CommandSwerveDrivetrain Class Reference

Inheritance diagram for CommandSwerveDrivetrain:

Public Member Functions
None	__init__ (self, type drive_motor_type, type steer_motor_type, type encoder_type, swerve.SwerveDrivetrainConstants drivetrain_constants, list[swerve.SwerveModuleConstants] modules)
Command	apply_request (self, Callable[[], swerve.requests.SwerveRequest] request)
	periodic (self)
	slowly (self, bool do)
Command	sys_id_dynamic (self, SysIdRoutine.Direction direction)
Command	sys_id_quasistatic (self, SysIdRoutine.Direction direction)

Public Attributes
	autonpid
	reset_pose
bool	slow = False

Protected Member Functions
	_configure_auto_builder (self)
	_start_sim_thread (self)

Protected Attributes
	_apply_robot_speeds = swerve.requests.ApplyRobotSpeeds()
bool	_has_applied_operator_perspective = False
units.second	_last_sim_time = 0.0
	_rotation_characterization = swerve.requests.SysIdSwerveRotation()
Notifier|None	_sim_notifier = None
	_steer_characterization = swerve.requests.SysIdSwerveSteerGains()
	_sys_id_routine_rotation
	_sys_id_routine_steer
	_sys_id_routine_to_apply = self._sys_id_routine_translation
	_sys_id_routine_translation
	_translation_characterization = swerve.requests.SysIdSwerveTranslation()

Static Protected Attributes
	_BLUE_ALLIANCE_PERSPECTIVE_ROTATION = Rotation2d.fromDegrees(0)
	_RED_ALLIANCE_PERSPECTIVE_ROTATION = Rotation2d.fromDegrees(180)
units	_SIM_LOOP_PERIOD = 0.005

Detailed Description

Class that extends the Phoenix 6 SwerveDrivetrain class and implements
Subsystem so it can easily be used in command-based projects.

Constructor & Destructor Documentation

__init__()

None __init__	(		self,
		type	drive_motor_type,
		type	steer_motor_type,
		type	encoder_type,
		swerve.SwerveDrivetrainConstants	drivetrain_constants,
		list[swerve.SwerveModuleConstants]	modules )

Constructs a CTRE SwerveDrivetrain using the specified constants.

This constructs the underlying hardware devices, so users should not construct
the devices themselves. If they need the devices, they can access them through
getters in the classes.

:param drive_motor_type:     Type of the drive motor
:type drive_motor_type:      type
:param steer_motor_type:     Type of the steer motor
:type steer_motor_type:      type
:param encoder_type:         Type of the azimuth encoder
:type encoder_type:          type
:param drivetrain_constants: Drivetrain-wide constants for the swerve drive
:type drivetrain_constants:  swerve.SwerveDrivetrainConstants
:param modules:              Constants for each specific module
:type modules:               list[swerve.SwerveModuleConstants]

Member Function Documentation

_configure_auto_builder()

_configure_auto_builder ( self )

protected

_start_sim_thread()

_start_sim_thread ( self )

protected

apply_request()

Command apply_request	(		self,
		Callable[[], swerve.requests.SwerveRequest]	request )

Returns a command that applies the specified control request to this swerve drivetrain.

:param request: Lambda returning the request to apply
:type request: Callable[[], swerve.requests.SwerveRequest]
:returns: Command to run
:rtype: Command

periodic()

periodic

(

self

)

slowly()

slowly	(		self,
		bool	do )

sys_id_dynamic()

Command sys_id_dynamic	(		self,
		SysIdRoutine.Direction	direction )

Runs the SysId Dynamic test in the given direction for the routine
specified by self.sys_id_routine_to_apply.

:param direction: Direction of the SysId Dynamic test
:type direction: SysIdRoutine.Direction
:returns: Command to run
:rtype: Command

sys_id_quasistatic()

Command sys_id_quasistatic	(		self,
		SysIdRoutine.Direction	direction )

Runs the SysId Quasistatic test in the given direction for the routine
specified by self.sys_id_routine_to_apply.

:param direction: Direction of the SysId Quasistatic test
:type direction: SysIdRoutine.Direction
:returns: Command to run
:rtype: Command

Member Data Documentation

_apply_robot_speeds

_apply_robot_speeds = swerve.requests.ApplyRobotSpeeds()

protected

_BLUE_ALLIANCE_PERSPECTIVE_ROTATION

_BLUE_ALLIANCE_PERSPECTIVE_ROTATION = Rotation2d.fromDegrees(0)

staticprotected

_has_applied_operator_perspective

bool _has_applied_operator_perspective = False

protected

_last_sim_time

units.second _last_sim_time = 0.0

protected

_RED_ALLIANCE_PERSPECTIVE_ROTATION

_RED_ALLIANCE_PERSPECTIVE_ROTATION = Rotation2d.fromDegrees(180)

staticprotected

_rotation_characterization

_rotation_characterization = swerve.requests.SysIdSwerveRotation()

protected

_SIM_LOOP_PERIOD

_SIM_LOOP_PERIOD = 0.005

staticprotected

_sim_notifier

Notifier | None _sim_notifier = None

protected

_steer_characterization

_steer_characterization = swerve.requests.SysIdSwerveSteerGains()

protected

_sys_id_routine_rotation

_sys_id_routine_rotation

protected

Initial value:

=  SysIdRoutine(
            SysIdRoutine.Config(
                # This is in radians per second², but SysId only supports "volts per second"
                rampRate=math.pi / 6,
                # Use dynamic voltage of 7 V
                stepVoltage=7.0,
                # Use default timeout (10 s)
                # Log state with SignalLogger class
                recordState=lambda state: SignalLogger.write_string(
                    "SysIdSteer_State", SysIdRoutineLog.stateEnumToString(state)
                ),
            ),
            SysIdRoutine.Mechanism(
                lambda output: (
                    # output is actually radians per second, but SysId only supports "volts"
                    self.set_control(
                        self._rotation_characterization.with_rotational_rate(output)
                    ),
                    # also log the requested output for SysId
                    # SignalLogger.write_double("Rotational_Rate", output),
                ),
                lambda log: None,
                self,
            ),
        )

_sys_id_routine_steer

_sys_id_routine_steer

protected

Initial value:

=  SysIdRoutine(
            SysIdRoutine.Config(
                # Use default ramp rate (1 V/s) and timeout (10 s)
                # Use dynamic voltage of 7 V
                stepVoltage=7.0,
                # Log state with SignalLogger class
                recordState=lambda state: SignalLogger.write_string(
                    "SysIdSteer_State", SysIdRoutineLog.stateEnumToString(state)
                ),
            ),
            SysIdRoutine.Mechanism(
                lambda output: self.set_control(
                    self._steer_characterization.with_volts(output)
                ),
                lambda log: None,
                self,
            ),
        )

_sys_id_routine_to_apply

_sys_id_routine_to_apply = self._sys_id_routine_translation

protected

_sys_id_routine_translation

_sys_id_routine_translation

protected

Initial value:

=  SysIdRoutine(
            SysIdRoutine.Config(
                # Use default ramp rate (1 V/s) and timeout (10 s)
                # Reduce dynamic voltage to 4 V to prevent brownout
                stepVoltage=4.0,
                # Log state with SignalLogger class
                recordState=lambda state: SignalLogger.write_string(
                    "SysIdTranslation_State", SysIdRoutineLog.stateEnumToString(state)
                ),
            ),
            SysIdRoutine.Mechanism(
                lambda output: self.set_control(
                    self._translation_characterization.with_volts(output)
                ),
                lambda log: None,
                self,
            ),
        )

_translation_characterization

_translation_characterization = swerve.requests.SysIdSwerveTranslation()

protected

autonpid

autonpid

reset_pose

reset_pose

slow

bool slow = False

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The documentation for this class was generated from the following file:

• /home/axolotl/FRC-2025/subsystems/drivetrain.py