Package frc.team4373.swerve

Class SwerveInputTransform

java.lang.Object

frc.team4373.swerve.SwerveInputTransform

public class SwerveInputTransform
extends java.lang.Object

A class to transform inputs into the proper swerve outputs.

Constructor Summary

Constructors

Constructor	Description
SwerveInputTransform(double trackwidth, double wheelbase)	Constructs a new swerve input transform for given robot dimensions.

Method Summary

Modifier and Type	Method	Description
WheelVector.VectorSet	calculateBrakeVectors(SwerveDrivetrain.BrakeMode brakeMode)	Calculates a WheelVector.VectorSet for the given brake mode.
WheelVector.VectorSet	processNorthUp(double rotation, double x, double y, double imuAngle)	Produces swerve velocity vectors relative to the field for the given input.
WheelVector.VectorSet	processOwnShipUp(double rotation, double x, double y)	Produces swerve velocity vectors relative to the robot for the given inputs.
WheelVector.VectorSet	processRotation(double rate)	Processes rotational input from the joystick to produce rotational-only movement vectors.
WheelVector.VectorSet	processTranslation(double x, double y)	Processes x-y input from the joystick to produce translational-only movement vectors.

Methods inherited from class java.lang.Object

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

Constructor Detail

SwerveInputTransform

public SwerveInputTransform(double trackwidth,
                            double wheelbase)

Constructs a new swerve input transform for given robot dimensions.

Parameters:

trackwidth - the robot's trackwidth (unit-agnostic; units must match wheelbase).

wheelbase - the robot's wheelbase (unit-agnostic; units must match trackwidth).

Method Detail

processNorthUp

public WheelVector.VectorSet processNorthUp(double rotation,
                                            double x,
                                            double y,
                                            double imuAngle)

Produces swerve velocity vectors relative to the field for the given input.

See https://www.chiefdelphi.com/t/107383

Parameters:

rotation - the rotation of the joystick (CW is positive)

x - the x coordinate of the joystick (right is positive)

y - the y coordinate of the joystick (forward is positive)

imuAngle - the current heading of the robot

Returns:

a WheelVector.VectorSet of velocity vectors.

processOwnShipUp

public WheelVector.VectorSet processOwnShipUp(double rotation,
                                              double x,
                                              double y)

Produces swerve velocity vectors relative to the robot for the given inputs.

Parameters:

rotation - the rotation of the joystick (CW is positive)

x - the x coordinate of the joystick (right is positive)

y - the y coordinate of the joystick (forward is positive)

Returns:

a WheelVector.VectorSet of velocity vectors.

processTranslation

public WheelVector.VectorSet processTranslation(double x,
                                                double y)

Processes x-y input from the joystick to produce translational-only movement vectors.

Parameters:

x - the x-coordinate of the joystick's position (right-positive).

y - the y-coordinate of the joystick's position (forward-positive).

Returns:

a WheelVector.VectorSet of translational movement vectors.

processRotation

public WheelVector.VectorSet processRotation(double rate)

Processes rotational input from the joystick to produce rotational-only movement vectors.

Parameters:

rate - the rate of rotation, [-1, 1].

Returns:

a WheelVector.VectorSet of rotational movement vectors.

calculateBrakeVectors

public WheelVector.VectorSet calculateBrakeVectors(SwerveDrivetrain.BrakeMode brakeMode)

Calculates a WheelVector.VectorSet for the given brake mode.

Parameters:

brakeMode - the brake mode for which to calculate vectors.

Returns:

the vectors for the specified brake mode using the configured robot dimensions.