Inheritance diagram for valor::Swerve:

Public Member Functions
	Swerve (std::string name, std::vector< std::pair< BaseController , BaseController > > modules, units::meter_t module_radius, units::meter_t _wheelDiameter, std::vector< int > moduleCoordsX, std::vector< int > moduleCoordsY, units::meter_t driveBaseRadius)

void	analyzeDashboard () override
	Synchronize dashboard data (both read and write)

void	assignOutputs () override
	Read subsystem state and send motor commands.

void	LoggablePeriodic () override
	Periodic callback for logging updates.

void	reset () override
	Reset all subsystem state.

void	SimulationPeriodic () override

frc::Pose2d	getRawPose ()

frc::Pose2d	getCalculatedPose ()

void	setupGyro (int, const char *, units::degree_t, units::degree_t, units::degree_t)

void	resetGyro ()

frc::Rotation2d	getGyro ()

void	resetOdometry (frc::Pose2d pose)

void	resetEncoders ()

wpi::array< frc::SwerveModulePosition, MODULE_COUNT >	getModulePositions ()
	Retrieves the current position of each swerve module.

wpi::array< frc::SwerveModuleState, MODULE_COUNT >	getModuleStates ()
	Retrieves the current state (speed and angle) of each swerve module.

wpi::array< frc::SwerveModuleState, MODULE_COUNT >	calculateModuleStates (frc::ChassisSpeeds chassisSpeeds, bool isFOC)
	Calculates the desired swerve module states based on chassis speeds.

void	updateAngularPosition ()

void	drive (units::velocity::meters_per_second_t vx_mps, units::velocity::meters_per_second_t vy_mps, units::angular_velocity::radians_per_second_t omega_radps, bool isFOC)
	Drives the robot with given x, y, and rotational velocities. This function internally converts the individual speed components into a `frc::ChassisSpeeds` object and calls the overloaded `drive(frc::ChassisSpeeds, bool)` method.

void	drive (frc::ChassisSpeeds _chassisSpeeds, bool isFOC)
	Drives the robot using specified chassis speeds. This is the primary drive method that calculates and sets the desired states for each swerve module.

void	driveRobotRelative (frc::ChassisSpeeds speeds)
	Drives the robot relative to its own orientation. This method calculates swerve module states based on the provided chassis speeds, assuming robot-oriented control.

double	getSkiddingRatio ()

bool	isRobotSkidding ()

void	updateAngularAcceleration ()
	Updates the calculated angular acceleration of the robot. This function uses the current and previous yaw rates from the gyroscope to compute the angular acceleration.

units::angular_acceleration::radians_per_second_squared_t	getSmoothedAngularAcceleration ()

double	rotationLerping (double)

void	followTrajectory (const choreo::SwerveSample &sample)

units::meter_t	getDriveBaseRadius ()

Public Member Functions inherited from valor::BaseSubsystem
	BaseSubsystem (std::string name)
	Construct a new Valor Subsystem object.

virtual void	assessInputs ()
	Read controller logic and set subsystem state.

void	setGamepads (valor::Gamepad _operatorGamepad, valor::Gamepad _driverGamepad)

Public Member Functions inherited from valor::Loggable
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.

void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.

void	setLoggingPeriod (units::millisecond_t period)
	Set the minimum period between LoggablePeriodic() invocations.

template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)

template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)

template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Public Attributes
CharMode::MODE_OPTIONS	selectedTest

frc::Pose2d	cachedRawPose

frc::Pose2d	cachedCalculatedPose

frc::Pose2d	cachedPredictedPose

frc::ChassisSpeeds	cachedChassisFieldSpeed

frc::ChassisSpeeds	cachedRobotRelativeSpeed

Protected Member Functions
void	enableCarpetGrain (double grainMultiplier, bool roughTowardsRed)

frc::ChassisSpeeds	vectorLockedSpeeds (const frc::ChassisSpeeds speeds, const frc::Rotation2d heading)

frc::ChassisSpeeds	getRobotRelativeSpeeds ()

frc::ChassisSpeeds	getFieldRelativeSpeeds ()

void	setSwerveDesiredState (wpi::array< frc::SwerveModuleState, MODULE_COUNT > desiredStates, bool isDriveOpenLoop)

void	startOdomThread (units::hertz_t freq)

void	updateOdometry ()

Protected Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.

	Loggable ()
	Default construct an uninitialized Loggable.

virtual	~Loggable ()=default
	Virtual destructor.

virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.

template<typename T >
T	WriteLog (std::string_view field, const T &data)
	Publish a value to NetworkTables under the given field.

template<typename T >
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.

Static Protected Member Functions
static frc::ChassisSpeeds	reflectDriveSpeeds (const frc::ChassisSpeeds unreflectedSpeeds)

Protected Attributes
double	xSpeed

double	ySpeed

double	rotSpeed

frc::ChassisSpeeds	commandedSpeeds

units::meters_per_second_t	maxDriveSpeed

units::radians_per_second_t	maxRotationSpeed

std::unique_ptr< ctre::phoenix6::hardware::Pigeon2 >	pigeon

std::unique_ptr< frc::SwerveDriveKinematics< MODULE_COUNT > >	kinematics

util::Locked< std::unique_ptr< frc::SwerveDrivePoseEstimator< MODULE_COUNT > > >	rawEstimator

util::Locked< std::unique_ptr< frc::SwerveDrivePoseEstimator< MODULE_COUNT > > >	calcEstimator

bool	toast

units::radian_t	angularPosition = 0_rad

wpi::array< frc::SwerveModuleState, MODULE_COUNT >	testModeDesiredStates {wpi::empty_array}

std::vector< valor::SwerveModule * >	swerveModules

frc::Timer	resetOdom

Protected Attributes inherited from valor::BaseSubsystem
valor::Gamepad *	operatorGamepad

valor::Gamepad *	driverGamepad

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()

Member Function Documentation

◆ analyzeDashboard()

void valor::Swerve::analyzeDashboard ( )

overridevirtual

Synchronize dashboard data (both read and write)

The analyzeDashboard function runs at all times (disabled, auto, and teleop). The intent of the function is to send sensor and state information from the robot to the Driver Station for debugging. Additionally, driver commands and data can be sent from the Driver Station to the robot and collected in this function.

ALL network table and sensor logic should be in this function as both network table and sensor information should be read at all times, not just during teleop since auto will never get that information.

This function is a virtual function and should be implemented by the subsystem.

Reimplemented from valor::BaseSubsystem.

◆ assignOutputs()

void valor::Swerve::assignOutputs ( )

overridevirtual

Read subsystem state and send motor commands.

This function runs during teleop and auto, but not disabled. This is because the function is intended to control motors and should not send motor outputs when the robot is disabled. assignOutputs should read the subsystem state set in assessInputs and analyzeDashboard and create motor commands.

Note that state should be READ and not be written to (the opposite of assessInputs). The big rule to obey with this function is that other subsystem's state should never be written to. For example, if sensors in subsystem A determine outputs for subsystem A AND subsystem B, then the sensor should live in both subsystems instead of subsystem A trying to write results in subsystem B. This will make logic easier to understand for all developers.

Suggested flow:

Read subsystem state
Set motor output based on those states in if statements
- The higher up in the if statement, the higher the priority of the motor output

This function is a virtual function and should be implemented by the subsystem.

Reimplemented from valor::BaseSubsystem.

◆ calculateModuleStates()

wpi::array< frc::SwerveModuleState, MODULE_COUNT > valor::Swerve::calculateModuleStates	(	frc::ChassisSpeeds	chassisSpeeds,
		bool	isFOC )

Calculates the desired swerve module states based on chassis speeds.

Parameters

chassisSpeeds	An `frc::ChassisSpeeds` object containing the desired robot velocities (vx, vy, omega).
isFOC	True if the `chassisSpeeds` are field-oriented, false if robot-oriented.

Returns: An array of frc::SwerveModuleState objects, representing the calculated state for each module.

◆ drive() [1/2]

void valor::Swerve::drive	(	frc::ChassisSpeeds	_chassisSpeeds,
		bool	isFOC )

Drives the robot using specified chassis speeds. This is the primary drive method that calculates and sets the desired states for each swerve module.

Parameters

_chassisSpeeds	An `frc::ChassisSpeeds` object containing the desired field-relative or robot-relative velocities (vx, vy, omega).
isFOC	True if the `_chassisSpeeds` are field-oriented, false if robot-oriented.

◆ drive() [2/2]

void valor::Swerve::drive	(	units::velocity::meters_per_second_t	vx_mps,
		units::velocity::meters_per_second_t	vy_mps,
		units::angular_velocity::radians_per_second_t	omega_radps,
		bool	isFOC )

Drives the robot with given x, y, and rotational velocities. This function internally converts the individual speed components into a frc::ChassisSpeeds object and calls the overloaded drive(frc::ChassisSpeeds, bool) method.

Parameters

vx_mps	The desired x velocity component in meters per second.
vy_mps	The desired y velocity component in meters per second.
omega_radps	The desired rotational velocity component in radians per second.
isFOC	True if driving field-oriented, false for robot-oriented.

◆ driveRobotRelative()

void valor::Swerve::driveRobotRelative ( frc::ChassisSpeeds speeds )

Drives the robot relative to its own orientation. This method calculates swerve module states based on the provided chassis speeds, assuming robot-oriented control.

Parameters

speeds An frc::ChassisSpeeds object containing the desired robot-relative velocities (vx, vy, omega).

◆ getModulePositions()

wpi::array< frc::SwerveModulePosition, MODULE_COUNT > valor::Swerve::getModulePositions ( )

Retrieves the current position of each swerve module.

Returns: An array of frc::SwerveModulePosition objects, representing the position of each module.

◆ getModuleStates()

wpi::array< frc::SwerveModuleState, MODULE_COUNT > valor::Swerve::getModuleStates ( )

Retrieves the current state (speed and angle) of each swerve module.

Returns: An array of frc::SwerveModuleState objects, representing the state of each module.

◆ getRawPose()

frc::Pose2d valor::Swerve::getRawPose ( )

Returns the position of the robot on the field in meters

Returns: the pose of the robot

◆ LoggablePeriodic()

void valor::Swerve::LoggablePeriodic ( )

overridevirtual

Periodic callback for logging updates.

If a derived class needs to perform periodic updates to published values, override this method. It is intended to be called by the logging framework; this base class provides an empty implementation.

Reimplemented from valor::Loggable.

◆ reset()

void valor::Swerve::reset ( )

overridevirtual

Reset all subsystem state.

Use this function to set the subsystem state to default values, as well as set the motor outputs to 0 so the robot doesn't "lurch" when booting up due to phantom state (aka. state that was previously set but hasn't been reset yet).

This function is a virtual function and should be implemented by the subsystem.

Reimplemented from valor::BaseSubsystem.

◆ resetOdometry()

void valor::Swerve::resetOdometry ( frc::Pose2d pose )

Reset the robot's position on the field. Any accumulted gyro drift will be noted and accounted for in subsequent calls to getPoseMeters()

Parameters

pose	The robot's actual position on the field

The documentation for this class was generated from the following file:

src/main/include/valkyrie/drivetrain/Swerve.h

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ analyzeDashboard()

◆ assignOutputs()

◆ calculateModuleStates()

◆ drive() [1/2]

◆ drive() [2/2]

◆ driveRobotRelative()

◆ getModulePositions()

◆ getModuleStates()

◆ getRawPose()

◆ LoggablePeriodic()

◆ reset()

◆ resetOdometry()