Package frc.robot.systems.drive.modules

Class Module

java.lang.Object
frc.robot.systems.drive.modules.Module
public class Module extends Object

  • Field Details

  • Constructor Details

  • Method Details

    • periodic

      public void periodic()

    • setDesiredState

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

    • setDesiredStateWithAmpFF

      public edu.wpi.first.math.kinematics.SwerveModuleState setDesiredStateWithAmpFF(edu.wpi.first.math.kinematics.SwerveModuleState pState, Double pAmpFeedforward)

    • runCharacterization

      public void runCharacterization(double pInputVolts)

    • runCharacterization

      public void runCharacterization(double pInputVolts, edu.wpi.first.math.geometry.Rotation2d pAzimuthRotation)

    • setDesiredVelocity

      public void setDesiredVelocity(Double pVelocitySetpoint)

    • setAmpFeedforward

      public void setAmpFeedforward(Double pAmperage)

    • setDesiredRotation

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

    • setDriveVoltage

      public void setDriveVoltage(double pDriveVolts)

    • setDriveAmperage

      public void setDriveAmperage(double pAmps)

    • setAzimuthVoltage

      public void setAzimuthVoltage(double pAzimuthVolts)

    • 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.modules.ModuleInputsAutoLogged getInputs()

    • resetAzimuthEncoder

      public void resetAzimuthEncoder()