Package frc.robot

Class SwervePIDController

java.lang.Object

frc.robot.SwervePIDController

public class SwervePIDController
extends Object

Controls automatic alignment for driver assistance.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SwervePIDController.FieldPositions	Stores the poses of alignment targets on the field.

Field Summary

Fields

Modifier and Type	Field	Description
boolean	align_right
boolean	done
static SwervePIDController	instance
boolean	reset_speeds
edu.wpi.first.math.geometry.Rotation2d	rotation_offset
double	target_distance
edu.wpi.first.math.geometry.Pose2d	target_pose

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.kinematics.ChassisSpeeds	applyMovementConstraints(edu.wpi.first.math.kinematics.ChassisSpeeds target_speeds)	Applies velocity and acceleration constraints to desired speeds.
edu.wpi.first.math.kinematics.ChassisSpeeds	calculate()	Calculate the chassis speeds to position PID to the target pose.
edu.wpi.first.math.kinematics.ChassisSpeeds	calculate(boolean useTargetAngle)	Calculate the chassis speeds to position PID to the target pose.
void	configure(edu.wpi.first.math.geometry.Pose2d target_pose, Double target_distance, edu.wpi.first.math.geometry.Rotation2d rotation_offset)
int	getNearestReefFace()	Returns the closest reef face to the robot.
edu.wpi.first.math.geometry.Pose2d	getNearestReefPose()
edu.wpi.first.math.geometry.Pose2d	getNearestReefPose(int offset)
edu.wpi.first.math.geometry.Pose2d	getNearestSourcePose()
edu.wpi.first.math.geometry.Pose2d	getProcessorPose()
edu.wpi.first.math.geometry.Pose2d	getReefPose(int index)

Methods inherited from class java.lang.Object

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

Field Details

instance

public static SwervePIDController instance

target_pose

public edu.wpi.first.math.geometry.Pose2d target_pose

target_distance

public double target_distance

rotation_offset

public edu.wpi.first.math.geometry.Rotation2d rotation_offset

reset_speeds

public boolean reset_speeds

done

public boolean done

align_right

public boolean align_right

Method Details

getNearestReefFace

public int getNearestReefFace()

Returns the closest reef face to the robot. The driverstation-oriented face is 0, and the rest are numbered CCW increasing.

Returns:

The number corresponding the closest reef face.

getReefPose

public edu.wpi.first.math.geometry.Pose2d getReefPose(int index)

getNearestReefPose

public edu.wpi.first.math.geometry.Pose2d getNearestReefPose(int offset)

getNearestReefPose

public edu.wpi.first.math.geometry.Pose2d getNearestReefPose()

getProcessorPose

public edu.wpi.first.math.geometry.Pose2d getProcessorPose()

getNearestSourcePose

public edu.wpi.first.math.geometry.Pose2d getNearestSourcePose()

configure

public void configure(edu.wpi.first.math.geometry.Pose2d target_pose,
 Double target_distance,
 edu.wpi.first.math.geometry.Rotation2d rotation_offset)

applyMovementConstraints

public edu.wpi.first.math.kinematics.ChassisSpeeds applyMovementConstraints(edu.wpi.first.math.kinematics.ChassisSpeeds target_speeds)

Applies velocity and acceleration constraints to desired speeds.

Parameters:

target_speeds - The desired robot-relative chassis speeds.

Returns:

The constrained robot-relative chassis speeds.

calculate

public edu.wpi.first.math.kinematics.ChassisSpeeds calculate()

Calculate the chassis speeds to position PID to the target pose. Points towards the target.

Returns:

The calculated chassis speeds.

calculate

public edu.wpi.first.math.kinematics.ChassisSpeeds calculate(boolean useTargetAngle)

Calculate the chassis speeds to position PID to the target pose.

Parameters:

useTargetAngle - Whether or not to use the rotation value from the stored target pose.

Returns:

The calculated chassis speeds.