Chassis Speed Discretization

More math...

What is Chassis Speed discretization?

Chassis Speed discretization is used to reduce the skew in translational movement of the Swerve Drive. It is called only if SwerveDrive.chassisVelocityCorrection is true.

How do I use Chassis Speed Discretization?

Chassis Speed discretization simply allows you to set your own values for ChassisSpeeds.discretize in WPILib, the default value of 0.02dt should be good enough for most teams. To enable and customize discretization all you have to do is call SwerveDrive.setChassisDiscretization as shown below.

  /**
   * Initialize {@link SwerveDrive} with the directory provided.
   *
   * @param directory Directory of swerve drive config files.
   */
  public SwerveSubsystem(File directory)
  {
    // Configure the Telemetry before creating the SwerveDrive to avoid unnecessary objects being created.
    SwerveDriveTelemetry.verbosity = TelemetryVerbosity.HIGH;
    swerveDrive = new SwerveParser(directory).createSwerveDrive(Constants.MAX_SPEED);
    swerveDrive.setChassisDiscretization(true, 0.02);
  }