Swerve
constructor(xPID: ProfiledPIDController, yPID: ProfiledPIDController, twistPID: PIDController, twistTrapConstraints: TrapezoidProfile.Constraints, angleDeadzone: Double, positionDeadzone: Double, swo: SwerveOdometry, swerveSystem: SwerveDriveTrain, gyro: GenericGyro, debugLogging: Boolean = false, field2d: Optional<Field2d> = Optional.empty())
Parameters
x
The PID controller for the x axis
y
The PID controller for the y axis
twist
The PID controller for the twist axis
twist
The constraints for the twist PID controller
angle
The deadzone for the twist PID controller
position
The deadzone for the x and y PID controllers
swo
The swerve odometry object
swerve
The swerve drive train object
gyro
The gyro object
debug
Whether or not to log debug information to the console
field2d
The field2d object to update