Package com.marslib.swerve

Class SwerveDiagnostics

java.lang.Object
com.marslib.swerve.SwerveDiagnostics
public final class SwerveDiagnostics extends Object
Diagnostic and automated alignment sequences for the Swerve Drive. Handles SystemChecks and WPILib SysId integration.

  • Constructor Summary

    Constructors
    Constructor
    Description
    SwerveDiagnostics(SwerveDrive drive, SwerveModule... modules)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    edu.wpi.first.wpilibj2.command.Command
    finalClimbLineupCommand()
    Open-loop dead-reckoning sequence designed to precisely lock the robot onto the climb chain using predefined translational bump limits.
    edu.wpi.first.wpilibj2.command.Command
    getSystemCheckCommand()
    Verification sequence to ensure Modules are mechanically linked and not browning out.
    edu.wpi.first.wpilibj2.command.Command
    sysIdDynamic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)
     
    edu.wpi.first.wpilibj2.command.Command
    sysIdQuasistatic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)
     

    Methods inherited from class java.lang.Object

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

  • Constructor Details

  • Method Details

    • sysIdQuasistatic

      public edu.wpi.first.wpilibj2.command.Command sysIdQuasistatic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)

    • sysIdDynamic

      public edu.wpi.first.wpilibj2.command.Command sysIdDynamic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)

    • finalClimbLineupCommand

      public edu.wpi.first.wpilibj2.command.Command finalClimbLineupCommand()
      Open-loop dead-reckoning sequence designed to precisely lock the robot onto the climb chain using predefined translational bump limits.

    • getSystemCheckCommand

      public edu.wpi.first.wpilibj2.command.Command getSystemCheckCommand()
      Verification sequence to ensure Modules are mechanically linked and not browning out.