org.titaniumtitans.frc2022.subsystems.DriveSubsystem Class Reference

Inheritance diagram for org.titaniumtitans.frc2022.subsystems.DriveSubsystem:

Public Member Functions
	DriveSubsystem ()
void	periodic ()
Pose2d	getPose ()
void	resetOdometry (Pose2d pose)
void	resetGyro ()
void	drive (double xSpeed, double ySpeed, double rot)
void	resetEncoders ()
void	zeroHeading ()
double	getHeading ()
double	getTurnRate ()
void	changeDriveMode ()
void	setTestState (double angle)
SwerveModuleState	createTestState (double angle)
void	updateEncoderOffset (double[] angles)

Public Attributes
boolean	fieldRelative = false

Constructor & Destructor Documentation

DriveSubsystem()

org.titaniumtitans.frc2022.subsystems.DriveSubsystem.DriveSubsystem

(

)

Creates a new DriveSubsystem.

Member Function Documentation

drive()

void org.titaniumtitans.frc2022.subsystems.DriveSubsystem.drive	(	double	xSpeed,
		double	ySpeed,
		double	rot
	)

Method to drive the robot using joystick info.

Parameters

xSpeed	Speed of the robot in the x direction (forward).
ySpeed	Speed of the robot in the y direction (sideways).
rot	Angular rate of the robot.

getHeading()

double org.titaniumtitans.frc2022.subsystems.DriveSubsystem.getHeading

(

)

Returns the heading of the robot.

Returns

the robot's heading in degrees, from -180 to 180

getPose()

Pose2d org.titaniumtitans.frc2022.subsystems.DriveSubsystem.getPose

(

)

Returns the currently-estimated pose of the robot.

Returns

The pose.

getTurnRate()

double org.titaniumtitans.frc2022.subsystems.DriveSubsystem.getTurnRate

(

)

Returns the turn rate of the robot.

Returns

The turn rate of the robot, in degrees per second

resetEncoders()

void org.titaniumtitans.frc2022.subsystems.DriveSubsystem.resetEncoders

(

)

Resets the drive encoders to currently read a position of 0.

resetOdometry()

void org.titaniumtitans.frc2022.subsystems.DriveSubsystem.resetOdometry

(

Pose2d

pose

)

Resets the odometry to the specified pose.

Parameters

pose	The pose to which to set the odometry.

updateEncoderOffset()

void org.titaniumtitans.frc2022.subsystems.DriveSubsystem.updateEncoderOffset

(

double[]

angles

)

Updates the magnetic offset of the the absolute encoder

Parameters

angles

The angle offset in degrees of the encoder

zeroHeading()

void org.titaniumtitans.frc2022.subsystems.DriveSubsystem.zeroHeading

(

)

Zeroes the heading of the robot.

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

• src/main/java/org/titaniumtitans/frc2022/subsystems/DriveSubsystem.java