Package xbot.common.subsystems.drive.swerve

Class SwerveSteeringSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

xbot.common.command.BaseSubsystem

xbot.common.command.BaseSetpointSubsystem<Double>

xbot.common.subsystems.drive.swerve.SwerveSteeringSubsystem

All Implemented Interfaces:

Sendable, Subsystem, DataFrameRefreshable, SupportsSetpointLock, IPropertySupport

public class SwerveSteeringSubsystem
extends BaseSetpointSubsystem<Double>

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
SwerveSteeringSubsystem(SwerveInstance swerveInstance, XCANMotorController.XCANMotorControllerFactory mcFactory, XCANCoder.XCANCoderFactory canCoderFactory, PropertyFactory pf, PIDManager.PIDManagerFactory pidf, XSwerveDriveElectricalContract electricalContract)

Method Summary

Modifier and Type	Method	Description
protected boolean	areTwoTargetsEquivalent(Double target1, Double target2)
double	calculatePower()	Calculate the target motor power using software PID.
void	calibrateHere()	Mark the current encoder position as facing forward (0 degrees)
void	calibrateMotorControllerPositionFromCanCoder()	Reset the SparkMax encoder position based on the CanCoder measurement.
Angle	getAbsoluteEncoderPosition()	Gets the reported position of the CANCoder.
Angle	getBestEncoderPosition()	Gets the current position of the mechanism using the best available encoder.
Rotation2d	getCurrentRotation()	Gets current angle as a Rotation2d
Double	getCurrentValue()	Gets current angle in degrees
XCANCoder	getEncoder()
String	getLabel()
XCANMotorController	getMotorController()
Angle	getMotorControllerEncoderPosition()	Gets the reported position of the encoder on the NEO motor.
String	getPrefix()
Double	getTargetValue()	Gets target angle in degrees
AngularVelocity	getVelocity()
boolean	isCalibrated()
static boolean	isMotorControllerDriftTooHigh(Angle currentCanCoderPosition, Angle currentMotorControllerPosition, double maxDelta)
boolean	isUsingMotorControllerPid()	Gets a flag indicating whether we are using the motor controller's PID or software PID.
void	periodic()	This method is called on each CommandScheduler loop.
void	refreshDataFrame()	Consumes and processes inputs from the device or subsystem.
void	resetPid()	Reset the software PID.
void	setMotorControllerPidTarget()	Calculates the nearest position on the motor encoder to targetDegrees and sets the controller's PID target.
void	setPower(double power)	Sets the output power of the motor.
void	setTargetValue(Double value)	Sets target angle in degrees

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

SwerveSteeringSubsystem

@Inject
public SwerveSteeringSubsystem(SwerveInstance swerveInstance,
 XCANMotorController.XCANMotorControllerFactory mcFactory,
 XCANCoder.XCANCoderFactory canCoderFactory,
 PropertyFactory pf,
 PIDManager.PIDManagerFactory pidf,
 XSwerveDriveElectricalContract electricalContract)

Method Details

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 angle in degrees

Specified by:

getCurrentValue in class BaseSetpointSubsystem<Double>

getCurrentRotation

public Rotation2d getCurrentRotation()

Gets current angle as a Rotation2d

getTargetValue

public Double getTargetValue()

Gets target angle in degrees

Specified by:

getTargetValue in class BaseSetpointSubsystem<Double>

setTargetValue

public void setTargetValue(Double value)

Sets target angle in degrees

Specified by:

setTargetValue in class BaseSetpointSubsystem<Double>

setPower

public void setPower(double power)

Sets the output power of the motor.

Specified by:

setPower in class BaseSetpointSubsystem<Double>

Parameters:

power - The power value, between -1 and 1.

isCalibrated

public boolean isCalibrated()

Specified by:

isCalibrated in class BaseSetpointSubsystem<Double>

calibrateHere

public void calibrateHere()

Mark the current encoder position as facing forward (0 degrees)

calibrateMotorControllerPositionFromCanCoder

public void calibrateMotorControllerPositionFromCanCoder()

Reset the SparkMax encoder position based on the CanCoder measurement. This should only be called when the mechanism is stationary.

getVelocity

public AngularVelocity getVelocity()

isMotorControllerDriftTooHigh

public static boolean isMotorControllerDriftTooHigh(Angle currentCanCoderPosition,
 Angle currentMotorControllerPosition,
 double maxDelta)

getMotorController

public XCANMotorController getMotorController()

getEncoder

public XCANCoder getEncoder()

getBestEncoderPosition

public Angle getBestEncoderPosition()

Gets the current position of the mechanism using the best available encoder.

Returns:

The position in degrees.

getAbsoluteEncoderPosition

public Angle getAbsoluteEncoderPosition()

Gets the reported position of the CANCoder.

Returns:

The position of the CANCoder.

getMotorControllerEncoderPosition

public Angle getMotorControllerEncoderPosition()

Gets the reported position of the encoder on the NEO motor.

Returns:

The position of the encoder on the NEO motor.

calculatePower

public double calculatePower()

Calculate the target motor power using software PID.

Returns:

The target power required to approach our setpoint.

resetPid

public void resetPid()

Reset the software PID.

isUsingMotorControllerPid

public boolean isUsingMotorControllerPid()

Gets a flag indicating whether we are using the motor controller's PID or software PID.

Returns:

true if using motor controller's PID.

setMotorControllerPidTarget

public void setMotorControllerPidTarget()

Calculates the nearest position on the motor encoder to targetDegrees and sets the controller's PID target.

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