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

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

getWheelVelocities

@Nullable
public java.util.List<java.lang.Double> getWheelVelocities()

Returns the velocities 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