Package frc.robot.systems.drive

Record Class DriveConstants.ModuleControlConfig

java.lang.Object
java.lang.Record
frc.robot.systems.drive.DriveConstants.ModuleControlConfig
Enclosing class:
DriveConstants
public static record DriveConstants.ModuleControlConfig(edu.wpi.first.math.controller.PIDController driveController, edu.wpi.first.math.controller.SimpleMotorFeedforward driveFF, edu.wpi.first.math.controller.PIDController azimuthController, edu.wpi.first.math.controller.SimpleMotorFeedforward azimuthFF) extends Record

  • Constructor Summary

    Constructors
    Constructor
    Description
    ModuleControlConfig(edu.wpi.first.math.controller.PIDController driveController, edu.wpi.first.math.controller.SimpleMotorFeedforward driveFF, edu.wpi.first.math.controller.PIDController azimuthController, edu.wpi.first.math.controller.SimpleMotorFeedforward azimuthFF)
    Creates an instance of a ModuleControlConfig record class.

  • Method Summary

    Modifier and Type
    Method
    Description
    edu.wpi.first.math.controller.PIDController
    azimuthController()
    Returns the value of the azimuthController record component.
    edu.wpi.first.math.controller.SimpleMotorFeedforward
    azimuthFF()
    Returns the value of the azimuthFF record component.
    edu.wpi.first.math.controller.PIDController
    driveController()
    Returns the value of the driveController record component.
    edu.wpi.first.math.controller.SimpleMotorFeedforward
    driveFF()
    Returns the value of the driveFF record component.
    final boolean
    equals(Object o)
    Indicates whether some other object is "equal to" this one.
    final int
    hashCode()
    Returns a hash code value for this object.
    final String
    toString()
    Returns a string representation of this record class.

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, wait, wait, wait

  • Constructor Details

    • ModuleControlConfig

      public ModuleControlConfig(edu.wpi.first.math.controller.PIDController driveController, edu.wpi.first.math.controller.SimpleMotorFeedforward driveFF, edu.wpi.first.math.controller.PIDController azimuthController, edu.wpi.first.math.controller.SimpleMotorFeedforward azimuthFF)
      Creates an instance of a ModuleControlConfig record class.
      Parameters:
      driveController - the value for the driveController record component
      driveFF - the value for the driveFF record component
      azimuthController - the value for the azimuthController record component
      azimuthFF - the value for the azimuthFF record component

  • Method Details

    • toString

      public final String toString()
      Returns a string representation of this record class. The representation contains the name of the class, followed by the name and value of each of the record components.
      Specified by:
      toString in class Record
      Returns:
      a string representation of this object

    • hashCode

      public final int hashCode()
      Returns a hash code value for this object. The value is derived from the hash code of each of the record components.
      Specified by:
      hashCode in class Record
      Returns:
      a hash code value for this object

    • equals

      public final boolean equals(Object o)
      Indicates whether some other object is "equal to" this one. The objects are equal if the other object is of the same class and if all the record components are equal. All components in this record class are compared with Objects::equals(Object,Object).
      Specified by:
      equals in class Record
      Parameters:
      o - the object with which to compare
      Returns:
      true if this object is the same as the o argument; false otherwise.

    • driveController

      public edu.wpi.first.math.controller.PIDController driveController()
      Returns the value of the driveController record component.
      Returns:
      the value of the driveController record component

    • driveFF

      public edu.wpi.first.math.controller.SimpleMotorFeedforward driveFF()
      Returns the value of the driveFF record component.
      Returns:
      the value of the driveFF record component

    • azimuthController

      public edu.wpi.first.math.controller.PIDController azimuthController()
      Returns the value of the azimuthController record component.
      Returns:
      the value of the azimuthController record component

    • azimuthFF

      public edu.wpi.first.math.controller.SimpleMotorFeedforward azimuthFF()
      Returns the value of the azimuthFF record component.
      Returns:
      the value of the azimuthFF record component