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Swervedrive behaviours

Manual Swerve Drive

wom::SwerveDrive _swerveDrive = new wom::SwerveDrive(config, frc::Pose2d());
wom::BehaviourScheduler::GetInstance()->Register(_swerveDrive);
_swerveDrive->SetDefaultBehaviour([this]() {
    return wom::make<wom::ManualDrivebase>(_swerveDrive, &controller);
});
  • controller is a frc::XboxController object
  • config is a wom::SwerveBaseConfig object (docs here)

XDrivebase

wom::SwerveDrive _swerveDrive = new wom::SwerveDrive(config, frc::Pose2d());


wom::BehaviourScheduler::GetInstance()->Register(_swerveDrive);
_swerveDrive->SetDefaultBehaviour([this]() {
    return wom::make<wom::XDrivebase>(_swerveDrive);
});
  • config is a SwerveBaseConfig object (docs here)

Follow Trajectory

wom::SwerveDrive _swerveDrive = new wom::SwerveDrive(config, frc::Pose2d());


wom::utils::PathPlanner pathPlanner;


wom::BehaviourScheduler::GetInstance()->Register(_swerveDrive);


_swerveDrive->SetDefaultBehaviour([this]() {
    return wom::make<wom::FollowTrajectory>(_swerveDrive, pathPlanner, "path/to/trajectory.json");
});
  • config is a SwerveBaseConfig object (docs here)
  • path/to/trajectory.json is the path to the trajectory file relative to the deploy directory
  • pathPlanner is a wom::PathPlanner object (docs here)

Simulated Swerve Drive

frc::Timer timer;
frc::Field2d field2d;


wom::SwerveDrive _swerveDrive = new wom::SwerveDrive(config, frc::Pose2d());


wom::SwerveDrive _simDrive = new wom::TempSimSwerveDrive(&field2d, &timer);


_simDrive->SetPath("path/to/trajectory.json"); // relative to deploy directory


/* ================
     in main loop
   ================ */


_simDrive->OnUpdate(_swerveDrive);

Methods

SetPath

Sets the path to follow

void SetPath(std::string path);
  • path is the path to the trajectory file relative to the deploy directory

GetPose

Gets the pose of the robot

frc::Pose3d GetPose();

GetPose2d

Gets the pose of the robot (in 2d)

frc::Pose2d GetPose2d();