Drivetrain#
Read through swerve drive kinematics
The SwerveModule class is used to run individual modules with desired position and velocity for each module calculated in drivetrain.
- public void drive(DriveCommandData driveCommandData)
Calculates and inputs swerve module positions based on drive inputs
- public void resetStartingPose()
Sets field zero to current location
- public void resetDriverPose()
Calibrates robot positon based on being in front of the speaker
- public ChassisSpeeds getChassisSpeeds()
Gets robot velocity from velocity and angle of each module
- public void setToPose(Pose2d pose)
Sets current location to inputed position