Package frc.robot.subsystems.drivetrain

Class DrivetrainControls

java.lang.Object

frc.robot.subsystems.drivetrain.DrivetrainControls

public final class DrivetrainControls
extends Object

Class that contains utility functions for controlling the Drivetrain with HID controllers.

Constructor Summary

Constructors

Constructor	Description
DrivetrainControls()

Method Summary

Modifier and Type	Method	Description
static SwerveInputStream	driveAngularVelocity(Drivetrain drivetrain, CommandXboxController controller)	Converts driver input into a field-relative ChassisSpeeds that is controlled by angular velocity.
static SwerveInputStream	driveDirectAngle(Drivetrain drivetrain, CommandXboxController controller)	Clones the angular velocity input stream and converts it to a fieldRelative input stream.
static SwerveInputStream	driveDirectAngleSim(Drivetrain drivetrain, CommandXboxController controller)	A copy of driveDirectAngle(frc.robot.subsystems.drivetrain.Drivetrain,edu.wpi.first.wpilibj2.command.button.CommandXboxController) that pulls rotation from controller axis 2 for use in simulation.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

DrivetrainControls

public DrivetrainControls()

Method Details

driveAngularVelocity

public static SwerveInputStream driveAngularVelocity(Drivetrain drivetrain,
 CommandXboxController controller)

Converts driver input into a field-relative ChassisSpeeds that is controlled by angular velocity.

Parameters:

drivetrain - the drivetrain to control

controller - the controller to read from

Returns:

SwerveInputStream with data from the controller

driveDirectAngle

public static SwerveInputStream driveDirectAngle(Drivetrain drivetrain,
 CommandXboxController controller)

Clones the angular velocity input stream and converts it to a fieldRelative input stream.

Parameters:

drivetrain - the drivetrain to control

controller - the controller to read from

Returns:

SwerveInputStream with data from the controller

driveDirectAngleSim

public static SwerveInputStream driveDirectAngleSim(Drivetrain drivetrain,
 CommandXboxController controller)

A copy of driveDirectAngle(frc.robot.subsystems.drivetrain.Drivetrain,edu.wpi.first.wpilibj2.command.button.CommandXboxController) that pulls rotation from controller axis 2 for use in simulation.

Parameters:

drivetrain - the drivetrain to control

controller - the controller to read from

Returns:

SwerveInputStream with data from the controller