Package frc.robot.subsystems.DriveTrain

Class DriveTrainRealIO

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.DriveTrain.DriveTrain

frc.robot.subsystems.DriveTrain.DriveTrainRealIO

All Implemented Interfaces:

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

public class DriveTrainRealIO
extends DriveTrain

Field Summary

Fields inherited from class frc.robot.subsystems.DriveTrain.DriveTrain

adv_gyro_pub, adv_real_states_pub, adv_target_states_pub, m_module_states, m_modules

Constructor Summary

Constructors

Constructor	Description
DriveTrainRealIO()

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.geometry.Rotation2d	getGyroAngle()	Gets either the measured yaw from the AHRS or the calculated angle from the simulation.
SwerveModule	initializeModule(int drive_port, int steer_port, int sensor_port)	Creates either a SwerveModuleRealIO or SwerveModuleSimIO object.
void	periodic()
void	simulationPeriodic()

Methods inherited from class frc.robot.subsystems.DriveTrain.DriveTrain

discretize_chassis_speeds, getModulePositions, getModuleStates, setModules, setSwerveDrive, setSwerveDrive

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

Constructor Details

DriveTrainRealIO

public DriveTrainRealIO()

Method Details

initializeModule

public SwerveModule initializeModule(int drive_port,
 int steer_port,
 int sensor_port)

Description copied from class: DriveTrain

Creates either a SwerveModuleRealIO or SwerveModuleSimIO object.

Specified by:

initializeModule in class DriveTrain

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

getGyroAngle

public edu.wpi.first.math.geometry.Rotation2d getGyroAngle()

Description copied from class: DriveTrain

Gets either the measured yaw from the AHRS or the calculated angle from the simulation. Forward is 0, CCW is positive.

Specified by:

getGyroAngle in class DriveTrain

Returns:

The robot yaw.

periodic

public void periodic()

Specified by:

periodic in interface edu.wpi.first.wpilibj2.command.Subsystem

Overrides:

periodic in class DriveTrain

simulationPeriodic

public void simulationPeriodic()

Specified by:

simulationPeriodic in interface edu.wpi.first.wpilibj2.command.Subsystem

Overrides:

simulationPeriodic in class DriveTrain