Package frc.robot.systems.drive

Interface ModuleIO

All Known Implementing Classes:

ModuleIOFXFXS, ModuleIOKraken, ModuleIOSim

public interface ModuleIO

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	ModuleIO.ModuleInputs

Method Summary

Modifier and Type	Method	Description
default void	resetAzimuthEncoder()
default void	setAzimuthPID(double kP, double kI, double kD)
default void	setAzimuthPosition(edu.wpi.first.math.geometry.Rotation2d rotation, double feedforward)
default void	setAzimuthVolts(double votls)
default void	setDriveAmperage(double amps)
default void	setDrivePID(double kP, double kI, double kD)
default void	setDriveVelocity(double velocityMPS, double feedforward)
default void	setDriveVolts(double volts)
default void	updateInputs(ModuleIO.ModuleInputs inputs)

Method Details

updateInputs

default void updateInputs(ModuleIO.ModuleInputs inputs)

setDriveVelocity

default void setDriveVelocity(double velocityMPS,
 double feedforward)

setDriveVolts

default void setDriveVolts(double volts)

setDriveAmperage

default void setDriveAmperage(double amps)

setDrivePID

default void setDrivePID(double kP,
 double kI,
 double kD)

setAzimuthVolts

default void setAzimuthVolts(double votls)

setAzimuthPosition

default void setAzimuthPosition(edu.wpi.first.math.geometry.Rotation2d rotation,
 double feedforward)

resetAzimuthEncoder

default void resetAzimuthEncoder()

setAzimuthPID

default void setAzimuthPID(double kP,
 double kI,
 double kD)