Class Swerve

Method Details

• getInstance

  public static Swerve getInstance()

  Returns the singleton instance of the Swerve subsystem. Creates a new instance if one does not exist.

  Returns:

  the Swerve subsystem instance

• setupPathPlanner

  public void setupPathPlanner()

  Configures PathPlanner for autonomous path following. Sets up the necessary callbacks and controllers for autonomous navigation, including pose estimation, odometry reset, and velocity control. Also initializes path finding warm-up for better initial performance.

• driveFieldOriented

  public edu.wpi.first.wpilibj2.command.Command driveFieldOriented(Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> velocity)

  Creates a command to drive the robot in field-oriented mode.

  Example:

  
   Swerve.getInstance().driveFieldOriented(() -> new ChassisSpeeds(1.0, 0.0, 0.5));
   

  Parameters:

  velocity - a supplier that provides the desired chassis speeds in field-oriented coordinates

  Returns:

  a command that continuously updates drive output based on supplied velocities

  See Also:

  • ChassisSpeeds

• lockWheels

  public void lockWheels()

  Locks the swerve modules in an X pattern to prevent the robot from moving. Useful for maintaining position or preparing for disable.

  Example:

  
   Swerve.getInstance().lockWheels();
   

• resetOdometry

  public void resetOdometry()

  Resets the robot's odometry to the center of the field (8.774m, 4.026m), with rotation based on alliance (0° for blue, 180° for red). This is typically used at the start of autonomous routines.

  Example:

  
   Swerve.getInstance().resetOdometry();
   

• getPose

  public edu.wpi.first.math.geometry.Pose2d getPose()

  Retrieves the current estimated pose of the robot on the field.

  Example:

  
   Pose2d currentPose = Swerve.getInstance().getPose();
   

  Returns:

  the current Pose2d representing the robot's position and rotation

• resetOdometry

  public void resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)

  Resets the robot's odometry to a specific pose.

  Example:

  
   Swerve.getInstance().resetOdometry(new Pose2d(new Translation2d(8.0, 4.0), Rotation2d.fromDegrees(90)));
   

  Parameters:

  pose - the Pose2d to set as the robot's current position and rotation

• getRobotVelocity

  public edu.wpi.first.math.kinematics.ChassisSpeeds getRobotVelocity()

  Gets the current velocity of the robot.

  Example:

  
   ChassisSpeeds speeds = Swerve.getInstance().getRobotVelocity();
   

  Returns:

  the ChassisSpeeds representing the robot's current velocity

• getSwerveDrive

  public swervelib.SwerveDrive getSwerveDrive()

  Gets the underlying SwerveDrive object.

  Example:

  
   SwerveDrive drive = Swerve.getInstance().getSwerveDrive();
   

  Returns:

  the SwerveDrive instance used by this subsystem

• driveToPose

  public edu.wpi.first.wpilibj2.command.Command driveToPose(edu.wpi.first.math.geometry.Pose2d targetPose)

  Creates a command to autonomously drive the robot to a specific pose using PathPlanner.

  Example:

  
   Command autoDrive = Swerve.getInstance()
           .driveToPose(new Pose2d(new Translation2d(6.0, 3.0), Rotation2d.fromDegrees(45)));
   

  Parameters:

  targetPose - the target Pose2d to drive to

  Returns:

  a Command that will drive the robot to the specified pose

• getClosestPoint

  public edu.wpi.first.math.geometry.Pose2d getClosestPoint(edu.wpi.first.math.geometry.Pose2d[] points)

  Finds the closest point from an array of positions to the robot's current position. Uses squared distance for optimization to avoid expensive square root operations.

  Parameters:

  points - Array of Pose2d positions to check

  Returns:

  The closest Pose2d from the array, or null if the array is empty

• getClosestPOI

  public edu.wpi.first.math.geometry.Pose2d getClosestPOI(POI[] points)

  Finds the closest point from an array of field POIs to the robot's current position. Takes alliance into account and optimizes calculations for frequent calls.

  Parameters:

  points - Array of POI objects to check

  Returns:

  The Pose2d of the closest POI, or null if the array is empty

• getClosestPOIByTag

  public edu.wpi.first.math.geometry.Pose2d getClosestPOIByTag(POI[] points, String tag)

  Finds the closest POI with a specific tag to the robot's current position. Highly optimized for frequent calls in control loops.

  Parameters:

  points - Array of POI objects to check

  tag - The tag to filter by, or null to check all POIs

  Returns:

  The Pose2d of the closest matching POI, or null if none found

• createPointToClosestSupplier

  public Supplier<edu.wpi.first.math.geometry.Rotation2d> createPointToClosestSupplier(POI[] points, String tag)

  Creates a supplier that returns a Rotation2d pointing toward the closest POI with a specific tag.

  Parameters:

  points - Array of POIs to target

  tag - The tag to filter by, or null to consider all POIs

  Returns:

  A supplier that provides the rotation toward the closest matching POI when called

• createPointToClosestSupplier

  @Deprecated public Supplier<edu.wpi.first.math.geometry.Rotation2d> createPointToClosestSupplier(POI[] points)

  Deprecated.

  For backward compatibility.

  Parameters:

  points - Array of POIs to target.

  Returns:

  A supplier that provides the rotation toward the closest matching POI when called.

• getField2d

  public edu.wpi.first.wpilibj.smartdashboard.Field2d getField2d()

  Get the drivebase's field 2d object.

  Returns:

  the field 2d object

• periodic

  public void periodic()

  Resets the odometry if the robot has not received a global pose from the AprilTag system.