Package com.marswars.swerve_lib
package com.marswars.swerve_lib
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ClassDescriptionContainer for all the Swerve Requests.Accepts a generic ChassisSpeeds to apply to the drivetrain.Accepts a generic Field Relative ChassisSpeeds to apply to the drivetrain.Contains everything the control requests need to calculate the module state.Drives the swerve drivetrain in a field-centric manner.Drives the swerve drivetrain in a field-centric manner, maintaining a specified heading angle to ensure the robot is facing the desired directionDoes nothing to the swerve module state.Sets the swerve drive modules to point to a specified direction.Drives the swerve drivetrain in a robot-centric manner.Applies robot-relative chassis speeds while maintaining a field-centric facing angle.Sets the swerve drive module states to point inward on the robot in an "X" fashion, creating a natural brake which will oppose any motion.The reference for "forward" is sometimes different if you're talking about field relative.Provides an interface for asynchronously reading high-frequency measurements to a set of queues.Immutable configuration container for a full swerve drivetrain.Data containers for time-stamped swerve odometry measurements.Time-stamped gyro measurement.Time-stamped module position measurement.Aggregated time-stamped swerve measurement bundle.Mechanism implementation for a four-module swerve drivetrain.