Package swervelib

Class SwerveInputStream

java.lang.Object

swervelib.SwerveInputStream

All Implemented Interfaces:

Supplier<ChassisSpeeds>

public class SwerveInputStream
extends Object
implements Supplier<ChassisSpeeds>

Helper class to easily transform Controller inputs into workable Chassis speeds. Intended to easily create an interface that generates ChassisSpeeds from XboxController

Inspired by SciBorgs FRC 1155.
Example:

 XboxController driverXbox = new XboxController(0);

 SwerveInputStream driveAngularVelocity = SwerveInputStream.of(drivebase.getSwerveDrive(),
                                                               () -> driverXbox.getLeftY() * -1,
                                                               () -> driverXbox.getLeftX() * -1) // Axis which give the desired translational angle and speed.
                                                           .withControllerRotationAxis(driverXbox::getRightX) // Axis which give the desired angular velocity.
                                                           .deadband(0.01)                  // Controller deadband
                                                           .scaleTranslation(0.8)           // Scaled controller translation axis
                                                           .allianceRelativeControl(true);  // Alliance relative controls.

 SwerveInputStream driveDirectAngle = driveAngularVelocity.copy()  // Copy the stream so further changes do not affect driveAngularVelocity
                                                          .withControllerHeadingAxis(driverXbox::getRightX,
                                                                                     driverXbox::getRightY) // Axis which give the desired heading angle using trigonometry.
                                                          .headingWhile(true); // Enable heading based control.
 

Constructor Summary

Constructors

Constructor	Description
SwerveInputStream(SwerveDrive drive, DoubleSupplier x, DoubleSupplier y, DoubleSupplier rot)	Create a SwerveInputStream for an easy way to generate ChassisSpeeds from a driver controller.
SwerveInputStream(SwerveDrive drive, DoubleSupplier x, DoubleSupplier y, DoubleSupplier headingX, DoubleSupplier headingY)	Create a SwerveInputStream for an easy way to generate ChassisSpeeds from a driver controller.

Method Summary

Modifier and Type	Method	Description
SwerveInputStream	aim(Pose2d aimTarget)	Aim the SwerveDrive at this pose while driving.
SwerveInputStream	aimWhile(boolean trigger)	Enable aiming while the trigger is true.
SwerveInputStream	aimWhile(BooleanSupplier trigger)	Enable aiming while the trigger is true.
SwerveInputStream	allianceRelativeControl(boolean enabled)	Modify the output ChassisSpeeds so that it is always relative to your alliance.
SwerveInputStream	allianceRelativeControl(BooleanSupplier enabled)	Modify the output ChassisSpeeds so that it is always relative to your alliance.
SwerveInputStream	copy()	Copy the SwerveInputStream object.
SwerveInputStream	cubeRotationControllerAxis(boolean enabled)	Cube the angular velocity controller axis for a non-linear controls scheme.
SwerveInputStream	cubeRotationControllerAxis(BooleanSupplier enabled)	Cube the angular velocity controller axis for a non-linear controls scheme.
SwerveInputStream	cubeTranslationControllerAxis(boolean enabled)	Cube the translation axis magnitude for a non-linear control scheme
SwerveInputStream	cubeTranslationControllerAxis(BooleanSupplier enabled)	Cube the translation axis magnitude for a non-linear control scheme.
SwerveInputStream	deadband(double deadband)	Set a deadband for all controller axis.
ChassisSpeeds	get()	Gets a ChassisSpeeds
SwerveInputStream	headingOffset(boolean enabled)	Heading offset enable
SwerveInputStream	headingOffset(Rotation2d angle)	Set the heading offset angle.
SwerveInputStream	headingOffset(BooleanSupplier enabled)	Heading offset enabled boolean supplier.
SwerveInputStream	headingWhile(boolean headingState)	Set the heading enable state.
SwerveInputStream	headingWhile(BooleanSupplier trigger)	Output ChassisSpeeds based on heading while the supplier is True.
static SwerveInputStream	of(SwerveDrive drive, DoubleSupplier x, DoubleSupplier y)	Create basic SwerveInputStream without any rotation components.
SwerveInputStream	robotRelative(boolean enabled)	Set the stream to output robot relative ChassisSpeeds
SwerveInputStream	robotRelative(BooleanSupplier enabled)	Set the stream to output robot relative ChassisSpeeds
SwerveInputStream	scaleRotation(double scaleRotation)	Scale the rotation axis input for SwerveInputStream to reduce the range in which they operate.
SwerveInputStream	scaleTranslation(double scaleTranslation)	Scale the translation axis for SwerveInputStream by a constant scalar value.
SwerveInputStream	translationOnlyWhile(boolean translationState)	Enable locking of rotation and only translating, overrides everything.
SwerveInputStream	translationOnlyWhile(BooleanSupplier trigger)	Enable locking of rotation and only translating, overrides everything.
SwerveInputStream	withControllerHeadingAxis(DoubleSupplier headingX, DoubleSupplier headingY)	Add heading axis for Heading based control.
SwerveInputStream	withControllerRotationAxis(DoubleSupplier rot)	Add a rotation axis for Angular Velocity control

Methods inherited from class java.lang.Object

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

Constructor Details

SwerveInputStream

public SwerveInputStream(SwerveDrive drive,
 DoubleSupplier x,
 DoubleSupplier y,
 DoubleSupplier rot)

Create a SwerveInputStream for an easy way to generate ChassisSpeeds from a driver controller.

Parameters:

drive - SwerveDrive object for transformation.

x - Translation X input in range of [-1, 1]

y - Translation Y input in range of [-1, 1]

rot - Rotation input in range of [-1, 1]

SwerveInputStream

public SwerveInputStream(SwerveDrive drive,
 DoubleSupplier x,
 DoubleSupplier y,
 DoubleSupplier headingX,
 DoubleSupplier headingY)

Create a SwerveInputStream for an easy way to generate ChassisSpeeds from a driver controller.

Parameters:

drive - SwerveDrive object for transformation.

x - Translation X input in range of [-1, 1]

y - Translation Y input in range of [-1, 1]

headingX - Heading X input in range of [-1, 1]

headingY - Heading Y input in range of [-1, 1]

Method Details

of

public static SwerveInputStream of(SwerveDrive drive,
 DoubleSupplier x,
 DoubleSupplier y)

Create basic SwerveInputStream without any rotation components.

Parameters:

drive - SwerveDrive object for transformation.

x - DoubleSupplier of the translation X axis of the controller joystick to use.

y - DoubleSupplier of the translation X axis of the controller joystick to use.

Returns:

SwerveInputStream to use as you see fit.

copy

public SwerveInputStream copy()

Copy the SwerveInputStream object.

Returns:

Clone of current SwerveInputStream

robotRelative

public SwerveInputStream robotRelative(BooleanSupplier enabled)

Set the stream to output robot relative ChassisSpeeds

Parameters:

enabled - Robot-Relative ChassisSpeeds output.

Returns:

self

robotRelative

public SwerveInputStream robotRelative(boolean enabled)

Set the stream to output robot relative ChassisSpeeds

Parameters:

enabled - Robot-Relative ChassisSpeeds output.

Returns:

self

headingOffset

public SwerveInputStream headingOffset(BooleanSupplier enabled)

Heading offset enabled boolean supplier.

Parameters:

enabled - Enable state

Returns:

self

headingOffset

public SwerveInputStream headingOffset(boolean enabled)

Heading offset enable

Parameters:

enabled - Enable state

Returns:

self

headingOffset

public SwerveInputStream headingOffset(Rotation2d angle)

Set the heading offset angle.

Parameters:

angle - Rotation2d offset to apply

Returns:

self

allianceRelativeControl

public SwerveInputStream allianceRelativeControl(BooleanSupplier enabled)

Modify the output ChassisSpeeds so that it is always relative to your alliance.

Parameters:

enabled - Alliance aware ChassisSpeeds output.

Returns:

self

allianceRelativeControl

public SwerveInputStream allianceRelativeControl(boolean enabled)

Modify the output ChassisSpeeds so that it is always relative to your alliance.

Parameters:

enabled - Alliance aware ChassisSpeeds output.

Returns:

self

cubeRotationControllerAxis

public SwerveInputStream cubeRotationControllerAxis(BooleanSupplier enabled)

Cube the angular velocity controller axis for a non-linear controls scheme.

Parameters:

enabled - Enabled state for the stream.

Returns:

self.

cubeRotationControllerAxis

public SwerveInputStream cubeRotationControllerAxis(boolean enabled)

Cube the angular velocity controller axis for a non-linear controls scheme.

Parameters:

enabled - Enabled state for the stream.

Returns:

self.

cubeTranslationControllerAxis

public SwerveInputStream cubeTranslationControllerAxis(BooleanSupplier enabled)

Cube the translation axis magnitude for a non-linear control scheme.

Parameters:

enabled - Enabled state for the stream

Returns:

self

cubeTranslationControllerAxis

public SwerveInputStream cubeTranslationControllerAxis(boolean enabled)

Cube the translation axis magnitude for a non-linear control scheme

Parameters:

enabled - Enabled state for the stream

Returns:

self

withControllerRotationAxis

public SwerveInputStream withControllerRotationAxis(DoubleSupplier rot)

Add a rotation axis for Angular Velocity control

Parameters:

rot - Rotation axis with values from [-1, 1]

Returns:

self

withControllerHeadingAxis

public SwerveInputStream withControllerHeadingAxis(DoubleSupplier headingX,
 DoubleSupplier headingY)

Add heading axis for Heading based control.

Parameters:

headingX - Heading X axis with values from [-1, 1]

headingY - Heading Y axis with values from [-1, 1]

Returns:

self

deadband

public SwerveInputStream deadband(double deadband)

Set a deadband for all controller axis.

Parameters:

deadband - Deadband to set, should be between [0, 1)

Returns:

self

scaleTranslation

public SwerveInputStream scaleTranslation(double scaleTranslation)

Scale the translation axis for SwerveInputStream by a constant scalar value.

Parameters:

scaleTranslation - Translation axis scalar value. (0, 1]

Returns:

this

scaleRotation

public SwerveInputStream scaleRotation(double scaleRotation)

Scale the rotation axis input for SwerveInputStream to reduce the range in which they operate.

Parameters:

scaleRotation - Angular velocity axis scalar value. (0, 1]

Returns:

this

headingWhile

public SwerveInputStream headingWhile(BooleanSupplier trigger)

Output ChassisSpeeds based on heading while the supplier is True.

Parameters:

trigger - Supplier to use.

Returns:

this.

headingWhile

public SwerveInputStream headingWhile(boolean headingState)

Set the heading enable state.

Parameters:

headingState - Heading enabled state.

Returns:

this

aim

public SwerveInputStream aim(Pose2d aimTarget)

Aim the SwerveDrive at this pose while driving.

Parameters:

aimTarget - Pose2d to point at.

Returns:

this

aimWhile

public SwerveInputStream aimWhile(BooleanSupplier trigger)

Enable aiming while the trigger is true.

Parameters:

trigger - When True will enable aiming at the current target.

Returns:

this.

aimWhile

public SwerveInputStream aimWhile(boolean trigger)

Enable aiming while the trigger is true.

Parameters:

trigger - When True will enable aiming at the current target.

Returns:

this.

translationOnlyWhile

public SwerveInputStream translationOnlyWhile(BooleanSupplier trigger)

Enable locking of rotation and only translating, overrides everything.

Parameters:

trigger - Translation only while returns true.

Returns:

this

translationOnlyWhile

public SwerveInputStream translationOnlyWhile(boolean translationState)

Enable locking of rotation and only translating, overrides everything.

Parameters:

translationState - Translation only if true.

Returns:

this

get

public ChassisSpeeds get()

Gets a ChassisSpeeds

Specified by:

get in interface Supplier<ChassisSpeeds>

Returns:

ChassisSpeeds