com.acmerobotics.roadrunner.drive

Class SwerveDrive

Drive

com.acmerobotics.roadrunner.drive.SwerveDrive

public class SwerveDrive
extends Drive

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

See Also:

class SwerveKinematics

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	SwerveDrive.SwerveLocalizer Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor.

Constructor Summary

Constructors

Constructor and Description
SwerveDrive(double trackWidth, double wheelBase) This class provides the basic functionality of a swerve drive using class SwerveKinematics.
SwerveDrive(double trackWidth) This class provides the basic functionality of a swerve drive using class SwerveKinematics.

Method Summary

Modifier and Type	Method and Description
double	getExternalHeading() 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.
Localizer	getLocalizer() Localizer used to determine the evolution of Drive.getPoseEstimate.
java.util.List<java.lang.Double>	getModuleOrientations() Returns the current module orientations in radians. Orientations should exactly match the order in SwerveDrive.setModuleOrientations.
double	getTrackWidth() lateral distance between pairs of wheels on different sides of the robot
double	getWheelBase() distance between pairs of wheels on the same side of the robot
java.util.List<java.lang.Double>	getWheelPositions() Returns the positions of the wheels in linear distance units. Positions should exactly match the ordering in SwerveDrive.setMotorPowers.
void	setLocalizer(Localizer p) Localizer used to determine the evolution of Drive.getPoseEstimate.
void	setModuleOrientations(double frontLeft, double rearLeft, double rearRight, double frontRight) Sets the module orientations. All values are in radians.
void	setMotorPowers(double frontLeft, double rearLeft, double rearRight, double frontRight) Sets the following motor powers (normalized voltages). All arguments are on the interval [-1.0, 1.0].
void	setVelocity(Pose2d poseVelocity) Sets the poseVelocity of the robot.

Methods inherited from class com.acmerobotics.roadrunner.drive.Drive

getLocalizer, getPoseEstimate, setLocalizer, setPoseEstimate, setVelocity, updatePoseEstimate

Constructor Detail

SwerveDrive

public SwerveDrive(double trackWidth,
                   double wheelBase)

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

Parameters:

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

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

See Also:

class SwerveKinematics

SwerveDrive

public SwerveDrive(double trackWidth)

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

Parameters:

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

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

See Also:

class SwerveKinematics

Method Detail

getLocalizer

public Localizer getLocalizer()

Localizer used to determine the evolution of Drive.getPoseEstimate.

See Also:

Drive.getPoseEstimate

setLocalizer

public void setLocalizer(Localizer p)

Localizer used to determine the evolution of Drive.getPoseEstimate.

See Also:

Drive.getPoseEstimate

setVelocity

public void setVelocity(Pose2d poseVelocity)

Sets the poseVelocity of the robot.

setMotorPowers

public void setMotorPowers(double frontLeft,
                           double rearLeft,
                           double rearRight,
                           double frontRight)

Sets the following motor powers (normalized voltages). All arguments are on the interval [-1.0, 1.0].

setModuleOrientations

public void setModuleOrientations(double frontLeft,
                                  double rearLeft,
                                  double rearRight,
                                  double frontRight)

Sets the module orientations. All values are in radians.

getWheelPositions

public java.util.List<java.lang.Double> getWheelPositions()

Returns the positions of the wheels in linear distance units. Positions should exactly match the ordering in SwerveDrive.setMotorPowers.

See Also:

SwerveDrive.setMotorPowers

getModuleOrientations

public java.util.List<java.lang.Double> getModuleOrientations()

Returns the current module orientations in radians. Orientations should exactly match the order in SwerveDrive.setModuleOrientations.

See Also:

SwerveDrive.setModuleOrientations

getExternalHeading

public double getExternalHeading()

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.

getTrackWidth

public double getTrackWidth()

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

getWheelBase

public double getWheelBase()

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