Package frc.robot.systems.drive

Class Module

java.lang.Object

frc.robot.systems.drive.Module

public class Module
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
static final LoggedTunableNumber	driveA
static final LoggedTunableNumber	driveD
static final LoggedTunableNumber	driveP
static final LoggedTunableNumber	driveS
static final LoggedTunableNumber	driveV
static final LoggedTunableNumber	turnD
static final LoggedTunableNumber	turnP
static final LoggedTunableNumber	turnS

Constructor Summary

Constructors

Constructor	Description
Module(String key, ModuleIO io)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.kinematics.SwerveModulePosition	getCurrentPosition()
edu.wpi.first.math.kinematics.SwerveModuleState	getCurrentState()
edu.wpi.first.math.kinematics.SwerveModuleState	getDesiredState()
frc.robot.systems.drive.ModuleInputsAutoLogged	getInputs()
void	periodic()
void	resetAzimuthEncoder()
void	runCharacterization(double inputVolts)
void	runCharacterization(double inputVolts, edu.wpi.first.math.geometry.Rotation2d azimuthRotation)
void	setAmpFeedforward(Double amperage)
void	setAzimuthVoltage(double azimuthVolts)
void	setDesiredRotation(edu.wpi.first.math.geometry.Rotation2d angleSetpoint)
edu.wpi.first.math.kinematics.SwerveModuleState	setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState state)
edu.wpi.first.math.kinematics.SwerveModuleState	setDesiredStateWithAmpFF(edu.wpi.first.math.kinematics.SwerveModuleState state, Double ampFeedforward)
void	setDesiredVelocity(Double velocitySetpoint)
void	setDriveAmperage(double amps)
void	setDriveVoltage(double driveVolts)
void	stop()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

driveP

public static final LoggedTunableNumber driveP

driveD

public static final LoggedTunableNumber driveD

driveS

public static final LoggedTunableNumber driveS

driveV

public static final LoggedTunableNumber driveV

driveA

public static final LoggedTunableNumber driveA

turnP

public static final LoggedTunableNumber turnP

turnD

public static final LoggedTunableNumber turnD

turnS

public static final LoggedTunableNumber turnS

Constructor Details

Module

public Module(String key,
 ModuleIO io)

Method Details

periodic

public void periodic()

setDesiredState

public edu.wpi.first.math.kinematics.SwerveModuleState setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState state)

setDesiredStateWithAmpFF

public edu.wpi.first.math.kinematics.SwerveModuleState setDesiredStateWithAmpFF(edu.wpi.first.math.kinematics.SwerveModuleState state,
 Double ampFeedforward)

runCharacterization

public void runCharacterization(double inputVolts)

runCharacterization

public void runCharacterization(double inputVolts,
 edu.wpi.first.math.geometry.Rotation2d azimuthRotation)

setDesiredVelocity

public void setDesiredVelocity(Double velocitySetpoint)

setAmpFeedforward

public void setAmpFeedforward(Double amperage)

setDesiredRotation

public void setDesiredRotation(edu.wpi.first.math.geometry.Rotation2d angleSetpoint)

setDriveVoltage

public void setDriveVoltage(double driveVolts)

setDriveAmperage

public void setDriveAmperage(double amps)

setAzimuthVoltage

public void setAzimuthVoltage(double azimuthVolts)

stop

public void stop()

getDesiredState

public edu.wpi.first.math.kinematics.SwerveModuleState getDesiredState()

getCurrentState

public edu.wpi.first.math.kinematics.SwerveModuleState getCurrentState()

getCurrentPosition

public edu.wpi.first.math.kinematics.SwerveModulePosition getCurrentPosition()

getInputs

public frc.robot.systems.drive.ModuleInputsAutoLogged getInputs()

resetAzimuthEncoder

public void resetAzimuthEncoder()