SwoLib/cshcyberhawks.swolib.swerve/SwerveDriveTrain

SwerveDriveTrain

class SwerveDriveTrain(val swerveConfiguration: FourWheelSwerveConfiguration, gyro: GenericGyro) : SubsystemBase

The class to control the entire swerve drive train. This can be thought of as the "conductor" for the individual modules.

Parameters

swerveConfiguration

The configuration for the swerve drive train

gyro

The gyro object

Constructors

SwerveDriveTrain

constructor(swerveConfiguration: FourWheelSwerveConfiguration, gyro: GenericGyro)

Types

Companion

object Companion

Functions

addChild

open fun addChild(p0: String, p1: Sendable)

debug

fun debug()

drive

fun drive(input: Vector2, inputTwist: Double, disableFieldOrientation: Boolean = false)

The function to control/coordinate the individual modules to DRIVE in A DIRECTION!!! HOW COOL?

getCurrentCommand

open fun getCurrentCommand(): Command

getDefaultCommand

open fun getDefaultCommand(): Command

getName

open fun getName(): String

getSubsystem

open fun getSubsystem(): String

initSendable

open override fun initSendable(p0: SendableBuilder)

periodic

open fun periodic()

open fun register()

run

open fun run(p0: Runnable): CommandBase

runEnd

open fun runEnd(p0: Runnable, p1: Runnable): CommandBase

runOnce

open fun runOnce(p0: Runnable): CommandBase

setDefaultCommand

open fun setDefaultCommand(p0: Command)

setName

open fun setName(p0: String)

setSubsystem

open fun setSubsystem(p0: String)

simulationPeriodic

open fun simulationPeriodic()

startEnd

open fun startEnd(p0: Runnable, p1: Runnable): CommandBase

Properties

swerveConfiguration

val swerveConfiguration: FourWheelSwerveConfiguration