Package frc.team88.swerve.motion

Class SwerveChassis

java.lang.Object

frc.team88.swerve.motion.SwerveChassis

public class SwerveChassis
extends java.lang.Object

Represents a complete swerve chassis, with high level operations for controlling it.

Constructor Summary

Constructors

Constructor	Description
SwerveChassis(Configuration config)	Constructs the SwerveChassis from the config.

Method Summary

Modifier and Type	Method	Description
VelocityState	getConstrainedCommandState()	Gets the velocity state commanded after all constraints.
double	getMaxRotationSpeed()	Gets the maximum rotation speed if the drive is doing nothing else.
double	getMaxTranslationSpeed()	Gets the maximum translation speed if the drive is doing nothing else.
OdomState	getOdomState()	Gets the chassis odometry state.
VelocityState	getTargetState()	Gets the target velocity state.
void	holdAzimuths(boolean hold)	Sets a hold on the current module azimuth targets.
boolean	inHoldAzimuthMode()	Gets if the chassis is in hold azimuth mode.
void	setBrake()	Sets all motors to brake mode.
void	setCoast()	Sets all motors to coast mode.
void	setOdomState(double x, double y)	Sets the chassis odometry state.
void	setOdomState(double x, double y, double theta)	Sets the chassis odometry state.
void	setOdomState(OdomState state)	Sets the chassis odometry state.
void	setTargetState(VelocityState target)	Sets the target velocity state.
void	update()	Updates all periodic processes in the swerve chassis, such as setting module controls.

Methods inherited from class java.lang.Object

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

Constructor Detail

SwerveChassis

public SwerveChassis(Configuration config)

Constructs the SwerveChassis from the config.

Parameters:

config - The config info for this swerve.

Method Detail

setTargetState

public void setTargetState(VelocityState target)

Sets the target velocity state.

Parameters:

target - The velocity state to set.

getTargetState

public VelocityState getTargetState()

Gets the target velocity state.

Returns:

The target velocity state.

getConstrainedCommandState

public VelocityState getConstrainedCommandState()

Gets the velocity state commanded after all constraints.

Returns:

The constrained velocity state.

holdAzimuths

public void holdAzimuths(boolean hold)

Sets a hold on the current module azimuth targets.

Parameters:

hold - True if there should be a hold, false otherwise.

inHoldAzimuthMode

public boolean inHoldAzimuthMode()

Gets if the chassis is in hold azimuth mode.

Returns:

True if the chassis is in hold azimuth mode, false otherwise.

update

public void update()

Updates all periodic processes in the swerve chassis, such as setting module controls.

getOdomState

public OdomState getOdomState()

Gets the chassis odometry state.

Returns:

The odometry state

setOdomState

public void setOdomState(OdomState state)

Sets the chassis odometry state. (for setting chassis initial conditions)

Parameters:

state - state to set the chassis to

setOdomState

public void setOdomState(double x,
                         double y)

Sets the chassis odometry state. (for setting chassis initial conditions)

Parameters:

x - The x position of the chassis, in feet.

y - The y position of the chassis, in feet.

setOdomState

public void setOdomState(double x,
                         double y,
                         double theta)

Sets the chassis odometry state. (for setting chassis initial conditions)

Parameters:

x - The x position of the chassis, in feet.

y - The y position of the chassis, in feet.

theta - The heading of the chasis, in degrees.

setCoast

public void setCoast()

Sets all motors to coast mode.

setBrake

public void setBrake()

Sets all motors to brake mode.

getMaxTranslationSpeed

public double getMaxTranslationSpeed()

Gets the maximum translation speed if the drive is doing nothing else.

Returns:

The maximum translation speed, in feet per second.

getMaxRotationSpeed

public double getMaxRotationSpeed()

Gets the maximum rotation speed if the drive is doing nothing else.

Returns:

The maximum rotation speed, in feet per second.