SwerveDrive

abstract class SwerveDrive : Drive

This class provides the basic functionality of a swerve drive using SwerveKinematics.

trackWidth - lateral distance between pairs of wheels on different sides of the robot

wheelBase - distance between pairs of wheels on the same side of the robot

class SwerveLocalizer : Localizer

Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor.

SwerveDrive(trackWidth: Double, wheelBase: Double = trackWidth, clock: NanoClock = NanoClock.system())

This class provides the basic functionality of a swerve drive using SwerveKinematics.

localizer	`open var localizer: Localizer` Localizer used to determine the evolution of poseEstimate.
trackWidth	`val trackWidth: Double` lateral distance between pairs of wheels on different sides of the robot
wheelBase	`val wheelBase: Double` distance between pairs of wheels on the same side of the robot

var poseEstimate: Pose2d

The robot's current pose estimate.

getExternalHeading	`abstract fun getExternalHeading(): Double` Returns the robot's heading in radians as measured by an external sensor (e.g., IMU, gyroscope). Heading is measured counter-clockwise from the x-axis.
getModuleOrientations	`abstract fun getModuleOrientations(): List<Double>` Returns the current module orientations in radians. Orientations should exactly match the order in setModuleOrientations.
getWheelPositions	`abstract fun getWheelPositions(): List<Double>` Returns the positions of the wheels in linear distance units. Positions should exactly match the ordering in setMotorPowers.
setModuleOrientations	`abstract fun setModuleOrientations(frontLeft: Double, rearLeft: Double, rearRight: Double, frontRight: Double): Unit` Sets the module orientations. All values are in radians.
setMotorPowers	`abstract fun setMotorPowers(frontLeft: Double, rearLeft: Double, rearRight: Double, frontRight: Double): Unit` Sets the following motor powers (normalized voltages). All arguments are on the interval `[-1.0, 1.0]`.
setVelocity	`open fun setVelocity(poseVelocity: Pose2d): Unit` Sets the poseVelocity of the robot.

fun updatePoseEstimate(): Unit

Updates poseEstimate with the most recent positional change.