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

Class DualPIDTankDriveTrain

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

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

io.github.frc5024.lib5k.bases.drivetrain.implementations.TankDriveTrain

io.github.frc5024.lib5k.bases.drivetrain.implementations.DualPIDTankDriveTrain

All Implemented Interfaces:

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

public abstract class DualPIDTankDriveTrain
extends TankDriveTrain

DualPIDTankDriveTrain is a TankDriveTrain implementation that uses two PID controllers to control autonomous robot movement

Nested Class Summary

Nested classes/interfaces inherited from class io.github.frc5024.lib5k.bases.drivetrain.AbstractDriveTrain

AbstractDriveTrain.State

Field Summary

Fields inherited from class io.github.frc5024.lib5k.bases.drivetrain.implementations.TankDriveTrain

maxSpeedPercent

Fields inherited from class io.github.frc5024.lib5k.bases.drivetrain.AbstractDriveTrain

logger, stateMachine

Constructor Summary

Constructors

Constructor	Description
DualPIDTankDriveTrain(Controller rotationController)	Create a new DualPIDTankDriveTrain
DualPIDTankDriveTrain(Controller rotationController, double Kr)	Create a new DualPIDTankDriveTrain

Method Summary

Modifier and Type	Method	Description
protected void	handleAutonomousRotation(StateMetadata<AbstractDriveTrain.State> meta, Rotation2d goalHeading, Rotation2d epsilon)	State handler for autonomous rotation control
protected void	handleDrivingToPose(StateMetadata<AbstractDriveTrain.State> meta, Translation2d goalPose, Translation2d epsilon)	State handler for driving to a new pose autonomously
void	reset()	Reset everything

Methods inherited from class io.github.frc5024.lib5k.bases.drivetrain.implementations.TankDriveTrain

calculateThrottleCorrectionFactor, enableConstantCurvature, getFrontSide, getPose, getVelocity, handleDriverInputs, handleOpenLoopControl, handleVoltage, periodic, resetEncoders, resetPose, setEncodersInverted, setFrontSide, setMaxSpeedPercent, setMotorsInverted, setOpenLoop, setOpenLoop, stop

Methods inherited from class io.github.frc5024.lib5k.bases.drivetrain.AbstractDriveTrain

close, createPathingCommand, createTurnCommand, enableBrakes, getCurrentHeading, getCurrentState, getSpeed, handleGearShift, isAtGoal, runIteration, setGoalHeading, setGoalPose, setGoalPose, setRampRate

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

Constructor Detail

DualPIDTankDriveTrain

public DualPIDTankDriveTrain(Controller rotationController)

Create a new DualPIDTankDriveTrain

Parameters:

rotationController - Controller for rotation control

DualPIDTankDriveTrain

public DualPIDTankDriveTrain(Controller rotationController,
                             double Kr)

Create a new DualPIDTankDriveTrain

Parameters:

rotationController - Controller for rotation control

Kr - Rotational P gain for path following

Method Detail

handleAutonomousRotation

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

Description copied from class: AbstractDriveTrain

State handler for autonomous rotation control

Specified by:

handleAutonomousRotation in class AbstractDriveTrain

Parameters:

meta - State metadata

goalHeading - Goal heading

epsilon - Rotation epsilon

handleDrivingToPose

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

Description copied from class: AbstractDriveTrain

State handler for driving to a new pose autonomously

Specified by:

handleDrivingToPose in class AbstractDriveTrain

Parameters:

meta - State metadata

goalPose - Goal pose

epsilon - Epsilon around the goal pose in meters

reset

public void reset()

Description copied from interface: SafeSystem

Reset everything

Specified by:

reset in interface SafeSystem

Overrides:

reset in class TankDriveTrain