Package frc.robot.subsystems

Class DrivetrainControls

java.lang.Object

frc.robot.subsystems.DrivetrainControls

public class DrivetrainControls
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
final SwerveRequest.SwerveDriveBrake	brake
final SwerveRequest.PointWheelsAt	point
double	speedMultiplier	Speed multiplier used for scaling controller inputs (0, 1].

Constructor Summary

Constructors

Constructor	Description
DrivetrainControls(CommandSwerveDrivetrain drivetrain)	Creates a new DrivetrainControls.

Method Summary

Modifier and Type	Method	Description
Command	setSpeedMultiplierCommand(Supplier<Double> speedMultiplier)	Sets the controller speed multiplier.

Methods inherited from class java.lang.Object

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

Field Details

brake

public final SwerveRequest.SwerveDriveBrake brake

point

public final SwerveRequest.PointWheelsAt point

speedMultiplier

public double speedMultiplier

Speed multiplier used for scaling controller inputs (0, 1].

Constructor Details

DrivetrainControls

public DrivetrainControls(CommandSwerveDrivetrain drivetrain)

Creates a new DrivetrainControls.

Parameters:

drivetrain - The Drivetrain to control.

Method Details

setSpeedMultiplierCommand

public Command setSpeedMultiplierCommand(Supplier<Double> speedMultiplier)

Sets the controller speed multiplier. Resets the multiplier when canceled.

Parameters:

speedMultiplier - Multiplier to set (0, 1].

Returns:

Command to run.