Package frc.robot.subsystems.drivetrain

Class DrivetrainControls

java.lang.Object

frc.robot.subsystems.drivetrain.DrivetrainControls

public class DrivetrainControls
extends Object

Class that handles controlling the Drivetrain with HID controllers.

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
SwerveInputStream	driveAngularVelocity(CommandXboxController controller)	A copy of driveGeneric(CommandXboxController) that uses angular velocity control for turning.
Command	driveAngularVelocityCommand(CommandXboxController controller, Drivetrain.TranslationOrientation orientation)	driveInputStreamScaledCommand(SwerveInputStream, TranslationOrientation) that uses driveAngularVelocity(CommandXboxController).
SwerveInputStream	driveDirectAngle(CommandXboxController controller)	A copy of driveGeneric(CommandXboxController) that uses heading control for turning.
Command	driveDirectAngleCommand(CommandXboxController controller, Drivetrain.TranslationOrientation orientation)	driveInputStreamScaledCommand(SwerveInputStream, TranslationOrientation) that uses driveDirectAngle(CommandXboxController).
SwerveInputStream	driveDirectAngleSim(CommandXboxController controller)	A copy of driveGeneric(CommandXboxController) that pulls rotation from controller axis 2 for use in simulation.
Command	driveDirectAngleSimCommand(CommandXboxController controller, Drivetrain.TranslationOrientation orientation)	driveInputStreamScaledCommand(SwerveInputStream, TranslationOrientation) that uses driveDirectAngleSim(CommandXboxController).
SwerveInputStream	driveStaticHeading(CommandXboxController controller, Supplier<Rotation2d> heading)	A copy of driveGeneric(CommandXboxController) that uses a preset heading.
Command	driveStaticHeadingCommand(CommandXboxController controller, Drivetrain.TranslationOrientation orientation, Supplier<Rotation2d> heading)	driveInputStreamScaledCommand(SwerveInputStream, TranslationOrientation) that uses driveStaticHeading(CommandXboxController, Supplier).
Command	driveStaticHeadingNearestPoseCommand(CommandXboxController controller, Drivetrain.TranslationOrientation orientation, List<Pose2d> poses)	driveStaticHeadingCommand(CommandXboxController, TranslationOrientation, Supplier) that uses the heading of the nearest pose from a list of poses.
void	resetSpeedMultiplier()	Sets the controller speed multiplier back to Constants.DrivetrainConstants.TRANSLATION_SCALE_NORMAL.
void	setSpeedMultiplier(double speedMultiplier)	Sets the controller speed multiplier.
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

Constructor Details

DrivetrainControls

public DrivetrainControls(Drivetrain drivetrain)

Creates a new DrivetrainControls.

Parameters:

drivetrain - The Drivetrain to control.

Method Details

setSpeedMultiplier

public void setSpeedMultiplier(double speedMultiplier)

Sets the controller speed multiplier.

Parameters:

speedMultiplier - Multiplier to set (0, 1].

resetSpeedMultiplier

public void resetSpeedMultiplier()

Sets the controller speed multiplier back to Constants.DrivetrainConstants.TRANSLATION_SCALE_NORMAL.

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.

driveAngularVelocity

public SwerveInputStream driveAngularVelocity(CommandXboxController controller)

A copy of driveGeneric(CommandXboxController) that uses angular velocity control for turning.

Parameters:

controller - The controller to read from.

Returns:

SwerveInputStream with data from the controller.

driveDirectAngle

public SwerveInputStream driveDirectAngle(CommandXboxController controller)

A copy of driveGeneric(CommandXboxController) that uses heading control for turning.

Parameters:

controller - The controller to read from.

Returns:

SwerveInputStream with data from the controller.

driveDirectAngleSim

public SwerveInputStream driveDirectAngleSim(CommandXboxController controller)

A copy of driveGeneric(CommandXboxController) that pulls rotation from controller axis 2 for use in simulation.

Parameters:

controller - The controller to read from.

Returns:

SwerveInputStream with data from the controller.

driveStaticHeading

public SwerveInputStream driveStaticHeading(CommandXboxController controller,
 Supplier<Rotation2d> heading)

A copy of driveGeneric(CommandXboxController) that uses a preset heading.

Parameters:

controller - The controller to read from.

heading - The rotation to point the heading to.

Returns:

SwerveInputStream with data from the controller.

driveAngularVelocityCommand

public Command driveAngularVelocityCommand(CommandXboxController controller,
 Drivetrain.TranslationOrientation orientation)

driveInputStreamScaledCommand(SwerveInputStream, TranslationOrientation) that uses driveAngularVelocity(CommandXboxController). Calls Drivetrain.resetLastAngleScalar() on end to prevent snapback.

Parameters:

controller - Controller to use.

orientation - The translation's field of reference.

Returns:

Command to run.

driveDirectAngleCommand

public Command driveDirectAngleCommand(CommandXboxController controller,
 Drivetrain.TranslationOrientation orientation)

driveInputStreamScaledCommand(SwerveInputStream, TranslationOrientation) that uses driveDirectAngle(CommandXboxController).

Parameters:

controller - Controller to use.

orientation - The translation's field of reference.

Returns:

Command to run.

driveDirectAngleSimCommand

public Command driveDirectAngleSimCommand(CommandXboxController controller,
 Drivetrain.TranslationOrientation orientation)

driveInputStreamScaledCommand(SwerveInputStream, TranslationOrientation) that uses driveDirectAngleSim(CommandXboxController).

Parameters:

controller - Controller to use.

orientation - The translation's field of reference.

Returns:

Command to run.

driveStaticHeadingCommand

public Command driveStaticHeadingCommand(CommandXboxController controller,
 Drivetrain.TranslationOrientation orientation,
 Supplier<Rotation2d> heading)

driveInputStreamScaledCommand(SwerveInputStream, TranslationOrientation) that uses driveStaticHeading(CommandXboxController, Supplier).

Parameters:

controller - Controller to use.

orientation - The translation's field of reference.

heading - The rotation to point the heading to.

Returns:

Command to run.

driveStaticHeadingNearestPoseCommand

public Command driveStaticHeadingNearestPoseCommand(CommandXboxController controller,
 Drivetrain.TranslationOrientation orientation,
 List<Pose2d> poses)

driveStaticHeadingCommand(CommandXboxController, TranslationOrientation, Supplier) that uses the heading of the nearest pose from a list of poses.

Parameters:

controller - Controller to use.

orientation - The translation's field of reference.

poses - The list of poses to choose the nearest pose from.

Returns:

Command to run.