SwerveBaseTemplate/frc.robot.subsystems/Swerve

Swerve

public class Swerve extends SubsystemBase

Properties

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public Pose2d currentPose

Functions

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public void chassisSpeedsDrive(ChassisSpeeds chassisSpeeds)
Drives the robot using chassis speeds.
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public ChassisSpeeds getAutoSpeeds()
Gets the chassis speeds for autonomous driving.
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public double getHeading()
Gets the heading of the robot.
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public static Swerve getInstance()
Returns the Singleton instance of this SwerveSubsystem.
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public Array<SwerveModulePosition> getModulePositions()
Gets the positions of the swerve modules.
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public Array<SwerveModuleState> getModuleStates()
Gets the states of the swerve modules.
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public Rotation2d getPidgeyRotation()
Gets the rotation of the Pigeon2 IMU.
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public double getPidgeyYaw()
Gets the yaw of the Pigeon2 IMU.
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public Pose2d getPose()
Gets the current pose of the robot from the pose estimator.
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public Rotation2d getRotationPidggy()
Gets the rotation of the Pigeon2 IMU for PID control.
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public void newPose(Pose2d pose)
Sets a new pose for the robot.
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public Command pathFindTest()
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public Command pathFindToGoal()
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public void periodic()
This method is called periodically by the scheduler.
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public void resetDrive()
Resets the drive positions of all swerve modules.
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public void resetPidgey()
Resets the Pigeon2 IMU.
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public void setAutoPID()
Sets the PID constants for autonomous driving.
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public void setDriveSpeeds(double forwardSpeed, double leftSpeed, double turnSpeed, boolean isFieldOriented)
Sets the drive speeds for the swerve modules.
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public void setModuleStates(Array<SwerveModuleState> states)
Sets the states of the swerve modules.
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public void setTelePID()
Sets the PID constants for teleoperated driving.
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public void stop()
Stops all swerve modules.
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public void updateModuleTelePIDValues()
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public void zeroPose()
Resets the pose of the robot to zero.