swerve_drive_subsystem.h File Reference

#include <choreo/lib/Choreo.h>
#include <frc/Timer.h>
#include <frc/controller/HolonomicDriveController.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/ProfiledPIDController.h>
#include <frc/kinematics/ChassisSpeeds.h>
#include <frc/kinematics/SwerveDriveKinematics.h>
#include <frc/kinematics/SwerveDriveOdometry.h>
#include <frc/kinematics/SwerveModulePosition.h>
#include <frc/kinematics/SwerveModuleState.h>
#include <frc2/command/SubsystemBase.h>
#include <wpi/DataLog.h>
#include <array>
#include <memory>
#include <mutex>
#include <thread>
#include <ctre/phoenix6/CANcoder.hpp>
#include <ctre/phoenix6/Pigeon2.hpp>
#include <ctre/phoenix6/TalonFX.hpp>
#include "argos_lib/config/config_types.h"
#include "argos_lib/general/nt_motor_pid_tuner.h"
#include "argos_lib/general/nt_subscriber.h"
#include "argos_lib/homing/fs_homing.h"
#include "constants/feature_flags.h"
#include "frc/StateSpaceUtil.h"
#include "frc/estimator/SwerveDrivePoseEstimator.h"
#include "frc/geometry/Transform3d.h"
#include "utils/swerve_trapezoidal_profile.h"
#include "utils/swerve_trapezoidal_spline.h"

Go to the source code of this file.

Classes
class	SwerveModule
class	SwerveDriveSubsystem
	Subsystem for controlling the swerve drivetrain of the robot. More...
struct	SwerveDriveSubsystem::Velocities
	A struct for holding the 3 different input velocities, for organization. More...