Package xbot.common.subsystems.drive.swerve

Class SwerveDriveSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

xbot.common.command.BaseSubsystem

xbot.common.command.BaseSetpointSubsystem<Double>

xbot.common.subsystems.drive.swerve.SwerveDriveSubsystem

All Implemented Interfaces:

Sendable, Subsystem, DataFrameRefreshable, SupportsSetpointLock, IPropertySupport

public class SwerveDriveSubsystem
extends BaseSetpointSubsystem<Double>

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SwerveDriveSubsystem.CurrentLimitMode

Field Summary

Fields inherited from class xbot.common.command.BaseSetpointSubsystem

atGoal, lastTargetValueUsedforAtGoal

Fields inherited from class xbot.common.command.BaseSubsystem

aKitLog, dataFrameRefreshables

Constructor Summary

Constructors

Constructor	Description
SwerveDriveSubsystem(SwerveInstance swerveInstance, XCANMotorController.XCANMotorControllerFactory mcFactory, PropertyFactory pf, XSwerveDriveElectricalContract electricalContract)

Method Summary

Modifier and Type	Method	Description
protected boolean	areTwoTargetsEquivalent(Double target1, Double target2)
double	getCurrentPositionValue()
Double	getCurrentValue()	Gets current velocity in meters per second
boolean	getDrivePidEnabled()
String	getLabel()
double	getMetersPerMotorRotation()
Optional<XCANMotorController>	getMotorController()
String	getPrefix()
Double	getTargetValue()	Gets target velocity in inches per second
boolean	isCalibrated()
void	periodic()	This method is called on each CommandScheduler loop.
void	refreshDataFrame()	Consumes and processes inputs from the device or subsystem.
void	setCurrentLimitsForMode(SwerveDriveSubsystem.CurrentLimitMode mode)
void	setMotorControllerVelocityPidFromSubsystemTarget()
void	setNoviceMode(boolean enabled)
void	setPower(double power)
void	setTargetValue(Double value)	Sets target velocity in inches per second

Methods inherited from class xbot.common.command.BaseSetpointSubsystem

areTwoDoublesEquivalent, areTwoDoublesEquivalent, createSetTargetCommand, createSetTargetCommand, getSetpointLock, isMaintainerAtGoal, setMaintainerIsAtGoal

Methods inherited from class xbot.common.command.BaseSubsystem

registerDataFrameRefreshable

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

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.wpilibj2.command.Subsystem

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

Constructor Details

SwerveDriveSubsystem

@Inject
public SwerveDriveSubsystem(SwerveInstance swerveInstance,
 XCANMotorController.XCANMotorControllerFactory mcFactory,
 PropertyFactory pf,
 XSwerveDriveElectricalContract electricalContract)

Method Details

setCurrentLimitsForMode

public void setCurrentLimitsForMode(SwerveDriveSubsystem.CurrentLimitMode mode)

getMetersPerMotorRotation

public double getMetersPerMotorRotation()

getLabel

public String getLabel()

getPrefix

public String getPrefix()

Specified by:

getPrefix in interface IPropertySupport

Overrides:

getPrefix in class BaseSubsystem

getCurrentValue

public Double getCurrentValue()

Gets current velocity in meters per second

Specified by:

getCurrentValue in class BaseSetpointSubsystem<Double>

getTargetValue

public Double getTargetValue()

Gets target velocity in inches per second

Specified by:

getTargetValue in class BaseSetpointSubsystem<Double>

setTargetValue

public void setTargetValue(Double value)

Sets target velocity in inches per second

Specified by:

setTargetValue in class BaseSetpointSubsystem<Double>

getCurrentPositionValue

public double getCurrentPositionValue()

setPower

public void setPower(double power)

Specified by:

setPower in class BaseSetpointSubsystem<Double>

isCalibrated

public boolean isCalibrated()

Specified by:

isCalibrated in class BaseSetpointSubsystem<Double>

getMotorController

public Optional<XCANMotorController> getMotorController()

getDrivePidEnabled

public boolean getDrivePidEnabled()

setMotorControllerVelocityPidFromSubsystemTarget

public void setMotorControllerVelocityPidFromSubsystemTarget()

setNoviceMode

public void setNoviceMode(boolean enabled)

areTwoTargetsEquivalent

protected boolean areTwoTargetsEquivalent(Double target1,
 Double target2)

Specified by:

areTwoTargetsEquivalent in class BaseSetpointSubsystem<Double>

periodic

public void periodic()

Description copied from class: BaseSubsystem

This method is called on each CommandScheduler loop.

Specified by:

periodic in interface Subsystem

Overrides:

periodic in class BaseSubsystem

refreshDataFrame

public void refreshDataFrame()

Description copied from interface: DataFrameRefreshable

Consumes and processes inputs from the device or subsystem.

Specified by:

refreshDataFrame in interface DataFrameRefreshable

Overrides:

refreshDataFrame in class BaseSubsystem