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 kV, double kA, double kStatic, double trackWidth, double wheelBase) This class provides the basic functionality of a swerve drive using class SwerveKinematics.
SwerveDrive(double kV, double kA, double kStatic, double trackWidth) This class provides the basic functionality of a swerve drive using class SwerveKinematics.

Method Summary

Modifier and Type	Method and Description
Localizer	getLocalizer() Localizer used to determine the evolution of poseEstimate.
java.util.List<java.lang.Double>	getModuleOrientations() Returns the current module orientations in radians. Orientations should exactly match the order in setModuleOrientations.
java.util.List<java.lang.Double>	getWheelPositions() Returns the positions of the wheels in linear distance units. Positions should exactly match the ordering in setMotorPowers.
void	setDrivePower(Pose2d drivePower) Sets the current commanded drive state of the robot. Feedforward is not applied to drivePower.
void	setDriveSignal(DriveSignal driveSignal) Sets the current commanded drive state of the robot. Feedforward is applied to driveSignal before it reaches the motors.
void	setLocalizer(Localizer p) Localizer used to determine the evolution of poseEstimate.
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].

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

getExternalHeading, getLocalizer, getPoseEstimate, getRawExternalHeading, setDrivePower, setDriveSignal, setExternalHeading, setLocalizer, setPoseEstimate, updatePoseEstimate

Constructor Detail

SwerveDrive

@JvmOverloads
public SwerveDrive(double kV,
                                 double kA,
                                 double kStatic,
                                 double trackWidth,
                                 double wheelBase)

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

Parameters:

kV - velocity feedforward

kA - acceleration feedforward

kStatic - additive constant feedforward

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

@JvmOverloads
public SwerveDrive(double kV,
                                 double kA,
                                 double kStatic,
                                 double trackWidth)

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

Parameters:

kV - velocity feedforward

kA - acceleration feedforward

kStatic - additive constant feedforward

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

See Also:

class SwerveKinematics

Method Detail

getLocalizer

@NotNull
public Localizer getLocalizer()

Localizer used to determine the evolution of poseEstimate.

See Also:

poseEstimate

setLocalizer

public void setLocalizer(@NotNull
                         Localizer p)

Localizer used to determine the evolution of poseEstimate.

See Also:

poseEstimate

setDriveSignal

public void setDriveSignal(@NotNull
                           DriveSignal driveSignal)

Sets the current commanded drive state of the robot. Feedforward is applied to driveSignal before it reaches the motors.

See Also:

driveSignal

setDrivePower

public void setDrivePower(@NotNull
                          Pose2d drivePower)

Sets the current commanded drive state of the robot. Feedforward is not applied to drivePower.

See Also:

drivePower

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

@NotNull
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 setMotorPowers.

See Also:

setMotorPowers

getModuleOrientations

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

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

See Also:

setModuleOrientations