Package frc.robot.swerve

Class Swerve

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

  • Constructor Details

    • Swerve

      public Swerve(SwerveConfig config)
      Constructs a new Swerve drive subsystem.
      Parameters:
      config - The configuration object containing drivetrain constants and module configurations.

  • Method Details

    • log

      protected void log(SwerveDrivetrain.SwerveDriveState state)

    • logBatteryUsage

      protected void logBatteryUsage()

    • getDriveMotorStatorCurrents

      protected double getDriveMotorStatorCurrents()

    • getSteerMotorStatorCurrents

      protected double getSteerMotorStatorCurrents()

    • getDriveMotorSupplyCurrents

      protected double getDriveMotorSupplyCurrents()

    • getSteerMotorSupplyCurrents

      protected double getSteerMotorSupplyCurrents()

    • periodic

      public void periodic()
      This method is called periodically and is used to update the pilot's perspective. It ensures that the swerve drive system is aligned correctly based on the pilot's view.
      Specified by:
      periodic in interface Subsystem

    • setupStates

      public void setupStates()
      Description copied from interface: SpectrumSubsystem
      Set up the states and triggers for this subsystem. This is typically used to bind commands to SpectrumState triggers.
      Specified by:
      setupStates in interface SpectrumSubsystem

    • setupDefaultCommand

      public void setupDefaultCommand()
      Description copied from interface: SpectrumSubsystem
      Set up the default command for this subsystem. This command will run when no other command is using this subsystem.
      Specified by:
      setupDefaultCommand in interface SpectrumSubsystem

    • getCurrentCommandName

      protected String getCurrentCommandName()

    • getRobotPose

      public Pose2d getRobotPose()
      The function `getRobotPose` returns the robot's pose after checking and updating it.
      Returns:
      The `getRobotPose` method is returning the robot's current pose after calling the `seedCheckedPose` method with the current pose as an argument.

    • getPoseAtTimestamp

      public Pose2d getPoseAtTimestamp(double timestampSeconds)
      Get the robot's pose at a specific timestamp using interpolation
      Parameters:
      timestampSeconds - The timestamp to sample at
      Returns:
      The interpolated pose, or current pose if timestamp not in buffer

    • resetPose

      public void resetPose(Pose2d pose)
      Overrides:
      resetPose in class SwerveDrivetrain<TalonFX,TalonFX,CANcoder>

    • inXzone

      public Trigger inXzone(double minXmeter, double maxXmeter)

    • inYzone

      public Trigger inYzone(double minYmeter, double maxYmeter)

    • inXzoneAlliance

      public Trigger inXzoneAlliance(double minXmeter, double maxXmeter)
      This method is used to check if the robot is in the X zone of the field flips the values if Red Alliance
      Parameters:
      minXmeter - the minimum X coordinate in meters
      maxXmeter - the maximum X coordinate in meters
      Returns:
      the Trigger

    • inYzoneAlliance

      public Trigger inYzoneAlliance(double minYmeter, double maxYmeter)
      This method is used to check if the robot is in the Y zone of the field flips the values if Red Alliance
      Parameters:
      minYmeter - the minimum Y coordinate in meters
      maxYmeter - the maximum Y coordinate in meters
      Returns:
      the Trigger

    • inNeutralZone

      public Trigger inNeutralZone()

    • inEnemyAllianceZone

      public Trigger inEnemyAllianceZone()

    • inFieldRight

      public Trigger inFieldRight()

    • inFieldLeft

      public Trigger inFieldLeft()

    • isGoingTooFast

      public boolean isGoingTooFast(double thresholdSpeed)

    • overSpeedTrigger

      public Trigger overSpeedTrigger(double thresholdSpeed)

    • getCurrentRobotChassisSpeeds

      public ChassisSpeeds getCurrentRobotChassisSpeeds()

    • reorient

      protected void reorient(double angleDegrees)

    • reorientPilotAngle

      protected Command reorientPilotAngle(double angleDegrees)

    • getClosestCardinal

      protected double getClosestCardinal()

    • getClosest45

      protected double getClosest45()

    • getClosestFieldAngle

      protected double getClosestFieldAngle()

    • cardinalReorient

      protected Command cardinalReorient()

    • frontClosestToAngle

      public boolean frontClosestToAngle(double angleDegrees)

    • getRotationDifference

      public double getRotationDifference(double angle1, double angle2)

    • getConfig

      public SwerveConfig getConfig()

    • getMapleSimSwerveDrivetrain

      public MapleSimSwerveDrivetrain getMapleSimSwerveDrivetrain()