Package frc.robot

Class CommandSwerveDrivetrain

java.lang.Object
com.ctre.phoenix6.swerve.SwerveDrivetrain<com.ctre.phoenix6.hardware.TalonFX,com.ctre.phoenix6.hardware.TalonFX,com.ctre.phoenix6.hardware.CANcoder>
frc.robot.CommandSwerveDrivetrain
All Implemented Interfaces:
edu.wpi.first.wpilibj2.command.Subsystem, AutoCloseable
public class CommandSwerveDrivetrain extends com.ctre.phoenix6.swerve.SwerveDrivetrain<com.ctre.phoenix6.hardware.TalonFX,com.ctre.phoenix6.hardware.TalonFX,com.ctre.phoenix6.hardware.CANcoder> implements edu.wpi.first.wpilibj2.command.Subsystem
Class that extends the Phoenix SwerveDrivetrain class and implements subsystem so it can be used in command-based projects easily.

  • Nested Class Summary

    Nested classes/interfaces inherited from class com.ctre.phoenix6.swerve.SwerveDrivetrain

    com.ctre.phoenix6.swerve.SwerveDrivetrain.DeviceConstructor<DeviceT extends Object>, com.ctre.phoenix6.swerve.SwerveDrivetrain.OdometryThread, com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveControlParameters, com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState

  • Field Summary

    Fields inherited from class com.ctre.phoenix6.swerve.SwerveDrivetrain

    kNumConfigAttempts, m_drivetrainId, m_jni, m_telemetryJNI

  • Constructor Summary

    Constructors
    Constructor
    Description
    CommandSwerveDrivetrain(com.ctre.phoenix6.swerve.SwerveDrivetrainConstants drivetrainConstants, com.ctre.phoenix6.swerve.SwerveModuleConstants<?,?,?>... modules)
    Constructs a CommandSwerveDrivetrain with the specified drivetrain constants and modules.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    applyOperatorPerspective()
    Applies the operator perspective based on the alliance color.
    void
    followTrajectory(choreo.trajectory.SwerveSample sample)
    Follows the given trajectory sample by adjusting the chassis speeds and heading.
    edu.wpi.first.math.kinematics.ChassisSpeeds
    getFieldRelativeChassisSpeeds()
    Get the chassis speeds of the drivetrain relative to the field.
    edu.wpi.first.math.kinematics.SwerveModulePosition[]
    getModulePositions()
    Get the SwerveModulePosition for localized odo.
    edu.wpi.first.math.geometry.Pose2d
    getPose()
    Return the pose of the drivetrain.
    edu.wpi.first.math.kinematics.ChassisSpeeds
    getRobotRelativeChassisSpeeds()
    Return the chassis speeds of the drivetrain relative to the robot.
    MapleSimSwerveDrivetrain
    getSimDrivetrain()
    Get the sim drive train as a MapleSimSwerveDrivetrain.

    Methods inherited from class com.ctre.phoenix6.swerve.SwerveDrivetrain

    addVisionMeasurement, addVisionMeasurement, close, configNeutralMode, getKinematics, getModule, getModuleLocations, getModules, getOdometryFrequency, getOdometryFrequencyMeasure, getOdometryThread, getOperatorForwardDirection, getPigeon2, getRotation3d, getState, getStateCopy, isOdometryValid, isOnCANFD, registerTelemetry, resetPose, resetRotation, resetTranslation, samplePoseAt, seedFieldCentric, setControl, setOperatorPerspectiveForward, setStateStdDevs, setVisionMeasurementStdDevs, tareEverything, updateSimState

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

    defer, getCurrentCommand, getDefaultCommand, getName, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

  • Constructor Details

    • CommandSwerveDrivetrain

      public CommandSwerveDrivetrain(com.ctre.phoenix6.swerve.SwerveDrivetrainConstants drivetrainConstants, com.ctre.phoenix6.swerve.SwerveModuleConstants<?,?,?>... modules)
      Constructs a CommandSwerveDrivetrain with the specified drivetrain constants and modules.
      Parameters:
      drivetrainConstants - the constants for the swerve drivetrain
      modules - the swerve modules

  • Method Details

    • applyOperatorPerspective

      public void applyOperatorPerspective()
      Applies the operator perspective based on the alliance color. Blue alliance sees forward as 0 degrees (toward red alliance wall). Red alliance sees forward as 180 degrees (toward blue alliance wall).

    • followTrajectory

      public void followTrajectory(choreo.trajectory.SwerveSample sample)
      Follows the given trajectory sample by adjusting the chassis speeds and heading.
      Parameters:
      sample - the swerve sample containing the desired trajectory information

    • getModulePositions

      public edu.wpi.first.math.kinematics.SwerveModulePosition[] getModulePositions()
      Get the SwerveModulePosition for localized odo.
      Returns:
      swerve module position

    • getSimDrivetrain

      public MapleSimSwerveDrivetrain getSimDrivetrain()
      Get the sim drive train as a MapleSimSwerveDrivetrain.
      Returns:
      the sim drivetrain of the current class, or null if not simulation

    • getPose

      public edu.wpi.first.math.geometry.Pose2d getPose()
      Return the pose of the drivetrain.
      Returns:
      pose

    • getRobotRelativeChassisSpeeds

      public edu.wpi.first.math.kinematics.ChassisSpeeds getRobotRelativeChassisSpeeds()
      Return the chassis speeds of the drivetrain relative to the robot.
      Returns:
      chassis speeds relative to robot

    • getFieldRelativeChassisSpeeds

      public edu.wpi.first.math.kinematics.ChassisSpeeds getFieldRelativeChassisSpeeds()
      Get the chassis speeds of the drivetrain relative to the field.
      Returns:
      chassis speeds relative to field