Swervedrive

Constructor

frc::Pose2d initial_pose = frc::Pose2d(0_m, 0_m, 0_rad);

wom::SwerveDrive *swerveDrive = new wom::SwerveDrive(config, initial_pose);

Config

Type	Name	Description	See Also
std::string	path	The path in the networktables
wom::SwerveModule::angle_pid_conf_t	anglePID	The angle PID config	SwerveModule
wom::SwerveModule::velocity_pid_conf_t	velocityPID	The velocity PID config	SwerveModule
wpi::array<SwerveModuleConfig, 4>	modules	The modules	SwerveModule
wom::Gyro	gyro	The gyro	Gyro
units::kilogram_t	mass	The mass of the robot
wpi::array<double, 3>	stateStdDevs	The standard deviations of the state
wpi::array<double, 3>	visionMeasurementStdDevs	The standard deviations of the vision measurements

Example

wom::SwerveDriveConfig config;

SwerveDriveState

An enum of states for the swervedrive.

Name	Value	Description
kZeroing	0	The drivetrain is zeroing
kIdle	1	The drivetrain is idle
kVelocity	2	The drivetrain is driving in velocity mode
kFieldRelativeVelocity	3	The drivetrain is driving in field relative velocity mode
kPose	4	The drivetrain is driving in pose mode
kIndividualTuning	5	The drivetrain is tuning individual modules
kTuning	6	The drivetrain is tuning
kXWheels	7	The drivetrain is driving in x wheels mode
kModuleTurn	8	The drivetrain is turning a module
kFRVelocityRotationLock	9	The drivetrain is driving in field relative velocity rotation lock mode

Example

wom::SwerveDriveState state = swerveDrive->GetState();
wom::SwerveDriveState newState = wom::SwerveDriveState::kIdle;

FieldRelativeSpeeds

A struct of speeds for the swervedrive.

Type	Name	Description	See Also
units::meters_per_second_t	vx	The x speed
units::meters_per_second_t	vy	The y speed
units::radians_per_second_t	omega	The omega speed

Example

swerveDrive->SetFieldRelativeVelocity(wom::FieldRelativeSpeeds{1_mps, 1_mps, 1_rad_per_s});

Methods

RotateMatchJoystick

Switches the state to handle the robot’s rotation matching that of the joystick.

void RotateMatchJoystick(units::radian_t joystickAngle, wom::FieldRelativeSpeeds speeds)

Usage

swerveDrive->RotateMatchJoystick(1_rad, wom::FieldRelativeSpeeds{1_mps, 1_mps, 1_rad_per_s});

SetIdle

Switches the state to idle.

Usage

swerveDrive->SetIdle();

SetZeroing

Switches the state to zeroing.

Usage

swerveDrive->SetZeroing();

SetVelocity

Switches the state to velocity.

void SetVelocity(frc::ChassisSpeeds speeds)

Usage

swerveDrive->SetVelocity(frc::ChassisSpeeds());

SetFieldRelativeVelocity

Switches the state to field relative velocity.

See Field Relative Speeds.

void SetFieldRelativeVelocity(wom::FieldRelativeSpeeds speeds)

Usage

swerveDrive->SetFieldRelativeVelocity(wom::FieldRelativeSpeeds{1_mps, 1_mps, 1_rad_per_s});

SetPose

Switches the state to pose.

void SetPose(frc::Pose2d pose)

Usage

swerveDrive->SetPose(frc::Pose2d(1_m, 1_m, 1_rad));

IsAtSetPose

Checks if the robot is at the set pose.

Usage

bool isAtSetPose = swerveDrive->IsAtSetPose();

SetIndividualTuning

Switches the state to individual tuning.

void SetIndividualTuning(int mod, units::radian_t angle, units::meters_per_second_t speed)

Usage

swerveDrive->SetIndividualTuning(0, 1_rad, 1_mps);

SetTuning

Switches the state to tuning.

SetTuning(units::radian_t angle, units::meters_per_second_t speed)

Usage

swerveDrive->SetTuning(1_rad, 1_mps);

SetZero

Sets PID setpoints to zero.

Usage

swerveDrive->SetZero();

SetVoltageLimit

Sets the voltage limit.

void SetVoltageLimit(units::volt_t driveVoltageLimit)

Usage

swerveDrive->SetVoltageLimit(12_V);

OnResetMode

Resets the intergral value of the PID controllers.

Usage

swerveDrive->OnResetMode();

SetXWheelState

Switches the state to x wheels.

Usage

swerveDrive->SetXWheelState();

SetIsFieldRelative

Sets whether the drivetrain is field relative.

void SetIsFieldRelative(bool value)

Usage

swerveDrive->SetIsFieldRelative(true);

GetIsFieldRelative

Gets whether the drivetrain is field relative.

Usage

bool isFieldRelative = swerveDrive->GetIsFieldRelative();

SetAccelerationLimit

Sets the acceleration limit.

void SetAccelerationLimit(units::meters_per_second_squared_t limit)

Usage

swerveDrive->SetAccelerationLimit(1_mps_sq);

ResetPose

Resets the pose.

void ResetPose(frc::Pose2d pose)

Usage

swerveDrive->ResetPose(frc::Pose2d());

GetPose

Gets the pose.

Usage

frc::Pose2d pose = swerveDrive->GetPose();

AddVisionMeasurement

Adds a vision measurement.

void AddVisionMeasurement(frc::Pose2d pose, units::second_t timestamp)

Usage

swerveDrive->AddVisionMeasurement(frc::Pose2d(), 1_s);

GetConfig

Gets the config of the drivetrain.

Returns SwerveDriveConfig (see above)

Usage

SwerveDriveConfig config = swerveDrive->GetConfig();

Swerve Modules

Constructor

SwerveModule(std::string path, SwerveModuleConfig config, angle_pid_conf_t anglePID, velocity_pid_conf_t velocityPID)

Example

SwerveModule *swerveModule = new SwerveModule(config);

Config

Type	Name	Description	See Also
frc::Translation2d	position	The position of the module
wom::utils::Gearbox	driveMotor	The drive gearbox	Gearbox
wom::utils::Gearbox	turnMotor	The turn gearbox	Gearbox
CANCoder	canEncoder	The CANCoder
units::meter_t	wheelRadius	The radius of the wheel

Example

SwerveModuleConfig config{
    frc::Translation2d(1_m, 1_m),
    driveMotor,
    turnMotor,
    canEncoder,
    1_m
};

SwerveModuleState

An enum of states for the swerve module.

Name	Value	Description
kZeroing	0	The module is zeroing
kIdle	1	The module is idle
kPID	2	The module is driving in PID mode

Example

SwerveModuleState state = swerveModule->GetState();
SwerveModuleState newState = SwerveModuleState::kIdle;

Methods

SetZero

Sets PID setpoints to zero.

Usage

swerveModule->SetZero();

SetIdle

Switches the state to idle.

Usage

swerveModule->SetIdle();

SetPID

Switches the state to PID and sets the setpoints.

void SetPID(units::radian_t angle, units::meters_per_second_t speed, units::second_t dt)

Usage

swerveModule->SetPID(1_rad, 1_mps, 1_s);

SetVoltageLimit

Sets the voltage limit.

void SetVoltageLimit(units::volt_t driveVoltageLimit)

Usage

swerveModule->SetVoltageLimit(12_V);

SetAccelerationLimit

Sets the acceleration limit.

SetAccelerationLimit(units::meters_per_second_squared_t limit)

Usage

swerveModule->SetAccelerationLimit(1_mps_sq);

GetPosition

Gets the position of the module.

Usage

frc::SwerveModulePosition position = swerveModule->GetPosition();

GetSpeed

Gets the speed of the module.

Usage

frc::SwerveModuleSpeed speed = swerveModule->GetSpeed();

GetDistance

Gets the distance of the module.

Usage

units::meter_t dist = swerveModule->GetDistance();

GetConfig

Gets the config of the module.

Returns SwerveModuleConfig (see above)

Usage

SwerveModuleConfig config = swerveModule->GetConfig();