Package io.github.frc5024.lib5k.bases.drivetrain

Class AbstractDriveTrain

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

io.github.frc5024.lib5k.bases.drivetrain.AbstractDriveTrain

All Implemented Interfaces:

Sendable, Subsystem, IDifferentialDrivebase, SafeSystem, java.lang.AutoCloseable

Direct Known Subclasses:

TankDriveTrain

public abstract class AbstractDriveTrain
extends SubsystemBase
implements IDifferentialDrivebase, SafeSystem, java.lang.AutoCloseable

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
protected static class	AbstractDriveTrain.State

Field Summary

Fields

Modifier and Type	Field	Description
protected RobotLogger	logger
protected StateMachine<AbstractDriveTrain.State>	stateMachine

Constructor Summary

Constructors

Constructor	Description
AbstractDriveTrain()	Create an AbstractDriveTrain

Method Summary

Modifier and Type	Method	Description
void	close()
PathFollowerCommand	createPathingCommand(Path path, double epsRadius)	Create and configure a command that will follow a path using this drivetrain.
TurnToCommand	createTurnCommand(Rotation2d heading, Rotation2d epsilon, double maxSpeedPercent, boolean fieldRelative)	Create a new TurnToCommand for this drivetrain.
protected abstract void	enableBrakes(boolean enabled)	TO BE OVERRIDDEN BY THE USER.
protected abstract Rotation2d	getCurrentHeading()	TO BE OVERRIDDEN BY THE USER.
AbstractDriveTrain.State	getCurrentState()	Get the internal state of the DriveTrain
abstract Pose2d	getPose()	Get the robot's current pose
double	getSpeed()	Get the robot's speed in meters per period
abstract Translation2d	getVelocity()	Get the robot's velocity in meters per period
protected abstract void	handleAutonomousRotation(StateMetadata<AbstractDriveTrain.State> meta, Rotation2d goalHeading, Rotation2d epsilon)	State handler for autonomous rotation control
protected abstract void	handleDrivingToPose(StateMetadata<AbstractDriveTrain.State> meta, Translation2d goalPose, Translation2d epsilon)	State handler for driving to a new pose autonomously
protected abstract void	handleGearShift(Gear gear)	TO BE OVERRIDDEN BY THE USER.
protected abstract void	handleOpenLoopControl(StateMetadata<AbstractDriveTrain.State> meta)	State handler for open-loop control
boolean	isAtGoal()	Check if the drivetrain is currently at its goal
void	periodic()
void	reset()	Reset everything
abstract void	resetPose(Pose2d pose)	Set a new pose for the robot
protected abstract void	runIteration()	TO BE OVERRIDDEN BY THE USER.
abstract void	setFrontSide(Chassis.Side side)	Set which side of the chassis is the "front".
void	setGoalHeading(Rotation2d heading, Rotation2d epsilon)	Set a field-relative heading for the robot to face, and immediately start facing it.
void	setGoalPose(Pose2d pose, Translation2d epsilon)	Set a goal pose for the robot to be at, and immediately start driving to it.
void	setGoalPose(Translation2d pose, Translation2d epsilon)	Set a goal pose for the robot to be at, and immediately start driving to it.
abstract void	setMaxSpeedPercent(double maxSpeedPercent)	Set the maximum speed percent
abstract void	setRampRate(double rampTimeSeconds)	TO BE OVERRIDDEN BY THE USER.
void	stop()	Stop everything

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface io.github.frc5024.lib5k.hardware.common.drivebase.IDifferentialDrivebase

getLeftMeters, getRightMeters, getWidthMeters

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

addChild, setName, setName, setName

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

getCurrentCommand, getDefaultCommand, register, setDefaultCommand, simulationPeriodic

Field Detail

logger

protected RobotLogger logger

stateMachine

protected StateMachine<AbstractDriveTrain.State> stateMachine

Constructor Detail

AbstractDriveTrain

public AbstractDriveTrain()

Create an AbstractDriveTrain

Method Detail

handleGearShift

protected abstract void handleGearShift(Gear gear)

TO BE OVERRIDDEN BY THE USER. Handler for gear shifting

Parameters:

gear - Gear to shift to

enableBrakes

protected abstract void enableBrakes(boolean enabled)

TO BE OVERRIDDEN BY THE USER. Handler for enabling the brakes.

Parameters:

enabled - Should brakes be enabled?

getCurrentHeading

protected abstract Rotation2d getCurrentHeading()

TO BE OVERRIDDEN BY THE USER. Getter for the robot's current heading. Clockwise-positive

Returns:

Robot's heading

runIteration

protected abstract void runIteration()

TO BE OVERRIDDEN BY THE USER. Any extra code that needs to be run every loop should go here.

setRampRate

public abstract void setRampRate(double rampTimeSeconds)

TO BE OVERRIDDEN BY THE USER. Handler for ramp rate setting

Parameters:

rampTimeSeconds - Ramp rate time in seconds

setFrontSide

public abstract void setFrontSide(Chassis.Side side)

Set which side of the chassis is the "front". Used in autonomous path following

Parameters:

side - Which side is the new front

getPose

public abstract Pose2d getPose()

Get the robot's current pose

Returns:

Current pose

resetPose

public abstract void resetPose(Pose2d pose)

Set a new pose for the robot

Parameters:

pose - New pose

getVelocity

public abstract Translation2d getVelocity()

Get the robot's velocity in meters per period

Returns:

Velocity

getSpeed

public double getSpeed()

Get the robot's speed in meters per period

Returns:

Robot speed

handleOpenLoopControl

protected abstract void handleOpenLoopControl(StateMetadata<AbstractDriveTrain.State> meta)

State handler for open-loop control

Parameters:

meta - State metadata

setMaxSpeedPercent

public abstract void setMaxSpeedPercent(double maxSpeedPercent)

Set the maximum speed percent

Parameters:

maxSpeedPercent - Maximum speed percent

handleAutonomousRotation

protected abstract void handleAutonomousRotation(StateMetadata<AbstractDriveTrain.State> meta,
                                                 Rotation2d goalHeading,
                                                 Rotation2d epsilon)

State handler for autonomous rotation control

Parameters:

meta - State metadata

goalHeading - Goal heading

epsilon - Rotation epsilon

handleDrivingToPose

protected abstract void handleDrivingToPose(StateMetadata<AbstractDriveTrain.State> meta,
                                            Translation2d goalPose,
                                            Translation2d epsilon)

State handler for driving to a new pose autonomously

Parameters:

meta - State metadata

goalPose - Goal pose

epsilon - Epsilon around the goal pose in meters

setGoalPose

public void setGoalPose(Pose2d pose,
                        Translation2d epsilon)

Set a goal pose for the robot to be at, and immediately start driving to it.

Parameters:

pose - Field-relative pose

epsilon - Pose epsilon in meters

setGoalPose

public void setGoalPose(Translation2d pose,
                        Translation2d epsilon)

Set a goal pose for the robot to be at, and immediately start driving to it.

Parameters:

pose - Field-relative pose

epsilon - Pose epsilon in meters

setGoalHeading

public void setGoalHeading(Rotation2d heading,
                           Rotation2d epsilon)

Set a field-relative heading for the robot to face, and immediately start facing it.

Parameters:

heading - Field-relative heading goal

epsilon - Heading epsilon

periodic

public void periodic()

Specified by:

periodic in interface Subsystem

createPathingCommand

public PathFollowerCommand createPathingCommand(Path path,
                                                double epsRadius)

Create and configure a command that will follow a path using this drivetrain. This returns a builder-style object, where you can chain extra methods to configure the command

Parameters:

path - Path to follow

epsRadius - Radius in meters around the final pose for trigger isFinished()

Returns:

Path following command

createTurnCommand

public TurnToCommand createTurnCommand(Rotation2d heading,
                                       Rotation2d epsilon,
                                       double maxSpeedPercent,
                                       boolean fieldRelative)

Create a new TurnToCommand for this drivetrain.

Parameters:

heading - Desired heading

epsilon - Rotational epsilon

maxSpeedPercent - Maximum speed as a percent

fieldRelative - Is the desired heading field-relative?

Returns:

Generated TurnToCommand object

getCurrentState

public AbstractDriveTrain.State getCurrentState()

Get the internal state of the DriveTrain

Returns:

Current internal state

isAtGoal

public boolean isAtGoal()

Check if the drivetrain is currently at its goal

Returns:

Is currently at goal

stop

public void stop()

Description copied from interface: SafeSystem

Stop everything

Specified by:

stop in interface SafeSystem

reset

public void reset()

Description copied from interface: SafeSystem

Reset everything

Specified by:

reset in interface SafeSystem

close

public void close()
           throws java.lang.Exception

Specified by:

close in interface java.lang.AutoCloseable

Throws:

java.lang.Exception