Package com.marswars.swerve_lib

Class ChassisRequest.RobotCentricFacingAngle

java.lang.Object
com.marswars.swerve_lib.ChassisRequest.RobotCentricFacingAngle
All Implemented Interfaces:
ChassisRequest
Enclosing interface:
ChassisRequest
public static class ChassisRequest.RobotCentricFacingAngle extends Object implements ChassisRequest
Applies robot-relative chassis speeds while maintaining a field-centric facing angle. This allows the robot to move in any direction relative to itself while independently controlling its orientation to face a specific field-relative direction.

  • Field Details

    • Speeds

      public ChassisSpeeds Speeds
      The robot-relative chassis speeds to apply to the drivetrain.

    • TargetDirection

      public Rotation2d TargetDirection
      The direction the robot should face. 0 Degrees is defined as in the direction of the X axis.

    • Deadband

      public double Deadband
      The allowable deadband of the request.

    • RotationalDeadband

      public double RotationalDeadband
      The rotational deadband of the request.

    • MaxAbsRotationalRate

      public double MaxAbsRotationalRate
      The maximum absolute rotational rate of the request.

    • HeadingFeedforward

      public double HeadingFeedforward
      Feedforward rotational velocity in rad/s to add to the PID output.

    • CenterOfRotation

      public Translation2d CenterOfRotation
      The center of rotation the robot should rotate around. This is (0,0) by default, which will rotate around the center of the robot.

    • DriveRequestType

      public Module.DriveControlMode DriveRequestType
      The type of control request to use for the drive motor.

    • SteerRequestType

      public Module.SteerControlMode SteerRequestType
      The type of control request to use for the steer motor.

    • HeadingController

      public PhoenixPIDController HeadingController
      The PID controller used to maintain the desired heading. Users can specify the PID gains to change how aggressively to maintain heading.

      This PID controller operates on heading radians and outputs a target rotational rate in radians per second.

  • Constructor Details

    • RobotCentricFacingAngle

      public RobotCentricFacingAngle()

  • Method Details

    • apply

      public void apply(ChassisRequest.ChassisRequestParameters parameters, Module... modulesToApply)
      Applies this swerve request to the given modules. This is typically called by the SwerveDrivetrain.
      Specified by:
      apply in interface ChassisRequest
      Parameters:
      parameters - Parameters the control request needs to calculate the module state
      modulesToApply - Modules to which the control request is applied

    • withSpeeds

      public ChassisRequest.RobotCentricFacingAngle withSpeeds(ChassisSpeeds speeds)
      Sets the robot-relative chassis speeds to apply to the drivetrain.
      Parameters:
      speeds - Robot-relative chassis speeds to apply
      Returns:
      this request

    • withTargetHeading

      public ChassisRequest.RobotCentricFacingAngle withTargetHeading(Rotation2d targetDirection)
      Sets the desired direction to face. 0 Degrees is defined as in the direction of the X axis. As a result, a TargetDirection of 90 degrees will point along the Y axis, or to the left.
      Parameters:
      targetDirection - Desired direction to face
      Returns:
      this request

    • withDeadband

      public ChassisRequest.RobotCentricFacingAngle withDeadband(double deadband)
      Sets the allowable deadband of the request.
      Parameters:
      deadband - Allowable deadband of the request
      Returns:
      this request

    • withRotationalDeadband

      public ChassisRequest.RobotCentricFacingAngle withRotationalDeadband(double rotationalDeadband)
      Sets the rotational deadband of the request.
      Parameters:
      rotationalDeadband - Rotational deadband of the request
      Returns:
      this request

    • withMaxAbsRotationalRate

      public ChassisRequest.RobotCentricFacingAngle withMaxAbsRotationalRate(double maxAbsRotationalRate)
      Sets the maximum absolute rotational rate of the request.
      Parameters:
      maxAbsRotationalRate - The maximum absolute rotational rate
      Returns:
      this request

    • withCenterOfRotation

      public ChassisRequest.RobotCentricFacingAngle withCenterOfRotation(Translation2d centerOfRotation)
      Sets the center of rotation of the request
      Parameters:
      centerOfRotation - The center of rotation the robot should rotate around.
      Returns:
      this request

    • withDriveRequestType

      public ChassisRequest.RobotCentricFacingAngle withDriveRequestType(Module.DriveControlMode driveRequestType)
      Sets the type of control request to use for the drive motor.
      Parameters:
      driveRequestType - The type of control request to use for the drive motor
      Returns:
      this request

    • withSteerRequestType

      public ChassisRequest.RobotCentricFacingAngle withSteerRequestType(Module.SteerControlMode steerRequestType)
      Sets the type of control request to use for the steer motor.
      Parameters:
      steerRequestType - The type of control request to use for the steer motor
      Returns:
      this request

    • withHeadingController

      public ChassisRequest.RobotCentricFacingAngle withHeadingController(PhoenixPIDController headingController)
      Sets the PID controller used to maintain the desired heading. Users can specify the PID gains to change how aggressively to maintain heading.
      Parameters:
      headingController - The PID controller used to maintain the desired heading.
      Returns:
      this request

    • withHeadingFeedforward

      public ChassisRequest.RobotCentricFacingAngle withHeadingFeedforward(double headingFeedforward)
      Sets the feedforward rotational velocity to add to the PID output. This improves tracking performance when the target heading is changing.
      Parameters:
      headingFeedforward - Feedforward rotational velocity in rad/s
      Returns:
      this request