swerve package

Submodules

swerve.swerve_drive module

Implements a full swerve drive.

class swerve.swerve_drive.SwerveDrive(length, width, config_tuples)

Bases: object

drive(forward, strafe, rotate_cw, max_wheel_speed=370)

Compute and apply module angles and speeds to achieve a given linear / angular velocity.

All control inputs (arguments) are assumed to be in a robot oriented reference frame. In addition, all values are (for now) assumed to fall within the range [0, 1].

Parameters:

• forward (number) – The desired, relative forward motion of the robot.
• strafe (number) – The desired, relative sideways motion of the robot.
• rotate_cw (number) – The desired rotational speed of the robot.

drive_angle_distance(angle_rad, dist_ticks)

get_closed_loop_error()

get_module_distances()

load_config_values()

Load configuration values for all modules within this swerve drive.

reset_drive_position()

save_config_values()

Save configuration values for all modules within this swerve drive.

set_all_module_angles(angle_rad)

set_all_module_dist_ticks(dist_ticks)

set_all_module_speeds(speed, direct=False)

turn_to_angle(imu, target_angle)

update_smart_dashboard()

Update Smart Dashboard for all modules within this swerve drive.

swerve.swerve_module module

Implements common logic for swerve modules.

class swerve.swerve_module.SwerveModule(name, steer_id, drive_id)

Bases: object

apply_control_values(angle_radians, speed, direct=False)

Set a steering angle and a drive speed simultaneously.

Parameters:

• angle_radians (number) – The desired angle to steer towards.
• percent_speed (number) – The desired percentage speed to drive at.

See also

set_drive_speed() and set_steer_angle()

get_steer_angle()

Get the current angular position of the swerve module in radians.

load_config_values()

Load saved configuration values for this module via WPILib’s Preferences interface.

The key names are derived from the name passed to the constructor.

reset_drive_position()

save_config_values()

Save configuration values for this module via WPILib’s Preferences interface.

set_drive_distance(ticks)

set_drive_speed(speed, direct=False)

Drive the swerve module wheels at a given percentage of maximum power or speed.

Parameters:percent_speed (number) – The speed to drive the module at, expressed as a percentage of maximum speed. Negative values drive in reverse.

set_steer_angle(angle_radians)

Steer the swerve module to the given angle in radians. angle_radians should be within \([-2\pi, 2\pi]\). This method attempts to find the shortest path to the given steering angle; thus, it may in actuality servo to the position opposite the passed angle and reverse the drive direction. :param angle_radians: The angle to steer towards in radians,

where 0 points in the chassis forward direction.

update_smart_dashboard()

Push various pieces of info to the Smart Dashboard.

This method calls to NetworkTables (eventually), thus it may be _slow_.

As of right now, this displays the current raw absolute encoder reading from the steer Talon, and the current target steer position.

Module contents