Package xbot.common.subsystems.drive.swerve

Class SwerveDriveRotationAdvisor

java.lang.Object

xbot.common.subsystems.drive.swerve.SwerveDriveRotationAdvisor

public class SwerveDriveRotationAdvisor
extends Object

This class is responsible for advising the drive subsystem on what heading to rotate to based on various inputs and modes.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	SwerveDriveRotationAdvisor.Factory	Factory for creating instances of SwerveDriveRotationAdvisor.
static enum	SwerveDriveRotationAdvisor.SwerveDriveRotationAdvisorMode

Constructor Summary

Constructors

Constructor	Description
SwerveDriveRotationAdvisor(RobotAssertionManager assertionManager, ISwerveAdvisorPoseSupport pose, ISwerveAdvisorDriveSupport drive, PropertyFactory pf, HumanVsMachineDecider hvmDecider, double hvmDeadband)

Method Summary

Modifier and Type	Method	Description
SwerveSuggestedRotation	getSuggestedRotationValue(Translation2d snappingInput, double triggerRotateIntent)
void	resetDecider()
void	setSnappingZoneCount(int count)	Set how many snapping zones there are.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SwerveDriveRotationAdvisor

@AssistedInject
public SwerveDriveRotationAdvisor(RobotAssertionManager assertionManager,
 ISwerveAdvisorPoseSupport pose,
 ISwerveAdvisorDriveSupport drive,
 PropertyFactory pf,
 @Assisted
 HumanVsMachineDecider hvmDecider,
 @Assisted("HvmDeadband")
 double hvmDeadband)

Method Details

setSnappingZoneCount

public void setSnappingZoneCount(int count)

Set how many snapping zones there are. For example, 4 would mean we snap to the cardinal directions (0, 90, 180, 270) while 2 would mean we only snap to forward and reverse (0, 180).

Parameters:

count - The number of snapping zones, must be at least 2 (1 would mean we snap to everything, essentially disabling snapping zones)

getSuggestedRotationValue

public SwerveSuggestedRotation getSuggestedRotationValue(Translation2d snappingInput,
 double triggerRotateIntent)

resetDecider

public void resetDecider()