Package frc.robot.commands

Class DriveCommands

java.lang.Object

frc.robot.commands.DriveCommands

public class DriveCommands
extends Object

Factory class for creating commands related to the drivetrain subsystem.

Provides methods for joystick control, PID-assisted rotation, and characterization routines to tune motor controllers.

Method Summary

Modifier and Type	Method	Description
static Command	feedforwardCharacterization(Drive drive)	Measures the velocity feedforward constants (kS and kV) for the drive motors.
static Command	wheelRadiusCharacterization(Drive drive)	Measures the robot's wheel radius by spinning in a circle and comparing gyro rotation to encoder rotation.

Methods inherited from class java.lang.Object

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

Method Details

feedforwardCharacterization

public static Command feedforwardCharacterization(Drive drive)

Measures the velocity feedforward constants (kS and kV) for the drive motors.

This command should only be used in voltage control mode to collect raw data.

Parameters:

drive - The drive subsystem.

Returns:

A command that ramps voltage to collect characterization data.

wheelRadiusCharacterization

public static Command wheelRadiusCharacterization(Drive drive)

Measures the robot's wheel radius by spinning in a circle and comparing gyro rotation to encoder rotation.

Parameters:

drive - The drive subsystem.

Returns:

A command that spins the robot to calculate effective wheel radius.