pathplanner::RobotConfig Class Reference

Public Member Functions
	RobotConfig (units::kilogram_t mass, units::kilogram_square_meter_t MOI, ModuleConfig moduleConfig, std::vector< frc::Translation2d > moduleOffsets)
	RobotConfig (units::kilogram_t mass, units::kilogram_square_meter_t MOI, ModuleConfig moduleConfig, units::meter_t trackwidth)
std::vector< frc::SwerveModuleState >	toSwerveModuleStates (frc::ChassisSpeeds speeds) const
frc::ChassisSpeeds	toChassisSpeeds (std::vector< SwerveModuleTrajectoryState > states) const
frc::ChassisSpeeds	toChassisSpeeds (std::vector< frc::SwerveModuleState > states) const
std::vector< frc::SwerveModuleState >	desaturateWheelSpeeds (std::vector< frc::SwerveModuleState > moduleStates, units::meters_per_second_t maxSpeed) const
std::vector< frc::Translation2d >	chassisForcesToWheelForceVectors (frc::ChassisSpeeds chassisForces) const

Static Public Member Functions
static RobotConfig	fromGUISettings ()

Public Attributes
units::kilogram_t	mass
units::kilogram_square_meter_t	MOI
ModuleConfig	moduleConfig
std::vector< frc::Translation2d >	moduleLocations
bool	isHolonomic
size_t	numModules
std::vector< units::meter_t >	modulePivotDistance
units::newton_t	wheelFrictionForce
units::newton_meter_t	maxTorqueFriction

Member Function Documentation

desaturateWheelSpeeds()

std::vector< frc::SwerveModuleState > RobotConfig::desaturateWheelSpeeds	(	std::vector< frc::SwerveModuleState >	moduleStates,
		units::meters_per_second_t	maxSpeed
	)		const

Desaturate wheel speeds to respect velocity limits.

Parameters

moduleStates	The module states to desaturate
maxSpeed	The maximum speed that the robot can reach while actually driving the robot at full output

Returns

The desaturated module states

toChassisSpeeds() [1/2]

frc::ChassisSpeeds RobotConfig::toChassisSpeeds

(

std::vector< frc::SwerveModuleState >

states

)

const

Convert a vector of swerve module states to robot-relative chassis speeds. This will use differential kinematics for diff drive robots.

Parameters

states

Vector of swerve module states

Returns

Robot-relative chassis speeds

toChassisSpeeds() [2/2]

frc::ChassisSpeeds RobotConfig::toChassisSpeeds

(

std::vector< SwerveModuleTrajectoryState >

states

)

const

Convert a vector of swerve module states to robot-relative chassis speeds. This will use differential kinematics for diff drive robots.

Parameters

states

Vector of swerve module states

Returns

Robot-relative chassis speeds

toSwerveModuleStates()

std::vector< frc::SwerveModuleState > RobotConfig::toSwerveModuleStates

(

frc::ChassisSpeeds

speeds

)

const

Convert robot-relative chassis speeds to a vector of swerve module states. This will use differential kinematics for diff drive robots, then convert the wheel speeds to module states.

Parameters

speeds

Robot-relative chassis speeds

Returns

Vector of swerve module states

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

• src/main/native/include/pathplanner/lib/config/RobotConfig.h
• src/main/native/cpp/pathplanner/lib/config/RobotConfig.cpp