#include <rmb/drive/SwerveDrive.h>

Inheritance diagram for rmb::SwerveDrive< NumModules >:

Public Member Functions
	SwerveDrive (const SwerveDrive &)=delete

	SwerveDrive (SwerveDrive &&)=delete

	SwerveDrive (std::array< SwerveModule, NumModules > modules, std::shared_ptr< const rmb::Gyro > gyro, frc::HolonomicDriveController holonomicController, std::string visionTable, units::meters_per_second_t maxModuleSpeed, const frc::Pose2d &initialPose=frc::Pose2d())

	SwerveDrive (std::array< SwerveModule, NumModules > modules, std::shared_ptr< const rmb::Gyro > gyro, frc::HolonomicDriveController holonomicController, units::meters_per_second_t maxModuleSpeed, const frc::Pose2d &initialPose=frc::Pose2d())

void	driveCartesian (double xSpeed, double ySpeed, double zRotation, bool fieldOriented)

void	drivePolar (double speed, const frc::Rotation2d &angle, double zRotation, bool fieldOriented)

void	driveModulePowers (std::array< SwerveModulePower, NumModules > powers)

void	driveModuleStates (std::array< frc::SwerveModuleState, NumModules > states)

std::array< frc::SwerveModuleState, NumModules >	getModuleStates () const

std::array< frc::SwerveModulePosition, NumModules >	getModulePositions () const

const std::array< rmb::SwerveModule, NumModules > &	getModules () const

void	driveChassisSpeeds (frc::ChassisSpeeds chassisSpeeds) override

frc::ChassisSpeeds	getChassisSpeeds () const override

frc::Pose2d	getPose () const override

std::array< frc::SwerveModuleState, NumModules >	getTargetModuleStates () const

frc::Pose2d	updatePose () override

void	resetPose (const frc::Pose2d &pose=frc::Pose2d()) override

void	addVisionMeasurments (const frc::Pose2d &poseEstimate, units::second_t time) override

void	setVisionSTDevs (wpi::array< double, 3 > standardDevs) override

bool	isHolonomic () const override

frc2::CommandPtr	followWPILibTrajectory (frc::Trajectory trajectory, std::initializer_list< frc2::Subsystem * > driveRequirements) override

frc2::CommandPtr	followPPPath (std::shared_ptr< pathplanner::PathPlannerPath > path, std::initializer_list< frc2::Subsystem * > driveRequirements) override

frc2::CommandPtr	FollowGeneratedPPPath (frc::Pose2d targetPose, pathplanner::PathConstraints constraints, std::initializer_list< frc2::Subsystem * > driveRequirements)

void	updateNTDebugInfo (bool openLoopVelocity=false)

void	stop ()

Public Member Functions inherited from rmb::BaseDrive
virtual frc2::CommandPtr	followWPILibTrajectoryGroup (std::vector< frc::Trajectory > trajectoryGroup, std::initializer_list< frc2::Subsystem * > driveRequirements)

virtual frc2::CommandPtr	followPPPathWithEvents (pathplanner::PathPlannerPath path, std::unordered_map< std::string, std::shared_ptr< frc2::Command > > eventMap, std::initializer_list< frc2::Subsystem * > driveRequirements)

virtual frc2::CommandPtr	fullPPAuto (pathplanner::PathPlannerPath path, std::unordered_map< std::string, std::shared_ptr< frc2::Command > > eventMap, std::initializer_list< frc2::Subsystem * > driveRequirements)

virtual frc2::CommandPtr	fullPPAuto (std::vector< pathplanner::PathPlannerTrajectory > trajectoryGroup, std::unordered_map< std::string, std::shared_ptr< frc2::Command > > eventMap, std::initializer_list< frc2::Subsystem * > driveRequirements)

Additional Inherited Members
Protected Member Functions inherited from rmb::BaseDrive
	BaseDrive (std::string visionTable)

Protected Attributes inherited from rmb::BaseDrive
nt::DoubleArraySubscriber	poseSubscriber

nt::DoubleArraySubscriber	stdDevSubscriber

NT_Listener	poseListener

NT_Listener	stdDevListener

Detailed Description

template<size_t NumModules>
class rmb::SwerveDrive< NumModules >

Class to manage most aspects of a swerve drivetrain from basic teleop drive funtions to odometry and full path following for both WPIL ib and PathPlanner trajectories.

Template Parameters

NumModules Number fo swerve modules on the drivetrain.

Constructor & Destructor Documentation

◆ SwerveDrive() [1/2]

template<size_t NumModules>

rmb::SwerveDrive< NumModules >::SwerveDrive	(	std::array< SwerveModule, NumModules >	modules,
		std::shared_ptr< const rmb::Gyro >	gyro,
		frc::HolonomicDriveController	holonomicController,
		std::string	visionTable,
		units::meters_per_second_t	maxModuleSpeed,
		const frc::Pose2d &	initialPose = frc::Pose2d() )

Constructs a SwerveDrive object that automatically incorrperates vision measurments over the network for odometry.

Parameters

modules	Array of swerve modules aprt of the drivetrain.
gyro	Monitors the robots heading for odometry.
holonomicController	Feedbakc controller for keeping the robot on path.
visionTable	Path to the NetworkTables table for listening for vision updates.
maxModuleSpeed	Maximum speed any module can turn
initialPose	Starting position of the robot for odometry.

◆ SwerveDrive() [2/2]

template<size_t NumModules>

rmb::SwerveDrive< NumModules >::SwerveDrive	(	std::array< SwerveModule, NumModules >	modules,
		std::shared_ptr< const rmb::Gyro >	gyro,
		frc::HolonomicDriveController	holonomicController,
		units::meters_per_second_t	maxModuleSpeed,
		const frc::Pose2d &	initialPose = frc::Pose2d() )

Constructs a SwerveDrive object that does not automatically incorrperates vision measurments over the network for odometry.

Parameters

modules	Array of swerve modules aprt of the drivetrain.
gyro	Monitors the robots heading for odometry.
holonomicController	Feedback controller for keeping the robot on path.
maxModuleSpeed	Maximum speed any module can turn
initialPose	Starting position of the robot for odometry.

Member Function Documentation

◆ addVisionMeasurments()

template<size_t NumModules>

void rmb::SwerveDrive< NumModules >::addVisionMeasurments	(	const frc::Pose2d &	poseEstimate,
		units::second_t	time )

overridevirtual

Updates the current position of the robot using latency compensated vision data.

Parameters

poseEstimate	The estimated position of the robot from vision.
time	The time at which the data that produces this estimate was captures. This is an absolute time with with the zero eposh being the same as wpi::Now() and o

  nt::Now(). This is usually extracted from network
                tables.

Implements rmb::BaseDrive.

◆ driveCartesian()

template<size_t NumModules>

void rmb::SwerveDrive< NumModules >::driveCartesian	(	double	xSpeed,
		double	ySpeed,
		double	zRotation,
		bool	fieldOriented )

https://dominik.win/blog/programming-swerve-drive/

output = \vec{v} + w * perpendicular{m} where v is the net translational velocity and m is the module's translation from the center

And we define our perpendicular functions as perpendicular(x, y) => (y, -x)

so, output_x = vx * 1 + vy * 0 + w * y output_y = vx * 0 + vy * 1 + w * -x

◆ driveChassisSpeeds()

template<size_t NumModules>

void rmb::SwerveDrive< NumModules >::driveChassisSpeeds ( frc::ChassisSpeeds chassisSpeeds )

overridevirtual

Drives the robot via the speeds of the Chassis.

Parameters

chassisSpeeds Desired speeds of the robot Chassis.

Implements rmb::BaseDrive.

◆ followPPPath()

template<size_t NumModules>

frc2::CommandPtr rmb::SwerveDrive< NumModules >::followPPPath	(	std::shared_ptr< pathplanner::PathPlannerPath >	path,
		std::initializer_list< frc2::Subsystem * >	driveRequirements )

overridevirtual

Generates a command to follow PathPlanner Trajectory.

Parameters

trajectory	The trajectory to follow.
driveRequirements	The subsystems required for driving the robot (ie. the one that contains this class)

Returns: The command to follow a trajectory.

Implements rmb::BaseDrive.

◆ followWPILibTrajectory()

template<size_t NumModules>

frc2::CommandPtr rmb::SwerveDrive< NumModules >::followWPILibTrajectory	(	frc::Trajectory	trajectory,
		std::initializer_list< frc2::Subsystem * >	driveRequirements )

overridevirtual

Generates a command to follow WPILib Trajectory.

Parameters

trajectory	The trajectory to follow.
driveRequirements	The subsystems required for driving the robot (ie. the one that contains this class)

Returns: The command to follow a trajectory.

Implements rmb::BaseDrive.

◆ getChassisSpeeds()

template<size_t NumModules>

frc::ChassisSpeeds rmb::SwerveDrive< NumModules >::getChassisSpeeds ( ) const

overridevirtual

Returns the speeds of the robot chassis.

Implements rmb::BaseDrive.

◆ getPose()

template<size_t NumModules>

frc::Pose2d rmb::SwerveDrive< NumModules >::getPose ( ) const

overridevirtual

Returns the current poition without modifying it.

Implements rmb::BaseDrive.

◆ isHolonomic()

template<size_t NumModules>

bool rmb::SwerveDrive< NumModules >::isHolonomic ( ) const

inlineoverridevirtual

Returns wherther the drive train is holonomic, meanign can move in all directions. This is nessesry for determining how to rezero a robot at the beginning of a path.

Implements rmb::BaseDrive.

◆ resetPose()

template<size_t NumModules>

void rmb::SwerveDrive< NumModules >::resetPose ( const frc::Pose2d & pose = frc::Pose2d() )

overridevirtual

Resets the estimated robot poition.

Returns: The position to reset the robots estimated position to.

Implements rmb::BaseDrive.

◆ setVisionSTDevs()

template<size_t NumModules>

void rmb::SwerveDrive< NumModules >::setVisionSTDevs ( wpi::array< double, 3 > standardDevs )

overridevirtual

Change accuratly vision data is expected to be.

Parameters

standardDevs The standar deviation of vision measurments. This is by how much teh actual robot positioon varies from the actual posiotion of the robot. A larger value means less acurate data. These are in units of meters and radians ordered X, Y, Theta.

Implements rmb::BaseDrive.

◆ updatePose()

template<size_t NumModules>

frc::Pose2d rmb::SwerveDrive< NumModules >::updatePose ( )

overridevirtual

Updates the current position of the robot using encoder and gyroscope data.

Note: Vision estimations are updated on a separate thread generated at object construction.

Returns: The updated position.

Implements rmb::BaseDrive.

The documentation for this class was generated from the following files:

src/rmb/drive/SwerveDrive.h
src/rmb/drive/SwerveDrive.inl

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SwerveDrive() [1/2]

◆ SwerveDrive() [2/2]

Member Function Documentation

◆ addVisionMeasurments()

◆ driveCartesian()

◆ driveChassisSpeeds()

◆ followPPPath()

◆ followWPILibTrajectory()

◆ getChassisSpeeds()

◆ getPose()

◆ isHolonomic()

◆ resetPose()

◆ setVisionSTDevs()

◆ updatePose()