Package frc.robot.swerve

Class SwerveStates

java.lang.Object
frc.robot.swerve.SwerveStates
public class SwerveStates extends Object

  • Constructor Details

    • SwerveStates

      public SwerveStates()

  • Method Details

    • robotInNeutralZone

      public static Trigger robotInNeutralZone()

    • robotInEnemyZone

      public static Trigger robotInEnemyZone()

    • setupDefaultCommand

      protected static void setupDefaultCommand()

    • setStates

      protected static void setStates()

    • pilotDrive

      protected static Command pilotDrive()
      Drive the robot using left stick and control orientation using the right stick.
      Returns:
      A command that drives the robot with translation control from the left stick and rotation control from the right stick

    • pilotAimAtTargetRed

      protected static Command pilotAimAtTargetRed()
      Drive the robot with the front bumper trying to match the angle to the target.
      Returns:
      A command that drives the robot to match the angle to the target while allowing translation control with the left stick

    • pilotAimAtTargetBlue

      protected static Command pilotAimAtTargetBlue()

    • autonAimAtTarget

      public static Command autonAimAtTarget()

    • fpvDrive

      protected static Command fpvDrive()
      Drive the robot with its front bumper as the forward direction.
      Returns:
      A command that drives the robot with the front bumper as the forward direction, using the left stick for translation and the right stick for rotation

    • snapSteerDrive

      protected static Command snapSteerDrive()
      Drive the robot with the robot's orientation snapping to the closest cardinal direction.
      Returns:
      A command that drives the robot with the robot's orientation snapping to the closest cardinal direction, using the left stick for translation

    • snakeDrive

      protected static Command snakeDrive()
      Drive the robot with the front bumper trying to match the robot's motion direction.
      Returns:
      A command that drives the robot with translation control from the left stick, while also trying to match the robot's motion direction with the robot angle

    • tweakOut

      protected static Command tweakOut()
      Tweak the robot's orientation by a small angle back and forth.
      Returns:
      A command that repeatedly tweaks the robot's orientation.

    • xBrake

      protected static Command xBrake()
      Turn the swerve wheels to an X to prevent the robot from moving.

    • pilotAimDrive

      protected static Command pilotAimDrive(DoubleSupplier targetDegrees)
      Drive the robot with the front bumper trying to match a target angle.
      Parameters:
      targetDegrees - The target angle (expected to be in radians in current call sites)
      Returns:
      A command that drives the robot to match the target angle while allowing translation control with the left stick

    • alignDrive

      public static Command alignDrive(DoubleSupplier xGoalMeters, DoubleSupplier yGoalMeters, DoubleSupplier headingRadians)
      Align the robot to the given x, y, and heading goals.
      Parameters:
      xGoalMeters - The x goal in meters
      yGoalMeters - The y goal in meters
      headingRadians - The heading goal in radians
      Returns:
      A command that aligns the robot to the specified x, y, and heading goals

    • headingLockDrive

      protected static Command headingLockDrive()

    • lockToClosest45Drive

      protected static Command lockToClosest45Drive()

    • resetXController

      protected static Command resetXController()

    • resetYController

      protected static Command resetYController()

    • resetTurnController

      protected static Command resetTurnController()

    • setTargetHeading

      protected static Command setTargetHeading(DoubleSupplier targetHeading)

    • fpvAimDrive

      protected static Command fpvAimDrive(DoubleSupplier velocityX, DoubleSupplier velocityY, DoubleSupplier targetRadians)

    • aimDrive

      protected static Command aimDrive(DoubleSupplier velocityX, DoubleSupplier velocityY, DoubleSupplier targetRadians)

    • headingLock

      protected static Command headingLock(DoubleSupplier velocityX, DoubleSupplier velocityY)

    • lockToClosest45deg

      protected static Command lockToClosest45deg(DoubleSupplier velocityX, DoubleSupplier velocityY)

    • getWheelRadiusCharacterizationPositions

      public static double[] getWheelRadiusCharacterizationPositions()

    • wheelRadiusCharacterization

      public static Command wheelRadiusCharacterization()
      Measures the robot's wheel radius by spinning in a circle. (Method from AdvantageKit).

      This command ramps up the robot's rotation rate to a specified maximum while recording the change in gyro angle and wheel positions. When the command is cancelled, it calculates and prints the effective wheel radius based on the recorded data.

    • reorientForward

      protected static Command reorientForward()

    • reorientLeft

      protected static Command reorientLeft()

    • reorientBack

      protected static Command reorientBack()

    • reorientRight

      protected static Command reorientRight()

    • cardinalReorient

      protected static Command cardinalReorient()

    • log

      protected static Command log(Command cmd)