SwerveSubsystem (swerve2025 API)

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

org.penguinempire.subsystems.SwerveSubsystem

All Implemented Interfaces:: edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class SwerveSubsystem extends edu.wpi.first.wpilibj2.command.SubsystemBase

Constructor Summary

Constructors

Constructor

Description

SwerveSubsystem()
Method Summary

Modifier and Type

Method

Description

void

driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)

edu.wpi.first.wpilibj2.command.Command

driveFieldOriented(Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> velocity)

edu.wpi.first.wpilibj2.command.Command

getAutonomousCommand(String pathName)

edu.wpi.first.math.geometry.Pose2d

getPose()

swervelib.SwerveDrive

getSwerveDrive()

void

periodic()

void

setupPathPlanner()

void

simulationPeriodic()

void

zeroGyro()

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
defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, startEnd, startRun

Constructor Details
- SwerveSubsystem
  
  public SwerveSubsystem()
Method Details
- periodic
  
  public void periodic()
- simulationPeriodic
  
  public void simulationPeriodic()
- setupPathPlanner
  
  public void setupPathPlanner()
- getSwerveDrive
  
  public swervelib.SwerveDrive getSwerveDrive()
- driveFieldOriented
  
  public void driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
- zeroGyro
  
  public void zeroGyro()
- getPose
  
  public edu.wpi.first.math.geometry.Pose2d getPose()
- driveFieldOriented
  
  public edu.wpi.first.wpilibj2.command.Command driveFieldOriented(Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> velocity)
- getAutonomousCommand
  
  public edu.wpi.first.wpilibj2.command.Command getAutonomousCommand(String pathName)