SwerveDrive

abstract class SwerveDrive : Drive (source)

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

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

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

class SwerveLocalizer : Localizer

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

SwerveDrive(kV: Double, kA: Double, kStatic: Double, trackWidth: Double, wheelBase: Double = trackWidth)

Localizer used to determine the evolution of poseEstimate.

open var localizer: Localizer

getModuleOrientations	Returns the current module orientations in radians. Orientations should exactly match the order in setModuleOrientations. `abstract fun getModuleOrientations(): List<Double>`
getWheelPositions	Returns the positions of the wheels in linear distance units. Positions should exactly match the ordering in setMotorPowers. `abstract fun getWheelPositions(): List<Double>`
getWheelVelocities	Returns the velocities of the wheels in linear distance units. Positions should exactly match the ordering in setMotorPowers. `open fun getWheelVelocities(): List<Double>?`
setDrivePower	Sets the current commanded drive state of the robot. Feedforward is not applied to drivePower. `open fun setDrivePower(drivePower: Pose2d): Unit`
setDriveSignal	Sets the current commanded drive state of the robot. Feedforward is applied to driveSignal before it reaches the motors. `open fun setDriveSignal(driveSignal: DriveSignal): Unit`
setModuleOrientations	Sets the module orientations. All values are in radians. `abstract fun setModuleOrientations(frontLeft: Double, rearLeft: Double, rearRight: Double, frontRight: Double): Unit`
setMotorPowers	Sets the following motor powers (normalized voltages). All arguments are on the interval `[-1.0, 1.0]`. `abstract fun setMotorPowers(frontLeft: Double, rearLeft: Double, rearRight: Double, frontRight: Double): Unit`