Package frc.team1711.swerve.subsystems

Class AutoSwerveDrive

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.team1711.swerve.subsystems.SwerveDrive

frc.team1711.swerve.subsystems.GyroSwerveDrive

frc.team1711.swerve.subsystems.AutoSwerveDrive

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public abstract class AutoSwerveDrive
extends GyroSwerveDrive

Expands on the GyroSwerveDrive for autonomous control, requiring the use of AutoSwerveWheel rather than SwerveWheel. Uses Odometry to track the position of the robot on the field.

Nested Class Summary

Nested classes/interfaces inherited from class frc.team1711.swerve.subsystems.SwerveDrive

SwerveDrive.ControlsConfig

Constructor Summary

Constructors

Constructor	Description
AutoSwerveDrive(edu.wpi.first.wpilibj.interfaces.Gyro gyro, AutoSwerveWheel flWheel, AutoSwerveWheel frWheel, AutoSwerveWheel rlWheel, AutoSwerveWheel rrWheel, double wheelbaseToTrackRatio)	Creates a new AutoSwerveDrive given AutoSwerveWheel wheels.

Method Summary

Modifier and Type	Method	Description
Position	getPosition()	Gets the current Position of the robot on the field.
void	resetPosition(Position newPosition)	Resets the robot's odometry to a given Position.
protected void	updateOdometry()	A method overridden in AutoSwerveDrive which is called to update the odometry systems whenever new inputs are passed to the wheels.

Methods inherited from class frc.team1711.swerve.subsystems.GyroSwerveDrive

fieldRelativeUserInputDrive, getAbsoluteGyroAngle, getGyroAngle, resetGyro, resetGyro

Methods inherited from class frc.team1711.swerve.subsystems.SwerveDrive

autoDrive, initSendable, steerAllWithinRange, steerAndDriveAll, stop, userInputDrive

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

getCurrentCommand, getDefaultCommand, periodic, register, setDefaultCommand, simulationPeriodic

Constructor Detail

AutoSwerveDrive

public AutoSwerveDrive(edu.wpi.first.wpilibj.interfaces.Gyro gyro,
                       AutoSwerveWheel flWheel,
                       AutoSwerveWheel frWheel,
                       AutoSwerveWheel rlWheel,
                       AutoSwerveWheel rrWheel,
                       double wheelbaseToTrackRatio)

Creates a new AutoSwerveDrive given AutoSwerveWheel wheels.

Parameters:

gyro - The Gyro to be used for field-relative control

flWheel - The front left AutoSwerveWheel

frWheel - The front right AutoSwerveWheel

rlWheel - The rear left AutoSwerveWheel

rrWheel - The rear right AutoSwerveWheel

wheelbaseToTrackRatio - The distance between the centers of the left and right wheels divided by the distance between the centers of the front and back wheels

Method Detail

resetPosition

public void resetPosition(Position newPosition)

Resets the robot's odometry to a given Position.

Parameters:

newPosition - The new Position for the robot's odometry

getPosition

public Position getPosition()

Gets the current Position of the robot on the field.

Returns:

The robot's Position

updateOdometry

protected void updateOdometry()

Description copied from class: SwerveDrive

A method overridden in AutoSwerveDrive which is called to update the odometry systems whenever new inputs are passed to the wheels.

Overrides:

updateOdometry in class SwerveDrive