Package com.lightningrobotics.common.subsystem.drivetrain.swerve

Class SwerveDrivetrain

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.lightningrobotics.common.subsystem.drivetrain.LightningDrivetrain

com.lightningrobotics.common.subsystem.drivetrain.swerve.SwerveDrivetrain

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public abstract class SwerveDrivetrain
extends LightningDrivetrain

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SwerveDrivetrain.Modules

Constructor Summary

Constructors

Constructor	Description
SwerveDrivetrain(SwerveGains gains, SwerveModule... modules)

Method Summary

Modifier and Type	Method	Description
void	configureMotors()
DrivetrainState	getDriveState()
LightningGains	getGains()
edu.wpi.first.math.geometry.Pose2d	getPose()
void	setDriveSpeed(DrivetrainSpeed speed)
void	stop()
protected void	withEachAzimuthMotor(java.util.function.Consumer<edu.wpi.first.wpilibj.motorcontrol.MotorController> op)
protected void	withEachDriveMotor(java.util.function.Consumer<edu.wpi.first.wpilibj.motorcontrol.MotorController> op)
protected void	withEachModule(java.util.function.Consumer<SwerveModule> op)

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

getCurrentCommand, getDefaultCommand, periodic, register, setDefaultCommand, simulationPeriodic

Constructor Detail

SwerveDrivetrain

public SwerveDrivetrain(SwerveGains gains,
                        SwerveModule... modules)

Method Detail

configureMotors

public void configureMotors()

Specified by:

configureMotors in class LightningDrivetrain

setDriveSpeed

public void setDriveSpeed(DrivetrainSpeed speed)

Specified by:

setDriveSpeed in class LightningDrivetrain

getPose

public edu.wpi.first.math.geometry.Pose2d getPose()

Specified by:

getPose in class LightningDrivetrain

getDriveState

public DrivetrainState getDriveState()

Specified by:

getDriveState in class LightningDrivetrain

getGains

public LightningGains getGains()

Specified by:

getGains in class LightningDrivetrain

stop

public void stop()

Specified by:

stop in class LightningDrivetrain

withEachModule

protected void withEachModule(java.util.function.Consumer<SwerveModule> op)

withEachDriveMotor

protected void withEachDriveMotor(java.util.function.Consumer<edu.wpi.first.wpilibj.motorcontrol.MotorController> op)

withEachAzimuthMotor

protected void withEachAzimuthMotor(java.util.function.Consumer<edu.wpi.first.wpilibj.motorcontrol.MotorController> op)