Package frc.robot.systems.drive

Class ModuleIOKraken

java.lang.Object

frc.robot.systems.drive.ModuleIOKraken

All Implemented Interfaces:

ModuleIO

public class ModuleIOKraken
extends Object
implements ModuleIO

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.systems.drive.ModuleIO

ModuleIO.ModuleInputs

Constructor Summary

Constructors

Constructor	Description
ModuleIOKraken(DriveConstants.ModuleHardwareConfig config)

Method Summary

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

Methods inherited from class java.lang.Object

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

Constructor Details

ModuleIOKraken

public ModuleIOKraken(DriveConstants.ModuleHardwareConfig config)

Method Details

updateInputs

public void updateInputs(ModuleIO.ModuleInputs inputs)

Specified by:

updateInputs in interface ModuleIO

setDriveVolts

public void setDriveVolts(double volts)

Specified by:

setDriveVolts in interface ModuleIO

setDriveAmperage

public void setDriveAmperage(double amps)

Specified by:

setDriveAmperage in interface ModuleIO

setDriveVelocity

public void setDriveVelocity(double velocityMPS,
 double feedforward)

Specified by:

setDriveVelocity in interface ModuleIO

setDrivePID

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

Specified by:

setDrivePID in interface ModuleIO

resetAzimuthEncoder

public void resetAzimuthEncoder()

Specified by:

resetAzimuthEncoder in interface ModuleIO

setAzimuthVolts

public void setAzimuthVolts(double volts)

Specified by:

setAzimuthVolts in interface ModuleIO

setAzimuthPosition

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

Specified by:

setAzimuthPosition in interface ModuleIO

setAzimuthPID

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

Specified by:

setAzimuthPID in interface ModuleIO