frc2::SwerveControllerCommand< NumModules > Class Template Reference

A command that uses two PID controllers (PIDController) and a profiled PID controller (ProfiledPIDController) to follow a trajectory (Trajectory) with a swerve drive. More...

#include <frc2/command/SwerveControllerCommand.h>

Inheritance diagram for frc2::SwerveControllerCommand< NumModules >:

Public Member Functions
	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, std::function< frc::Rotation2d()> desiredRotation, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::initializer_list< Subsystem * > requirements)
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...
	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::initializer_list< Subsystem * > requirements)
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...
	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, std::function< frc::Rotation2d()> desiredRotation, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::span< Subsystem *const > requirements={})
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...
	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::span< Subsystem *const > requirements={})
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...
	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc::HolonomicDriveController controller, std::function< frc::Rotation2d()> desiredRotation, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::initializer_list< Subsystem * > requirements)
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...
	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc::HolonomicDriveController controller, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::initializer_list< Subsystem * > requirements)
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...
	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc::HolonomicDriveController controller, std::function< frc::Rotation2d()> desiredRotation, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::span< Subsystem *const > requirements={})
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...
	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc::HolonomicDriveController controller, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::span< Subsystem *const > requirements={})
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...
void	Initialize () override
	The initial subroutine of a command. More...
void	Execute () override
	The main body of a command. More...
void	End (bool interrupted) override
	The action to take when the command ends. More...
bool	IsFinished () override
	Whether the command has finished. More...
Public Member Functions inherited from frc2::CommandHelper< CommandBase, SwerveControllerCommand< NumModules > >
	CommandHelper ()=default
CommandPtr	ToPtr () &&override
Public Member Functions inherited from frc2::CommandBase
void	AddRequirements (std::initializer_list< Subsystem * > requirements)
	Adds the specified Subsystem requirements to the command. More...
void	AddRequirements (std::span< Subsystem *const > requirements)
	Adds the specified Subsystem requirements to the command. More...
void	AddRequirements (wpi::SmallSet< Subsystem *, 4 > requirements)
	Adds the specified Subsystem requirements to the command. More...
void	AddRequirements (Subsystem *requirement)
	Adds the specified Subsystem requirement to the command. More...
wpi::SmallSet< Subsystem *, 4 >	GetRequirements () const override
	Gets the Subsystem requirements of the command. More...
void	SetName (std::string_view name) override
	Sets the name of this Command. More...
std::string	GetName () const override
	Gets the name of this Command. More...
std::string	GetSubsystem () const
	Gets the subsystem name of this Command. More...
void	SetSubsystem (std::string_view subsystem)
	Sets the subsystem name of this Command. More...
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...
Public Member Functions inherited from frc2::Command
	Command ()=default
virtual	~Command ()
	Command (const Command &)=default
Command &	operator= (const Command &rhs)
	Command (Command &&)=default
Command &	operator= (Command &&)=default
virtual void	Initialize ()
	The initial subroutine of a command. More...
virtual void	Execute ()
	The main body of a command. More...
virtual void	End (bool interrupted)
	The action to take when the command ends. More...
virtual bool	IsFinished ()
	Whether the command has finished. More...
virtual wpi::SmallSet< Subsystem *, 4 >	GetRequirements () const =0
	Specifies the set of subsystems used by this command. More...
CommandPtr	WithTimeout (units::second_t duration) &&
	Decorates this command with a timeout. More...
CommandPtr	Until (std::function< bool()> condition) &&
	Decorates this command with an interrupt condition. More...
CommandPtr	WithInterrupt (std::function< bool()> condition) &&
	Decorates this command with an interrupt condition. More...
CommandPtr	BeforeStarting (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
	Decorates this command with a runnable to run before this command starts. More...
CommandPtr	BeforeStarting (std::function< void()> toRun, std::span< Subsystem *const > requirements={}) &&
	Decorates this command with a runnable to run before this command starts. More...
CommandPtr	AndThen (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
	Decorates this command with a runnable to run after the command finishes. More...
CommandPtr	AndThen (std::function< void()> toRun, std::span< Subsystem *const > requirements={}) &&
	Decorates this command with a runnable to run after the command finishes. More...
PerpetualCommand	Perpetually () &&
CommandPtr	Repeatedly () &&
	Decorates this command to run repeatedly, restarting it when it ends, until this command is interrupted. More...
CommandPtr	AsProxy () &&
	Decorates this command to run "by proxy" by wrapping it in a ProxyCommand. More...
CommandPtr	Unless (std::function< bool()> condition) &&
	Decorates this command to only run if this condition is not met. More...
CommandPtr	IgnoringDisable (bool doesRunWhenDisabled) &&
	Decorates this command to run or stop when disabled. More...
CommandPtr	WithInterruptBehavior (Command::InterruptionBehavior interruptBehavior) &&
	Decorates this command to run or stop when disabled. More...
CommandPtr	FinallyDo (std::function< void(bool)> end) &&
	Decorates this command with a lambda to call on interrupt or end, following the command's inherent Command::End(bool) method. More...
CommandPtr	HandleInterrupt (std::function< void()> handler) &&
	Decorates this command with a lambda to call on interrupt, following the command's inherent Command::End(bool) method. More...
CommandPtr	WithName (std::string_view name) &&
	Decorates this Command with a name. More...
void	Schedule ()
	Schedules this command. More...
void	Cancel ()
	Cancels this command. More...
bool	IsScheduled () const
	Whether or not the command is currently scheduled. More...
bool	HasRequirement (Subsystem *requirement) const
	Whether the command requires a given subsystem. More...
bool	IsComposed () const
	Whether the command is currently grouped in a command group. More...
void	SetComposed (bool isComposed)
	Sets whether the command is currently composed in a command composition. More...
bool	IsGrouped () const
	Whether the command is currently grouped in a command group. More...
void	SetGrouped (bool grouped)
	Sets whether the command is currently grouped in a command group. More...
virtual bool	RunsWhenDisabled () const
	Whether the given command should run when the robot is disabled. More...
virtual InterruptionBehavior	GetInterruptionBehavior () const
	How the command behaves when another command with a shared requirement is scheduled. More...
virtual std::string	GetName () const
	Gets the name of this Command. More...
virtual void	SetName (std::string_view name)
	Sets the name of this Command. More...
virtual CommandPtr	ToPtr () &&=0
	Transfers ownership of this command to a unique pointer. More...
Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default
virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...
Public Member Functions inherited from wpi::SendableHelper< CommandBase >
	SendableHelper (const SendableHelper &rhs)=default
	SendableHelper (SendableHelper &&rhs)
SendableHelper &	operator= (const SendableHelper &rhs)=default
SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Public Types inherited from frc2::Command
enum class	InterruptionBehavior { kCancelSelf , kCancelIncoming }
	An enum describing the command's behavior when another command with a shared requirement is scheduled. More...
Protected Member Functions inherited from frc2::CommandHelper< CommandBase, SwerveControllerCommand< NumModules > >
std::unique_ptr< Command >	TransferOwnership () &&override
Protected Member Functions inherited from frc2::CommandBase
	CommandBase ()
virtual std::unique_ptr< Command >	TransferOwnership () &&=0
	Transfers ownership of this command to a unique pointer. More...
Protected Member Functions inherited from wpi::SendableHelper< CommandBase >
	SendableHelper ()=default
	~SendableHelper ()
Protected Attributes inherited from frc2::CommandBase
wpi::SmallSet< Subsystem *, 4 >	m_requirements
Protected Attributes inherited from frc2::Command
bool	m_isComposed = false

Detailed Description

template<size_t NumModules>
class frc2::SwerveControllerCommand< NumModules >

A command that uses two PID controllers (PIDController) and a profiled PID controller (ProfiledPIDController) to follow a trajectory (Trajectory) with a swerve drive.

The command handles trajectory-following, Velocity PID calculations, and feedforwards internally. This is intended to be a more-or-less "complete solution" that can be used by teams without a great deal of controls expertise.

Advanced teams seeking more flexibility (for example, those who wish to use the onboard PID functionality of a "smart" motor controller) may use the secondary constructor that omits the PID and feedforward functionality, returning only the raw module states from the position PID controllers.

The robot angle controller does not follow the angle given by the trajectory but rather goes to the angle given in the final state of the trajectory.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

SwerveControllerCommand() [1/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc2::PIDController	xController,
		frc2::PIDController	yController,
		frc::ProfiledPIDController< units::radians >	thetaController,
		std::function< frc::Rotation2d()>	desiredRotation,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory.

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

Note: The controllers will not set the outputVolts to zero upon completion of the path- this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose, provided by the odometry class.
kinematics	The kinematics for the robot drivetrain.
xController	The Trajectory Tracker PID controller for the robot's x position.
yController	The Trajectory Tracker PID controller for the robot's y position.
thetaController	The Trajectory Tracker PID controller for angle for the robot.
desiredRotation	The angle that the drivetrain should be facing. This is sampled at each time step.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

SwerveControllerCommand() [2/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc2::PIDController	xController,
		frc2::PIDController	yController,
		frc::ProfiledPIDController< units::radians >	thetaController,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory.

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

Note: The controllers will not set the outputVolts to zero upon completion of the path- this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Note 2: The final rotation of the robot will be set to the rotation of the final pose in the trajectory. The robot will not follow the rotations from the poses at each timestep. If alternate rotation behavior is desired, the other constructor with a supplier for rotation should be used.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose, provided by the odometry class.
kinematics	The kinematics for the robot drivetrain.
xController	The Trajectory Tracker PID controller for the robot's x position.
yController	The Trajectory Tracker PID controller for the robot's y position.
thetaController	The Trajectory Tracker PID controller for angle for the robot.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

SwerveControllerCommand() [3/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc2::PIDController	xController,
		frc2::PIDController	yController,
		frc::ProfiledPIDController< units::radians >	thetaController,
		std::function< frc::Rotation2d()>	desiredRotation,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::span< Subsystem *const >	requirements = {}
	)

Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory.

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

Note: The controllers will not set the outputVolts to zero upon completion of the path- this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose, provided by the odometry class.
kinematics	The kinematics for the robot drivetrain.
xController	The Trajectory Tracker PID controller for the robot's x position.
yController	The Trajectory Tracker PID controller for the robot's y position.
thetaController	The Trajectory Tracker PID controller for angle for the robot.
desiredRotation	The angle that the drivetrain should be facing. This is sampled at each time step.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

SwerveControllerCommand() [4/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc2::PIDController	xController,
		frc2::PIDController	yController,
		frc::ProfiledPIDController< units::radians >	thetaController,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::span< Subsystem *const >	requirements = {}
	)

Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory.

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

Note: The controllers will not set the outputVolts to zero upon completion of the path- this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Note 2: The final rotation of the robot will be set to the rotation of the final pose in the trajectory. The robot will not follow the rotations from the poses at each timestep. If alternate rotation behavior is desired, the other constructor with a supplier for rotation should be used.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose, provided by the odometry class.
kinematics	The kinematics for the robot drivetrain.
xController	The Trajectory Tracker PID controller for the robot's x position.
yController	The Trajectory Tracker PID controller for the robot's y position.
thetaController	The Trajectory Tracker PID controller for angle for the robot.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

SwerveControllerCommand() [5/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc::HolonomicDriveController	controller,
		std::function< frc::Rotation2d()>	desiredRotation,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory.

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

Note: The controllers will not set the outputVolts to zero upon completion of the path- this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose, provided by the odometry class.
kinematics	The kinematics for the robot drivetrain.
controller	The HolonomicDriveController for the drivetrain.
desiredRotation	The angle that the drivetrain should be facing. This is sampled at each time step.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

SwerveControllerCommand() [6/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc::HolonomicDriveController	controller,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory.

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

Note: The controllers will not set the outputVolts to zero upon completion of the path- this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Note 2: The final rotation of the robot will be set to the rotation of the final pose in the trajectory. The robot will not follow the rotations from the poses at each timestep. If alternate rotation behavior is desired, the other constructor with a supplier for rotation should be used.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose, provided by the odometry class.
kinematics	The kinematics for the robot drivetrain.
controller	The HolonomicDriveController for the drivetrain.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

SwerveControllerCommand() [7/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc::HolonomicDriveController	controller,
		std::function< frc::Rotation2d()>	desiredRotation,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::span< Subsystem *const >	requirements = {}
	)

Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory.

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

Note: The controllers will not set the outputVolts to zero upon completion of the path- this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose, provided by the odometry class.
kinematics	The kinematics for the robot drivetrain.
controller	The HolonomicDriveController for the robot.
desiredRotation	The angle that the drivetrain should be facing. This is sampled at each time step.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

SwerveControllerCommand() [8/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc::HolonomicDriveController	controller,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::span< Subsystem *const >	requirements = {}
	)

Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory.

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

Note: The controllers will not set the outputVolts to zero upon completion of the path- this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Note 2: The final rotation of the robot will be set to the rotation of the final pose in the trajectory. The robot will not follow the rotations from the poses at each timestep. If alternate rotation behavior is desired, the other constructor with a supplier for rotation should be used.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose, provided by the odometry class.
kinematics	The kinematics for the robot drivetrain.
controller	The HolonomicDriveController for the drivetrain.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

Member Function Documentation

End()

template<size_t NumModules>

void frc2::SwerveControllerCommand< NumModules >::End ( bool  interrupted )

overridevirtual

The action to take when the command ends.

Called when either the command finishes normally, or when it interrupted/canceled.

Parameters

interrupted

whether the command was interrupted/canceled

Reimplemented from frc2::Command.

Execute()

template<size_t NumModules>

void frc2::SwerveControllerCommand< NumModules >::Execute ( )

overridevirtual

The main body of a command.

Called repeatedly while the command is scheduled.

Reimplemented from frc2::Command.

Initialize()

template<size_t NumModules>

void frc2::SwerveControllerCommand< NumModules >::Initialize ( )

overridevirtual

The initial subroutine of a command.

Called once when the command is initially scheduled.

Reimplemented from frc2::Command.

IsFinished()

template<size_t NumModules>

bool frc2::SwerveControllerCommand< NumModules >::IsFinished

overridevirtual

Whether the command has finished.

Once a command finishes, the scheduler will call its end() method and un-schedule it.

Returns

whether the command has finished.

Reimplemented from frc2::Command.

---

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

• frc2/command/SwerveControllerCommand.h
• frc2/command/SwerveControllerCommand.inc