Package frc.robot.swerve

Class Swerve

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.swerve.Swerve
All Implemented Interfaces:
edu.wpi.first.networktables.NTSendable, edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem, SpectrumSubsystem, AutoCloseable
public class Swerve extends com.ctre.phoenix6.swerve.SwerveDrivetrain<com.ctre.phoenix6.hardware.TalonFX,com.ctre.phoenix6.hardware.TalonFX,com.ctre.phoenix6.hardware.CANcoder> implements SpectrumSubsystem, edu.wpi.first.networktables.NTSendable
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
    Modifier and Type
    Field
    Description
    protected edu.wpi.first.math.kinematics.SwerveModuleState[]
    setpoints
     

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

    kNumConfigAttempts, m_drivetrainId, m_jni, m_telemetryJNI

  • Constructor Summary

    Constructors
    Constructor
    Description
    Swerve(SwerveConfig config)
    Constructs a new Swerve drive subsystem.

  • Method Summary

    Modifier and Type
    Method
    Description
    protected edu.wpi.first.wpilibj2.command.Command
    cardinalReorient()
     
    boolean
    frontClosestToAngle(double angleDegrees)
     
    protected double
    getClosest45()
     
    protected double
    getClosestCardinal()
     
    protected double
    getClosestFieldAngle()
     
    SwerveConfig
    getConfig()
     
    edu.wpi.first.math.kinematics.ChassisSpeeds
    getCurrentRobotChassisSpeeds()
     
    MapleSimSwerveDrivetrain
    getMapleSimSwerveDrivetrain()
     
    edu.wpi.first.math.geometry.Pose2d
    getPoseAtTimestamp(double timestampSeconds)
    Get the robot's pose at a specific timestamp using interpolation
    edu.wpi.first.math.geometry.Pose2d
    getRobotPose()
    The function `getRobotPose` returns the robot's pose after checking and updating it.
    double
    getRotationDifference(double angle1, double angle2)
     
    edu.wpi.first.math.kinematics.SwerveModuleState[]
    getSetpoints()
     
    Trigger
    inEnemyAllianceZone()
     
    Trigger
    inFieldLeft()
     
    Trigger
    inFieldRight()
     
    void
    initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)
    The `initSendable` function sets up properties for a SmartDashboard type "SwerveDrive" with position and velocity double values.
    Trigger
    inNeutralZone()
     
    Trigger
    inXzone(double minXmeter, double maxXmeter)
     
    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
    Trigger
    inYzone(double minYmeter, double maxYmeter)
     
    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
    boolean
    isGoingTooFast(double thresholdSpeed)
     
    protected void
    log(com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState state)
     
    Trigger
    overSpeedTrigger(double thresholdSpeed)
     
    void
    periodic()
    This method is called periodically and is used to update the pilot's perspective.
    protected void
    reorient(double angleDegrees)
     
    protected edu.wpi.first.wpilibj2.command.Command
    reorientPilotAngle(double angleDegrees)
     
    void
    resetPose(edu.wpi.first.math.geometry.Pose2d pose)
     
    void
    setupDefaultCommand()
    Set up the default command for this subsystem.
    void
    setupStates()
    Set up the states and triggers for this subsystem.

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

    addVisionMeasurement, addVisionMeasurement, close, configNeutralMode, configNeutralMode, getKinematics, getModule, getModuleLocations, getModules, getOdometryFrequency, getOdometryFrequencyMeasure, getOdometryThread, getOperatorForwardDirection, getPigeon2, getRotation3d, getState, getStateCopy, isOdometryValid, isOnCANFD, registerTelemetry, resetRotation, resetTranslation, samplePoseAt, seedFieldCentric, 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.networktables.NTSendable

    initSendable

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

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

  • Field Details

    • setpoints

      protected edu.wpi.first.math.kinematics.SwerveModuleState[] setpoints

  • 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(com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState state)

    • 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 edu.wpi.first.wpilibj2.command.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

    • initSendable

      public void initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)
      The `initSendable` function sets up properties for a SmartDashboard type "SwerveDrive" with position and velocity double values.
      Specified by:
      initSendable in interface edu.wpi.first.networktables.NTSendable
      Parameters:
      builder - The `builder` parameter is an instance of the `NTSendableBuilder` class

    • getRobotPose

      public edu.wpi.first.math.geometry.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 edu.wpi.first.math.geometry.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(edu.wpi.first.math.geometry.Pose2d pose)
      Overrides:
      resetPose in class com.ctre.phoenix6.swerve.SwerveDrivetrain<com.ctre.phoenix6.hardware.TalonFX,com.ctre.phoenix6.hardware.TalonFX,com.ctre.phoenix6.hardware.CANcoder>

    • inXzone

      public Trigger inXzone(double minXmeter, double maxXmeter)

    • inYzone

      public Trigger inYzone(double minYmeter, double maxYmeter)

    • 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)

    • 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

    • getCurrentRobotChassisSpeeds

      public edu.wpi.first.math.kinematics.ChassisSpeeds getCurrentRobotChassisSpeeds()

    • reorient

      protected void reorient(double angleDegrees)

    • reorientPilotAngle

      protected edu.wpi.first.wpilibj2.command.Command reorientPilotAngle(double angleDegrees)

    • getClosestCardinal

      protected double getClosestCardinal()

    • getClosest45

      protected double getClosest45()

    • getClosestFieldAngle

      protected double getClosestFieldAngle()

    • cardinalReorient

      protected edu.wpi.first.wpilibj2.command.Command cardinalReorient()

    • frontClosestToAngle

      public boolean frontClosestToAngle(double angleDegrees)

    • getRotationDifference

      public double getRotationDifference(double angle1, double angle2)

    • getConfig

      public SwerveConfig getConfig()

    • getSetpoints

      public edu.wpi.first.math.kinematics.SwerveModuleState[] getSetpoints()

    • getMapleSimSwerveDrivetrain

      public MapleSimSwerveDrivetrain getMapleSimSwerveDrivetrain()