Navigation/com.amarcolini.joos.drive/AbstractSwerveDrive

AbstractSwerveDrive

public abstract class AbstractSwerveDrive extends Drive

This class provides the basic functionality of a swerve drive using SwerveKinematics.

Parameters

modules

the modules of the swerve drive, starting with the front left and moving counter-clockwise.

modulePositions

the positions of all the modules relative to the center of rotation of the robot

Constructors

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@JvmOverloads()
public AbstractSwerveDrive AbstractSwerveDrive(SwerveModule frontLeft, SwerveModule backLeft, SwerveModule backRight, SwerveModule frontRight, Double trackWidth, Double wheelBase, AngleSensor externalHeadingSensor)
@JvmOverloads()
public AbstractSwerveDrive AbstractSwerveDrive(SwerveModule frontLeft, SwerveModule backLeft, SwerveModule backRight, SwerveModule frontRight, Double trackWidth, Double wheelBase)
@JvmOverloads()
public AbstractSwerveDrive AbstractSwerveDrive(SwerveModule frontLeft, SwerveModule backLeft, SwerveModule backRight, SwerveModule frontRight, Double trackWidth)
@JvmOverloads()
public AbstractSwerveDrive AbstractSwerveDrive(SwerveModule left, SwerveModule right, Double trackWidth, AngleSensor externalHeadingSensor)
@JvmOverloads()
public AbstractSwerveDrive AbstractSwerveDrive(SwerveModule left, SwerveModule right, Double trackWidth)
@JvmOverloads()
public AbstractSwerveDrive AbstractSwerveDrive(List<SwerveModule> modules, List<Vector2d> modulePositions, AngleSensor externalHeadingSensor)
@JvmOverloads()
public AbstractSwerveDrive AbstractSwerveDrive(List<SwerveModule> modules, List<Vector2d> modulePositions)

Properties

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private Localizer localizer

Localizer used to determine the evolution of poseEstimate.

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private final List<Vector2d> modulePositions
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private final List<SwerveModule> modules

Functions

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public Localizer getLocalizer()

Localizer used to determine the evolution of poseEstimate.

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protected final List<Vector2d> getModulePositions()
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protected final List<SwerveModule> getModules()
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public Unit setDrivePower(Pose2d drivePower)

Sets the current commanded drive state of the robot. Feedforward is not applied to drivePower.

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public Unit setDriveSignal(DriveSignal driveSignal)

Sets the current commanded drive state of the robot. Feedforward is applied to driveSignal before it reaches the motors.

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public Unit setLocalizer(Localizer localizer)

Localizer used to determine the evolution of poseEstimate.