Basic Swerve YAGSL implementation

src/main/java/frc/robot/RobotContainer.java

@@ -6,13 +6,32 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.commands.drive.DriveCommand;
+import frc.robot.subsystems.drive.DriveSwerveYAGSL;
 
 public class RobotContainer {
+  CommandXboxController controller = new CommandXboxController(0);
+  DriveSwerveYAGSL drive = new DriveSwerveYAGSL();
+
   public RobotContainer() {
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    drive.setDefaultCommand(
+        new DriveCommand(
+            drive,
+            () -> -controller.getLeftY(),
+            () -> -controller.getLeftX(),
+            () -> -controller.getRightX()));
+
+    controller
+        .start()
+        .onTrue(
+            new InstantCommand(() -> drive.setFieldOrientedDrive(!drive.isFieldOrientedDrive())));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

src/main/java/frc/robot/commands/drive/DriveCommand.java

@@ -0,0 +1,34 @@
+package frc.robot.commands.drive;
+
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.drive.DriveBase;
+import java.util.function.DoubleSupplier;
+
+public class DriveCommand extends Command {
+  DriveBase drive;
+  DoubleSupplier speedX;
+  DoubleSupplier speedY;
+  DoubleSupplier rot;
+
+  public DriveCommand(
+      DriveBase drive, DoubleSupplier speedX, DoubleSupplier speedY, DoubleSupplier rot) {
+    this.drive = drive;
+    this.speedX = speedX;
+    this.speedY = speedY;
+    this.rot = rot;
+
+    addRequirements(drive);
+  }
+
+  @Override
+  public void execute() {
+    ChassisSpeeds speeds =
+        new ChassisSpeeds(
+            speedX.getAsDouble() * drive.getMaxLinearSpeed(),
+            speedY.getAsDouble() * drive.getMaxLinearSpeed(),
+            rot.getAsDouble() * drive.getMaxAngularSpeed());
+
+    drive.runVelocity(speeds);
+  }
+}

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -0,0 +1,26 @@
+package frc.robot.subsystems.drive;
+
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+
+public interface Drive {
+  /**
+   * Sets the desired chassis speed
+   *
+   * @param velocity specifies the setpoint velocity for the chassis
+   */
+  public void runVelocity(ChassisSpeeds velocity);
+
+  /**
+   * This returns the robot's max linear speed in meter/sec
+   *
+   * @return speed in meter/sec
+   */
+  public double getMaxLinearSpeed();
+
+  /**
+   * This returns the robot's max angular speed in radian/sec
+   *
+   * @return speed in radian/sec
+   */
+  public double getMaxAngularSpeed();
+}

src/main/java/frc/robot/subsystems/drive/DriveBase.java

@@ -0,0 +1,19 @@
+package frc.robot.subsystems.drive;
+
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class DriveBase extends SubsystemBase implements Drive {
+  @Override
+  public void runVelocity(ChassisSpeeds velocity) {}
+
+  @Override
+  public double getMaxLinearSpeed() {
+    return 0;
+  }
+
+  @Override
+  public double getMaxAngularSpeed() {
+    return 0;
+  }
+}

src/main/java/frc/robot/subsystems/drive/DriveSwerveYAGSL.java

@@ -0,0 +1,52 @@
+package frc.robot.subsystems.drive;
+
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.Filesystem;
+import java.io.File;
+import swervelib.SwerveDrive;
+import swervelib.parser.SwerveParser;
+
+public class DriveSwerveYAGSL extends DriveBase {
+  private final double maximumSpeed =
+      Units.feetToMeters(4.5); // * TODO: Calculate actual max speed */
+  private final File swerveJsonDirectory =
+      new File(Filesystem.getDeployDirectory(), "swervePracticeBot");
+  private SwerveDrive swerveDrive;
+  private boolean fieldOrientedDrive = false;
+
+  public DriveSwerveYAGSL() {
+    try {
+      swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(maximumSpeed);
+    } catch (Exception e) {
+      throw new RuntimeException(e);
+    }
+  }
+
+  @Override
+  public void runVelocity(ChassisSpeeds velocity) {
+    if (fieldOrientedDrive) {
+      swerveDrive.driveFieldOriented(velocity);
+    } else {
+      swerveDrive.drive(velocity);
+    }
+  }
+
+  @Override
+  public double getMaxLinearSpeed() {
+    return swerveDrive.getMaximumVelocity();
+  }
+
+  @Override
+  public double getMaxAngularSpeed() {
+    return swerveDrive.getMaximumAngularVelocity();
+  }
+
+  public void setFieldOrientedDrive(boolean enable) {
+    fieldOrientedDrive = enable;
+  }
+
+  public boolean isFieldOrientedDrive() {
+    return fieldOrientedDrive;
+  }
+}