Package frc.robot.subsystems.DriveTrain

Class DriveTrain

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
frc.robot.subsystems.DriveTrain.DriveTrain
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
Direct Known Subclasses:
DriveTrainRealIO
public abstract class DriveTrain extends edu.wpi.first.wpilibj2.command.SubsystemBase

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    protected edu.wpi.first.networktables.StructPublisher<edu.wpi.first.math.geometry.Rotation2d>
    adv_gyro_pub
    State publisher for AdvantageScope.
    protected edu.wpi.first.networktables.StructArrayPublisher<edu.wpi.first.math.kinematics.SwerveModuleState>
    adv_real_states_pub
    State publisher for AdvantageScope.
    protected edu.wpi.first.networktables.StructArrayPublisher<edu.wpi.first.math.kinematics.SwerveModuleState>
    adv_target_states_pub
    State publisher for AdvantageScope.
    edu.wpi.first.math.kinematics.SwerveModuleState[]
    m_module_states
    The desired module states.
    SwerveModule[]
    m_modules
    The drive train's SwerveModule objects.

  • Constructor Summary

    Constructors
    Constructor
    Description
    DriveTrain()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    edu.wpi.first.math.kinematics.ChassisSpeeds
    discretize_chassis_speeds(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)
    Accounts for drift while simultaneously translating and rotating by discretizing.
    abstract edu.wpi.first.math.geometry.Rotation2d
    getGyroAngle()
    Gets either the measured yaw from the AHRS or the calculated angle from the simulation.
    edu.wpi.first.math.kinematics.SwerveModulePosition[]
    getModulePositions()
    Returns the measured swerve module positions for odometry.
    edu.wpi.first.math.kinematics.SwerveModuleState[]
    getModuleStates()
    Returns the measured swerve module states for telemetry.
    protected abstract SwerveModule
    initializeModule(int drive_port, int steer_port, int sensor_port)
    Creates either a SwerveModuleRealIO or SwerveModuleSimIO object.
    void
    periodic()
     
    void
    setModules(edu.wpi.first.math.kinematics.SwerveModuleState[] module_states)
    Sends calculated inputs to swerve modules.
    void
    setSwerveDrive(double x_metersPerSecond, double y_metersPerSecond, double a_radiansPerSecond)
    Calculates and sends inputs to swerve modules given field-relative speeds.
    void
    setSwerveDrive(edu.wpi.first.math.kinematics.ChassisSpeeds chassis_speeds)
    Calculates and sends inputs to swerve modules given robot-relative speeds.
    void
    simulationPeriodic()
     

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

    addChild, getName, getSubsystem, initSendable, 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

    defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, startEnd

  • Field Details

    • m_modules

      public SwerveModule[] m_modules
      The drive train's SwerveModule objects.

    • m_module_states

      public edu.wpi.first.math.kinematics.SwerveModuleState[] m_module_states
      The desired module states.

    • adv_real_states_pub

      protected edu.wpi.first.networktables.StructArrayPublisher<edu.wpi.first.math.kinematics.SwerveModuleState> adv_real_states_pub
      State publisher for AdvantageScope.

    • adv_target_states_pub

      protected edu.wpi.first.networktables.StructArrayPublisher<edu.wpi.first.math.kinematics.SwerveModuleState> adv_target_states_pub
      State publisher for AdvantageScope.

    • adv_gyro_pub

      protected edu.wpi.first.networktables.StructPublisher<edu.wpi.first.math.geometry.Rotation2d> adv_gyro_pub
      State publisher for AdvantageScope.

  • Constructor Details

    • DriveTrain

      public DriveTrain()

  • Method Details

    • initializeModule

      protected abstract SwerveModule initializeModule(int drive_port, int steer_port, int sensor_port)
      Creates either a SwerveModuleRealIO or SwerveModuleSimIO object.
      Parameters:
      drive_port - port number of the drive motor
      steer_port - port number of the steer motor
      sensor_port - port number of the module's CANcoder
      Returns:
      The constructed SwerveModule object

    • setSwerveDrive

      public void setSwerveDrive(double x_metersPerSecond, double y_metersPerSecond, double a_radiansPerSecond)
      Calculates and sends inputs to swerve modules given field-relative speeds. Calls setSwerveDrive(ChassisSpeeds chassis_speeds)
      Parameters:
      x_metersPerSecond - X-axis speed in m/s. Forward is positive.
      y_metersPerSecond - Y-axis speed in m/s. Right is positive.
      a_radiansPerSecond - Angular speed in rad/s. CCW is positive.

    • setSwerveDrive

      public void setSwerveDrive(edu.wpi.first.math.kinematics.ChassisSpeeds chassis_speeds)
      Calculates and sends inputs to swerve modules given robot-relative speeds.
      Parameters:
      chassis_speeds - The desired robot-relative chassis speeds.

    • setModules

      public void setModules(edu.wpi.first.math.kinematics.SwerveModuleState[] module_states)
      Sends calculated inputs to swerve modules.
      Parameters:
      module_states - The desired module states.

    • discretize_chassis_speeds

      public edu.wpi.first.math.kinematics.ChassisSpeeds discretize_chassis_speeds(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)
      Accounts for drift while simultaneously translating and rotating by discretizing.
      Parameters:
      speeds - Desired chassis speeds.
      Returns:
      Adjusted chassis speeds.

    • getModulePositions

      public edu.wpi.first.math.kinematics.SwerveModulePosition[] getModulePositions()
      Returns the measured swerve module positions for odometry.
      Returns:
      The measured swerve module positions.

    • getModuleStates

      public edu.wpi.first.math.kinematics.SwerveModuleState[] getModuleStates()
      Returns the measured swerve module states for telemetry.
      Returns:
      The measured swerve module states.

    • getGyroAngle

      public abstract edu.wpi.first.math.geometry.Rotation2d getGyroAngle()
      Gets either the measured yaw from the AHRS or the calculated angle from the simulation. Forward is 0, CCW is positive.
      Returns:
      The robot yaw.

    • periodic

      public void periodic()

    • simulationPeriodic

      public void simulationPeriodic()