Class subsystems::CommandSwerveDrivetrain

ClassList > subsystems > CommandSwerveDrivetrain

Class that extends the Phoenix 6 SwerveDrivetrain class and implements Subsystem so it can easily be used in command-based projects.

#include <CommandSwerveDrivetrain.h>

Inherits the following classes: frc2::SubsystemBase, TunerSwerveDrivetrain

Public Types inherited from TunerSwerveDrivetrain

See TunerSwerveDrivetrain

Type	Name
typedef swerve::SwerveModuleConstants< configs::TalonFXConfiguration, configs::TalonFXConfiguration, configs::CANcoderConfiguration >	SwerveModuleConstants

Public Functions

Type	Name
void	AddVisionMeasurement (frc::Pose2d visionRobotPose, units::second_t timestamp) override Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate while still accounting for measurement noise.
void	AddVisionMeasurement (frc::Pose2d visionRobotPose, units::second_t timestamp, std::array< double, 3 > visionMeasurementStdDevs) override Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate while still accounting for measurement noise.
frc2::CommandPtr	ApplyRequest (RequestSupplier request) Returns a command that applies the specified control request to this swerve drivetrain.
frc2::CommandPtr	ApplyRequest (RequestSupplier request) Returns a command that applies the specified control request to this swerve drivetrain.
	CommandSwerveDrivetrain (swerve::SwerveDrivetrainConstants const & driveTrainConstants, ModuleConstants const &... modules) Constructs a CTRE SwerveDrivetrain using the specified constants.
	CommandSwerveDrivetrain (swerve::SwerveDrivetrainConstants const & driveTrainConstants, units::hertz_t odometryUpdateFrequency, ModuleConstants const &... modules) Constructs a CTRE SwerveDrivetrain using the specified constants.
	CommandSwerveDrivetrain (swerve::SwerveDrivetrainConstants const & driveTrainConstants, units::hertz_t odometryUpdateFrequency, std::array< double, 3 > const & odometryStandardDeviation, std::array< double, 3 > const & visionStandardDeviation, ModuleConstants const &... modules) Constructs a CTRE SwerveDrivetrain using the specified constants.
void	Periodic () override
frc2::CommandPtr	SysIdDynamic (frc2::sysid::Direction direction) Runs the SysId Dynamic test in the given direction for the routine specified by m_sysIdRoutineToApply.
frc2::CommandPtr	SysIdQuasistatic (frc2::sysid::Direction direction) Runs the SysId Quasistatic test in the given direction for the routine specified by m_sysIdRoutineToApply.

Public Functions inherited from TunerSwerveDrivetrain

See TunerSwerveDrivetrain

Type	Name
	TunerSwerveDrivetrain (swerve::SwerveDrivetrainConstants const & driveTrainConstants, ModuleConstants const &... modules) Constructs a CTRE SwerveDrivetrain using the specified constants.
	TunerSwerveDrivetrain (swerve::SwerveDrivetrainConstants const & driveTrainConstants, units::hertz_t odometryUpdateFrequency, ModuleConstants const &... modules) Constructs a CTRE SwerveDrivetrain using the specified constants.
	TunerSwerveDrivetrain (swerve::SwerveDrivetrainConstants const & driveTrainConstants, units::hertz_t odometryUpdateFrequency, std::array< double, 3 > const & odometryStandardDeviation, std::array< double, 3 > const & visionStandardDeviation, ModuleConstants const &... modules) Constructs a CTRE SwerveDrivetrain using the specified constants.

Public Functions Documentation

function AddVisionMeasurement [1/2]

Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate while still accounting for measurement noise.

inline void subsystems::CommandSwerveDrivetrain::AddVisionMeasurement (
    frc::Pose2d visionRobotPose,
    units::second_t timestamp
) override

Parameters:

visionRobotPose The pose of the robot as measured by the vision camera.
timestamp The timestamp of the vision measurement in seconds.

function AddVisionMeasurement [2/2]

Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate while still accounting for measurement noise.

inline void subsystems::CommandSwerveDrivetrain::AddVisionMeasurement (
    frc::Pose2d visionRobotPose,
    units::second_t timestamp,
    std::array< double, 3 > visionMeasurementStdDevs
) override

Note that the vision measurement standard deviations passed into this method will continue to apply to future measurements until a subsequent call to SetVisionMeasurementStdDevs or this method.

Parameters:

visionRobotPose The pose of the robot as measured by the vision camera.
timestamp The timestamp of the vision measurement in seconds.
visionMeasurementStdDevs Standard deviations of the vision pose measurement.

function ApplyRequest [1/2]

Returns a command that applies the specified control request to this swerve drivetrain.

template<typename RequestSupplier>
inline frc2::CommandPtr subsystems::CommandSwerveDrivetrain::ApplyRequest (
    RequestSupplier request
)

This captures the returned swerve request by reference, so it must live for at least as long as the drivetrain. This can be done by storing the request as a member variable of your drivetrain subsystem or robot.

Parameters:

request Function returning the request to apply

Returns:

Command to run

function ApplyRequest [2/2]

Returns a command that applies the specified control request to this swerve drivetrain.

template<typename RequestSupplier>
inline frc2::CommandPtr subsystems::CommandSwerveDrivetrain::ApplyRequest (
    RequestSupplier request
)

Parameters:

request Function returning the request to apply

Returns:

Command to run

function CommandSwerveDrivetrain [1/3]

Constructs a CTRE SwerveDrivetrain using the specified constants.

template<std::same_as< SwerveModuleConstants >... ModuleConstants>
inline subsystems::CommandSwerveDrivetrain::CommandSwerveDrivetrain (
    swerve::SwerveDrivetrainConstants const & driveTrainConstants,
    ModuleConstants const &... modules
)

This constructs the underlying hardware devices, so users should not construct the devices themselves. If they need the devices, they can access them through getters in the classes.

Parameters:

drivetrainConstants Drivetrain-wide constants for the swerve drive
modules Constants for each specific module

function CommandSwerveDrivetrain [2/3]

Constructs a CTRE SwerveDrivetrain using the specified constants.

template<std::same_as< SwerveModuleConstants >... ModuleConstants>
inline subsystems::CommandSwerveDrivetrain::CommandSwerveDrivetrain (
    swerve::SwerveDrivetrainConstants const & driveTrainConstants,
    units::hertz_t odometryUpdateFrequency,
    ModuleConstants const &... modules
)

This constructs the underlying hardware devices, so users should not construct the devices themselves. If they need the devices, they can access them through getters in the classes.

Parameters:

driveTrainConstants Drivetrain-wide constants for the swerve drive
odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0.
modules Constants for each specific module

function CommandSwerveDrivetrain [3/3]

Constructs a CTRE SwerveDrivetrain using the specified constants.

template<std::same_as< SwerveModuleConstants >... ModuleConstants>
inline subsystems::CommandSwerveDrivetrain::CommandSwerveDrivetrain (
    swerve::SwerveDrivetrainConstants const & driveTrainConstants,
    units::hertz_t odometryUpdateFrequency,
    std::array< double, 3 > const & odometryStandardDeviation,
    std::array< double, 3 > const & visionStandardDeviation,
    ModuleConstants const &... modules
)

This constructs the underlying hardware devices, so users should not construct the devices themselves. If they need the devices, they can access them through getters in the classes.

Parameters:

driveTrainConstants Drivetrain-wide constants for the swerve drive
odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0.
odometryStandardDeviation The standard deviation for odometry calculation
visionStandardDeviation The standard deviation for vision calculation
modules Constants for each specific module

function Periodic

void subsystems::CommandSwerveDrivetrain::Periodic () override

function SysIdDynamic

Runs the SysId Dynamic test in the given direction for the routine specified by m_sysIdRoutineToApply.

inline frc2::CommandPtr subsystems::CommandSwerveDrivetrain::SysIdDynamic (
    frc2::sysid::Direction direction
)

Parameters:

direction Direction of the SysId Dynamic test

Returns:

Command to run

function SysIdQuasistatic

Runs the SysId Quasistatic test in the given direction for the routine specified by m_sysIdRoutineToApply.

inline frc2::CommandPtr subsystems::CommandSwerveDrivetrain::SysIdQuasistatic (
    frc2::sysid::Direction direction
)

Parameters:

direction Direction of the SysId Quasistatic test

Returns:

Command to run

The documentation for this class was generated from the following file src/main/include/subsystems/CommandSwerveDrivetrain.h