Inheritance diagram for frc2::SwerveControllerCommand2< NumModules >:

Public Member Functions
	SwerveControllerCommand2 (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, std::function< frc::Rotation2d()> desiredRotation, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::initializer_list< Subsystem * > requirements)

	SwerveControllerCommand2 (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::initializer_list< Subsystem * > requirements)

	SwerveControllerCommand2 (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, std::function< frc::Rotation2d()> desiredRotation, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, wpi::ArrayRef< Subsystem * > requirements={})

	SwerveControllerCommand2 (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, wpi::ArrayRef< Subsystem * > requirements={})

void	Initialize () override

void	Execute () override

void	End (bool interrupted) override

bool	IsFinished () override

Private Types
using	voltsecondspermeter = units::compound_unit< units::voltage::volt, units::second, units::inverse< units::meter >>

using	voltsecondssquaredpermeter = units::compound_unit< units::voltage::volt, units::squared< units::second >, units::inverse< units::meter >>

Private Attributes
frc::Trajectory	m_trajectory

std::function< frc::Pose2d()>	m_pose

frc::SwerveDriveKinematics< NumModules >	m_kinematics

frc::HolonomicDriveController	m_controller

std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	m_outputStates

std::function< frc::Rotation2d()>	m_desiredRotation

frc2::Timer	m_timer

units::second_t	m_prevTime

frc::Rotation2d	m_finalRotation

Detailed Description

template<size_t NumModules>
class frc2::SwerveControllerCommand2< NumModules >

A command that uses two PID controllers (PIDController) and a ProfiledPIDController (ProfiledPIDController) to follow a trajectory Trajectory with a swerve drive.

The command handles trajectory-following, Velocity PID calculations, and feedforwards internally. This is intended to be a more-or-less "complete solution" that can be used by teams without a great deal of controls expertise.

Advanced teams seeking more flexibility (for example, those who wish to use the onboard PID functionality of a "smart" motor controller) may use the secondary constructor that omits the PID and feedforward functionality, returning only the raw module states from the position PID controllers.

The robot angle controller does not follow the angle given by the trajectory but rather goes to the angle given in the final state of the trajectory.

Definition at line 51 of file SwerveControllerCommand2.h.

Member Typedef Documentation

template<size_t NumModules>

using frc2::SwerveControllerCommand2< NumModules >::voltsecondspermeter = units::compound_unit<units::voltage::volt, units::second, units::inverse<units::meter>>

private

Definition at line 55 of file SwerveControllerCommand2.h.

template<size_t NumModules>

using frc2::SwerveControllerCommand2< NumModules >::voltsecondssquaredpermeter = units::compound_unit<units::voltage::volt, units::squared<units::second>, units::inverse<units::meter>>

private

Definition at line 58 of file SwerveControllerCommand2.h.

Constructor & Destructor Documentation

template<size_t NumModules>

frc2::SwerveControllerCommand2< NumModules >::SwerveControllerCommand2	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc2::PIDController	xController,
		frc2::PIDController	yController,
		frc::ProfiledPIDController< units::radians >	thetaController,
		std::function< frc::Rotation2d()>	desiredRotation,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

Constructs a new SwerveControllerCommand2 that when executed will follow the provided trajectory. This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

Note: The controllers will not set the outputVolts to zero upon completion of the path- this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose, provided by the odometry class.
kinematics	The kinematics for the robot drivetrain.
xController	The Trajectory Tracker PID controller for the robot's x position.
yController	The Trajectory Tracker PID controller for the robot's y position.
thetaController	The Trajectory Tracker PID controller for angle for the robot.
desiredRotation	The angle that the drivetrain should be facing. This is sampled at each time step.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

template<size_t NumModules>

frc2::SwerveControllerCommand2< NumModules >::SwerveControllerCommand2	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc2::PIDController	xController,
		frc2::PIDController	yController,
		frc::ProfiledPIDController< units::radians >	thetaController,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

Constructs a new SwerveControllerCommand2 that when executed will follow the provided trajectory. This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

Note: The controllers will not set the outputVolts to zero upon completion of the path- this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Note 2: The final rotation of the robot will be set to the rotation of the final pose in the trajectory. The robot will not follow the rotations from the poses at each timestep. If alternate rotation behavior is desired, the other constructor with a supplier for rotation should be used.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose, provided by the odometry class.
kinematics	The kinematics for the robot drivetrain.
xController	The Trajectory Tracker PID controller for the robot's x position.
yController	The Trajectory Tracker PID controller for the robot's y position.
thetaController	The Trajectory Tracker PID controller for angle for the robot.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

template<size_t NumModules>

frc2::SwerveControllerCommand2< NumModules >::SwerveControllerCommand2	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc2::PIDController	xController,
		frc2::PIDController	yController,
		frc::ProfiledPIDController< units::radians >	thetaController,
		std::function< frc::Rotation2d()>	desiredRotation,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		wpi::ArrayRef< Subsystem * >	requirements = `{}`
	)

Constructs a new SwerveControllerCommand2 that when executed will follow the provided trajectory. This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

Note: The controllers will not set the outputVolts to zero upon completion of the path- this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose, provided by the odometry class.
kinematics	The kinematics for the robot drivetrain.
xController	The Trajectory Tracker PID controller for the robot's x position.
yController	The Trajectory Tracker PID controller for the robot's y position.
thetaController	The Trajectory Tracker PID controller for angle for the robot.
desiredRotation	The angle that the drivetrain should be facing. This is sampled at each time step.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

template<size_t NumModules>

frc2::SwerveControllerCommand2< NumModules >::SwerveControllerCommand2	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc2::PIDController	xController,
		frc2::PIDController	yController,
		frc::ProfiledPIDController< units::radians >	thetaController,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		wpi::ArrayRef< Subsystem * >	requirements = `{}`
	)

Constructs a new SwerveControllerCommand2 that when executed will follow the provided trajectory. This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

Note: The controllers will not set the outputVolts to zero upon completion of the path- this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Note 2: The final rotation of the robot will be set to the rotation of the final pose in the trajectory. The robot will not follow the rotations from the poses at each timestep. If alternate rotation behavior is desired, the other constructor with a supplier for rotation should be used.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose, provided by the odometry class.
kinematics	The kinematics for the robot drivetrain.
xController	The Trajectory Tracker PID controller for the robot's x position.
yController	The Trajectory Tracker PID controller for the robot's y position.
thetaController	The Trajectory Tracker PID controller for angle for the robot.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.