Package edu.wpi.first.wpilibj2.command

Class SwerveControllerCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.SwerveControllerCommand

All Implemented Interfaces:

Sendable, Command

public class SwerveControllerCommand
extends CommandBase

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

This command outputs the raw desired Swerve Module States (SwerveModuleState) in an array. The desired wheel and module rotation velocities should be taken from those and used in velocity PIDs.

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.

Field Summary

Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

m_requirements

Constructor Summary

Constructors

Constructor	Description
SwerveControllerCommand(Trajectory trajectory, Supplier<Pose2d> pose, SwerveDriveKinematics kinematics, PIDController xController, PIDController yController, ProfiledPIDController thetaController, Consumer<SwerveModuleState[]> outputModuleStates, Subsystem... requirements)	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory.
SwerveControllerCommand(Trajectory trajectory, Supplier<Pose2d> pose, SwerveDriveKinematics kinematics, PIDController xController, PIDController yController, ProfiledPIDController thetaController, Supplier<Rotation2d> desiredRotation, Consumer<SwerveModuleState[]> outputModuleStates, Subsystem... requirements)	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
void	initialize()	The initial subroutine of a command.
boolean	isFinished()	Whether the command has finished.

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

addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName

Methods inherited from class java.lang.Object

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

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

alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, hasRequirement, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout

Constructor Details

SwerveControllerCommand

public SwerveControllerCommand(Trajectory trajectory, Supplier<Pose2d> pose, SwerveDriveKinematics kinematics, PIDController xController, PIDController yController, ProfiledPIDController thetaController, Supplier<Rotation2d> desiredRotation, Consumer<SwerveModuleState[]> outputModuleStates, Subsystem... requirements)

Constructs a new SwerveControllerCommand 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 - use one of the odometry classes to provide this.

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.

outputModuleStates - The raw output module states from the position controllers.

requirements - The subsystems to require.

SwerveControllerCommand

public SwerveControllerCommand(Trajectory trajectory, Supplier<Pose2d> pose, SwerveDriveKinematics kinematics, PIDController xController, PIDController yController, ProfiledPIDController thetaController, Consumer<SwerveModuleState[]> outputModuleStates, Subsystem... requirements)

Constructs a new SwerveControllerCommand 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 - use one of the odometry classes to provide this.

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.

outputModuleStates - The raw output module states from the position controllers.

requirements - The subsystems to require.

Method Details

initialize

public void initialize()

Description copied from interface: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

execute

public void execute()

Description copied from interface: Command

The main body of a command. Called repeatedly while the command is scheduled.

end

public void end(boolean interrupted)

Description copied from interface: Command

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Do not schedule commands here that share requirements with this command. Use Command.andThen(Command...) instead.

Parameters:

interrupted - whether the command was interrupted/canceled

isFinished

public boolean isFinished()

Description copied from interface: Command

Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.

Returns:

whether the command has finished.