Package frc.robot.subsystems.swerve

package frc.robot.subsystems.swerve
  • Class
    Description
    AimFeedforward
    The heading-rate feedforward Swerve hands its aim request ( FieldCentricFacingAngle.withTargetRateFeedforward) while aiming at the hub.
    Swerve
    FM's swerve drivetrain: Phoenix 6's SwerveDrivetrain for control and 250 Hz odometry, with the robot pose owned by PoseFusion on the main loop so it can be replayed.
    Swerve.SimErrors
    Deliberate odometry error in simulation, so the comparison between vision sources has something to correct.
    Swerve.SystemState
     
    Swerve.WantedState
     
    SwerveAlignment
    Publishes the raw per-module CANcoder data that swerve alignment needs.
    SwerveConfig
     
    SwerveInputs
    Everything the drivetrain reads from CTRE in one loop, as an AdvantageKit input.
    SwerveOffsetParams
    The swerve CANcoder magnet offsets as params, group swerve, so a module re-zeroed in the pit (SwerveAlignment) can be saved without a code change.
    TiltState
    What the Pigeon says about the robot's attitude and knocks, derived from logged inputs so it replays.