Package frc.robot.Subsystems.DriveTrain

Class DriveTrainSimIO

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.Subsystems.DriveTrain.DriveTrain

frc.robot.Subsystems.DriveTrain.DriveTrainSimIO

All Implemented Interfaces:

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

public class DriveTrainSimIO
extends DriveTrain

Field Summary

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

instance, module_states, modules

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	DriveTrainSimIO()

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.
double	getGyroRate()	Returns the rate at which the gyro is spinning.
SwerveModule	initializeModule(int drive_port, int steer_port, int sensor_port)	Creates either a SwerveModuleRealIO or SwerveModuleSimIO object.
void	periodic()
void	resetGyroAngle()	Resets the gyroscope angle to 0.

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

discretize_chassis_speeds, getModulePositions, getModuleStates, getOdomSpeeds, getTargetOdomSpeeds, setAccelerationFeedforwards, setModules, setSwerveDrive, 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, simulationPeriodic, startEnd, startRun

Constructor Details

DriveTrainSimIO

protected DriveTrainSimIO()

Method Details

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.

getGyroRate

public double getGyroRate()

Description copied from class: DriveTrain

Returns the rate at which the gyro is spinning.

Specified by:

getGyroRate in class DriveTrain

Returns:

The gyro rate in degrees per second.

resetGyroAngle

public void resetGyroAngle()

Description copied from class: DriveTrain

Resets the gyroscope angle to 0.

Specified by:

resetGyroAngle in class DriveTrain

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 - The port number of the drive motor.

steer_port - The port number of the steer motor.

sensor_port - The port number of the module's CANcoder.

Returns:

The constructed SwerveModule object.

periodic

public void periodic()

Specified by:

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

Overrides:

periodic in class DriveTrain