Class TunerConstants.TunerSwerveDrivetrain

java.lang.Object

com.ctre.phoenix6.swerve.SwerveDrivetrain<TalonFX,TalonFX,CANcoder>

org.teamvan.robot.generated.TunerConstants.TunerSwerveDrivetrain

All Implemented Interfaces:

AutoCloseable

Enclosing class:

TunerConstants

public static class TunerConstants.TunerSwerveDrivetrain
extends SwerveDrivetrain<TalonFX,TalonFX,CANcoder>

Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types.

Nested Class Summary

Nested classes/interfaces inherited from class SwerveDrivetrain

SwerveDrivetrain.DeviceConstructor<DeviceT>, SwerveDrivetrain.OdometryThread, SwerveDrivetrain.SwerveControlParameters, SwerveDrivetrain.SwerveDriveState

Field Summary

Fields inherited from class SwerveDrivetrain

kNumConfigAttempts, m_drivetrainId

Constructor Summary

Constructors

Constructor	Description
TunerSwerveDrivetrain(SwerveDrivetrainConstants drivetrainConstants, double odometryUpdateFrequency, SwerveModuleConstants<?,?,?>... modules)	Constructs a CTRE SwerveDrivetrain using the specified constants.
TunerSwerveDrivetrain(SwerveDrivetrainConstants drivetrainConstants, double odometryUpdateFrequency, Matrix<N3,N1> odometryStandardDeviation, Matrix<N3,N1> visionStandardDeviation, SwerveModuleConstants<?,?,?>... modules)	Constructs a CTRE SwerveDrivetrain using the specified constants.
TunerSwerveDrivetrain(SwerveDrivetrainConstants drivetrainConstants, SwerveModuleConstants<?,?,?>... modules)	Constructs a CTRE SwerveDrivetrain using the specified constants.

Method Summary

Methods inherited from class SwerveDrivetrain

addVisionMeasurement, addVisionMeasurement, close, configNeutralMode, configNeutralMode, getKinematics, getModule, getModuleLocations, getModules, getOdometryFrequency, getOdometryFrequencyMeasure, getOdometryThread, getOperatorForwardDirection, getPigeon2, getRotation3d, getState, getStateCopy, isOdometryValid, isOnCANFD, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, registerTelemetry, resetPose, resetRotation, resetTranslation, samplePoseAt, seedFieldCentric, seedFieldCentric, setControl, setOperatorForwardDirection, setStateStdDevs, setVisionMeasurementStdDevs, tareEverything, updateSimState

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

TunerSwerveDrivetrain

public TunerSwerveDrivetrain(SwerveDrivetrainConstants drivetrainConstants,
 SwerveModuleConstants<?,?,?>... modules)

Constructs a CTRE SwerveDrivetrain using the specified constants.

This constructs the underlying hardware devices, so users should not construct the devices themselves. If they need the devices, they can access them through getters in the classes.

Parameters:

drivetrainConstants - Drivetrain-wide constants for the swerve drive

modules - Constants for each specific module

TunerSwerveDrivetrain

public TunerSwerveDrivetrain(SwerveDrivetrainConstants drivetrainConstants,
 double odometryUpdateFrequency,
 SwerveModuleConstants<?,?,?>... modules)

Constructs a CTRE SwerveDrivetrain using the specified constants.

This constructs the underlying hardware devices, so users should not construct the devices themselves. If they need the devices, they can access them through getters in the classes.

Parameters:

drivetrainConstants - Drivetrain-wide constants for the swerve drive

odometryUpdateFrequency - The frequency to run the odometry loop. If unspecified or set to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0.

modules - Constants for each specific module

TunerSwerveDrivetrain

public TunerSwerveDrivetrain(SwerveDrivetrainConstants drivetrainConstants,
 double odometryUpdateFrequency,
 Matrix<N3,N1> odometryStandardDeviation,
 Matrix<N3,N1> visionStandardDeviation,
 SwerveModuleConstants<?,?,?>... modules)

Constructs a CTRE SwerveDrivetrain using the specified constants.

This constructs the underlying hardware devices, so users should not construct the devices themselves. If they need the devices, they can access them through getters in the classes.

Parameters:

drivetrainConstants - Drivetrain-wide constants for the swerve drive

odometryUpdateFrequency - The frequency to run the odometry loop. If unspecified or set to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0.

odometryStandardDeviation - The standard deviation for odometry calculation in the form [x, y, theta]ᵀ, with units in meters and radians

visionStandardDeviation - The standard deviation for vision calculation in the form [x, y, theta]ᵀ, with units in meters and radians

modules - Constants for each specific module