize.

Returns:

Optimized ChassisSpeeds.

getGyroOffset

public Angle getGyroOffset()

Get the gyro offset.

Returns:

Gyro offset.

getTranslationPID

public PIDController getTranslationPID()

Get the translation PID controller.

Returns:

Translation PID controller.

getRotationPID

public PIDController getRotationPID()

Get the rotation PID controller.

Returns:

Rotation PID controller.

cubeTranslation

public static Translation2d cubeTranslation(Translation2d translation)

Cube the Translation2d magnitude given in Polar coordinates.

Parameters:

translation - Translation2d to manipulate.

Returns:

Cubed magnitude from Translation2d.

scaleTranslation

public static Translation2d scaleTranslation(Translation2d translation,
 double scalar)

Scale the Translation2d Polar coordinate magnitude.

Parameters:

translation - Translation2d to use.

scalar - Multiplier for the Polar coordinate magnitude to use.

Returns:

Translation2d scaled by given magnitude scalar.

getSubsystem

public Subsystem getSubsystem()

Get the swerve drive subsystem.

Returns:

Swerve drive subsystem.