Malefix/xyz.malefic.frc.swerve/SwerveDrive

SwerveDrive

class SwerveDrive(gyroId: Int, frontLeftModule: SwerveModule, frontRightModule: SwerveModule, backLeftModule: SwerveModule, backRightModule: SwerveModule, canBus: CANBus = CANBus.roboRIO()) : SubsystemBase

Swerve drive subsystem managing four swerve modules and odometry.

This subsystem handles:

Swerve drive kinematics and control
Pose estimation with vision integration
Field-oriented and robot-oriented driving
Gyroscope integration

Usage Example:

val drive = SwerveDrive(
    gyroId = 0,
    frontLeftModule = SwerveModule(1, 2, 3, Rotation2d.fromDegrees(0.0)),
    frontRightModule = SwerveModule(4, 5, 6, Rotation2d.fromDegrees(90.0)),
    backLeftModule = SwerveModule(7, 8, 9, Rotation2d.fromDegrees(180.0)),
    backRightModule = SwerveModule(10, 11, 12, Rotation2d.fromDegrees(270.0))
)

drive.configure {
    trackWidthMeters = 0.6
    wheelBaseMeters = 0.6
    maxLinearVelocityMPS = 4.5
    maxAngularVelocityRadPS = 2.0 * PI
}

// Drive field-oriented
drive.drive(
    xSpeed = 1.0,
    ySpeed = 0.5,
    rotSpeed = 0.2,
    fieldOriented = true
)

Constructors

SwerveDrive

constructor(gyroId: Int, frontLeftModule: SwerveModule, frontRightModule: SwerveModule, backLeftModule: SwerveModule, backRightModule: SwerveModule, canBus: CANBus = CANBus.roboRIO())

Types

Config

data class Config(var trackWidth: Distance = Units.Meters.of(0.6), var wheelBase: Distance = Units.Meters.of(0.6), var maxLinearVelocity: LinearVelocity = Units.MetersPerSecond.of(4.5), var maxAngularVelocity: AngularVelocity = Units.RadiansPerSecond.of(2.0 * PI), var driveDeadband: Double = 0.02, var rotationDeadband: Double = 0.02)

Configuration for the swerve drive.

Properties

currentCommand

open val currentCommand: Command?

defaultCommand

open var defaultCommand: Command?

name

open var name: String?

subsystem

open var subsystem: String?

Functions

addChild

open fun addChild(name: String?, child: Sendable?)

addVisionMeasurement

fun addVisionMeasurement(visionPose: Pose2d, timestamp: Time)

Adds a vision measurement to the pose estimator.

alignToTarget

fun SwerveDrive.alignToTarget(camera: Camera, translationSpeed: () -> Double = { 0.0 }, strafeSpeed: () -> Double = { 0.0 }): AlignToTarget

Creates an AlignToTarget command for this swerve drive.

configure

fun configure(block: SwerveDrive.Config.() -> Unit)

Configures the swerve drive using a DSL-style configuration block.

defer

open fun defer(supplier: Supplier<Command?>?): Command?

drive

fun drive(chassisSpeeds: ChassisSpeeds, isOpenLoop: Boolean = false)

Drives the robot with chassis speeds.

fun drive(xSpeed: Double, ySpeed: Double, rotSpeed: Double, fieldOriented: Boolean = true, isOpenLoop: Boolean = false)

Drives the robot with specified velocities.

driveCommand

fun driveCommand(xSupplier: () -> Double, ySupplier: () -> Double, rotSupplier: () -> Double, fieldOriented: Boolean = true): Command

Creates a command to drive with joystick inputs.

driveToAngleCommand

fun SwerveDrive.driveToAngleCommand(xSupplier: () -> Double, ySupplier: () -> Double, targetAngle: Rotation2d, block: DriveToAngle.Config.() -> Unit = {}): Command

Creates a drive to angle command with DSL configuration.

driveToPoseCommand

fun driveToPoseCommand(targetPose: Pose2d): Command

Creates a command to drive to a specific pose using PathPlanner.

getChassisSpeeds

fun getChassisSpeeds(): ChassisSpeeds

Gets the current chassis speeds.

getGyroRotation

fun getGyroRotation(): Rotation2d

Gets the current rotation from the gyroscope.

getMaxAngularVelocity

fun getMaxAngularVelocity(): AngularVelocity

Gets the maximum angular velocity.

getMaxAngularVelocityRadPS

fun getMaxAngularVelocityRadPS(): Double

Gets the maximum angular velocity in radians per second.

getMaxLinearVelocity

fun getMaxLinearVelocity(): LinearVelocity

Gets the maximum linear velocity.

getMaxLinearVelocityMPS

fun getMaxLinearVelocityMPS(): Double

Gets the maximum linear velocity in meters per second.

getModulePositions

fun getModulePositions(): Array<SwerveModulePosition>

Gets the current positions of all modules.

getModuleStates

fun getModuleStates(): Array<SwerveModuleState>

Gets the current states of all modules.

getPose

fun getPose(): Pose2d

Gets the current estimated pose of the robot.

idle

open fun idle(): Command?

initSendable

open fun initSendable(builder: SendableBuilder?)

integrateVision

fun SwerveDrive.integrateVision(visionSystem: VisionSystem)

Extension to easily integrate a vision system with a swerve drive.

lockCommand

fun SwerveDrive.lockCommand(): Command

Creates a lock swerve command.

periodic

open override fun periodic()

open fun register()

removeDefaultCommand

open fun removeDefaultCommand()

resetGyro

fun resetGyro()

Resets the gyro heading to zero.

resetGyroCommand

fun SwerveDrive.resetGyroCommand(angle: Rotation2d = Rotation2d()): Command

Creates a reset gyro command.

resetPose

fun resetPose(pose: Pose2d)

Resets the pose to a specific position and rotation.

resetPoseFromVision

fun SwerveDrive.resetPoseFromVision(visionSystem: VisionSystem): ResetPoseFromVision

Creates a ResetPoseFromVision command for this swerve drive.

run

open fun run(action: Runnable?): Command?

runEnd

open fun runEnd(run: Runnable?, end: Runnable?): Command?

runOnce

open fun runOnce(action: Runnable?): Command?

setGyro

fun setGyro(angle: Rotation2d)

Sets the gyro heading to a specific angle.

setModuleStates

fun setModuleStates(desiredStates: Array<SwerveModuleState>, isOpenLoop: Boolean = false)

Sets the desired states for all modules.

simulationPeriodic

open fun simulationPeriodic()

startEnd

open fun startEnd(start: Runnable?, end: Runnable?): Command?

startRun

open fun startRun(start: Runnable?, run: Runnable?): Command?

stop

fun stop()

Stops all modules.

teleopCommand

fun SwerveDrive.teleopCommand(xSupplier: () -> Double, ySupplier: () -> Double, rotSupplier: () -> Double, fieldOriented: Boolean = true, block: TeleopSwerve.Config.() -> Unit = {}): Command

Creates a teleop swerve command with DSL configuration.

trackTarget

fun SwerveDrive.trackTarget(camera: Camera, translationSpeed: () -> Double, strafeSpeed: () -> Double): TrackTarget

Creates a TrackTarget command for this swerve drive.

turnToAngleCommand

fun SwerveDrive.turnToAngleCommand(targetAngle: Rotation2d, block: TurnToAngle.Config.() -> Unit = {}): Command

Creates a turn to angle command with DSL configuration.