WIP Swerve Drive Subsystem

2026-06-08 16:28:05 -06:00 · 2021-11-15 17:27:14 -07:00
parent 7bae37c6a6
commit 0bc2442ec1
1 changed files with 43 additions and 0 deletions
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+public class SwerveDrive
+{
+    SwerveDriveKinematics m_kinematics;
+
+    public SwerveDrive()
+    {
+        double halfWidth = SwerveDriveConstants.WIDTH / 2.d;
+        double halfHeight = SwerveDriveConstants.HEIGHT / 2.d;
+
+        Translation2d m_frontLeftLocation = new Translation2d(halfHeight, halfWidth);
+        Translation2d m_frontRightLocation = new Translation2d(halfHeight, -halfWidth);
+        Translation2d m_backLeftLocation = new Translation2d(-halfHeight, halfWidth);
+        Translation2d m_backRightLocation = new Translation2d(-halfHeight, -halfWidth);
+        
+        m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
+    }
+
+    public void drive(double strafeX, double strafeY, double rotate)
+    {
+        //https://jacobmisirian.gitbooks.io/frc-swerve-drive-programming/content/chapter1.html
+        var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.RotationSpeed /*in rad/s */);
+        // Convert to module states
+        SwerveModuleState[] moduleStates = m_kinematics.toSwerveModuleStates(speeds);
+
+        // Front left module state
+        SwerveModuleState frontLeft = SwerveModuleState.optimize(moduleStates[0], new Rotation2d(/*get encoder positions*/));
+
+        // Front right module state
+        SwerveModuleState frontRight = SwerveModuleState.optimize(moduleStates[1], new Rotation2d(/*get encoder positions*/));
+
+        // Back left module state
+        SwerveModuleState backLeft = SwerveModuleState.optimize(moduleStates[2], new Rotation2d(/*get encoder positions*/));
+
+        // Back right module state
+        SwerveModuleState backRight = SwerveModuleState.optimize(moduleStates[3], new Rotation2d(/*get encoder positions*/));
+    }
+
+    public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)
+    {
+        var speeds = ChassisSpeeds.fromFieldRelativeSpeeds(awayFromStation, towardLeftBoundary, 
+            rotate * SwerveDriveConstants.RotationSpeed, /*get odometry angle*/)
+    }
+}