Package frc.robot.services.control.driver.profiles

Class SetpointDriverProfile

java.lang.Object

frc.robot.services.control.GenericControlProfile

frc.robot.services.control.driver.profiles.SetpointDriverProfile

All Implemented Interfaces:

ControlProfile, DriverProfile

public class SetpointDriverProfile
extends GenericControlProfile
implements DriverProfile

A driver profile that generates smooth, kinematically limited setpoints. Limits translational acceleration as a 2D vector to prevent swerve module skewing, and limits rotational acceleration to prevent wheel slip. This is inspired by 254's approach.

Field Summary

Fields inherited from class frc.robot.services.control.GenericControlProfile

controller

Constructor Summary

Constructors

Constructor	Description
SetpointDriverProfile(XboxController controller, LinearVelocity maxLinearVelocity, LinearAcceleration maxLinearAcceleration, AngularVelocity maxAngularVelocity, AngularAcceleration maxAngularAcceleration, Supplier<ChassisSpeeds> currentSpeedsSupplier, BooleanSupplier isRobotReadyToFire)	Constructs a SetpointDriverProfile.

Method Summary

Modifier and Type	Method	Description
ChassisSpeeds	getDesiredSpeeds()	Returns the desired chassis speeds based on joystick input.
double	getLeftRumble()	Returns the left rumble value for the controller.
double	getRightRumble()	Returns the right rumble value for the controller.
boolean	wantsAim()	Returns whether the driver wants to aim.
boolean	wantsReset()	Returns whether the driver wants to reset the robot pose.
boolean	wantsShoot()	Returns whether the driver wants to shoot.

Methods inherited from class frc.robot.services.control.GenericControlProfile

getHID, isConnected

Methods inherited from class java.lang.Object

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

Methods inherited from interface frc.robot.services.control.ControlProfile

getHID, isConnected

Constructor Details

SetpointDriverProfile

public SetpointDriverProfile(XboxController controller,
 LinearVelocity maxLinearVelocity,
 LinearAcceleration maxLinearAcceleration,
 AngularVelocity maxAngularVelocity,
 AngularAcceleration maxAngularAcceleration,
 Supplier<ChassisSpeeds> currentSpeedsSupplier,
 BooleanSupplier isRobotReadyToFire)

Constructs a SetpointDriverProfile.

Parameters:

controller - The Xbox controller used for input.

maxLinearVelocity - The maximum linear velocity allowed.

maxLinearAcceleration - The maximum linear acceleration allowed.

maxAngularVelocity - The maximum angular velocity allowed.

maxAngularAcceleration - The maximum angular acceleration allowed.

currentSpeedsSupplier - Supplier for the robot's actual measured speeds.

isRobotReadyToFire - BooleanSupplier indicating if the robot is ready to fire.

Method Details

getLeftRumble

public double getLeftRumble()

Description copied from interface: ControlProfile

Returns the left rumble value for the controller.

Specified by:

getLeftRumble in interface ControlProfile

Overrides:

getLeftRumble in class GenericControlProfile

Returns:

The left rumble intensity (0.0-1.0).

getRightRumble

public double getRightRumble()

Description copied from interface: ControlProfile

Returns the right rumble value for the controller.

Specified by:

getRightRumble in interface ControlProfile

Overrides:

getRightRumble in class GenericControlProfile

Returns:

The right rumble intensity (0.0-1.0).

getDesiredSpeeds

public ChassisSpeeds getDesiredSpeeds()

Description copied from interface: DriverProfile

Returns the desired chassis speeds based on joystick input.

Specified by:

getDesiredSpeeds in interface DriverProfile

Returns:

The desired ChassisSpeeds.

wantsAim

public boolean wantsAim()

Description copied from interface: DriverProfile

Returns whether the driver wants to aim.

Specified by:

wantsAim in interface DriverProfile

Returns:

True if aiming is requested.

wantsShoot

public boolean wantsShoot()

Description copied from interface: DriverProfile

Returns whether the driver wants to shoot.

Specified by:

wantsShoot in interface DriverProfile

Returns:

True if shooting is requested.

wantsReset

public boolean wantsReset()

Description copied from interface: DriverProfile

Returns whether the driver wants to reset the robot pose.

Specified by:

wantsReset in interface DriverProfile

Returns:

True if reset is requested.