Package frc.robot.systems.drive.modules

Class ModuleIOKraken

java.lang.Object

frc.robot.systems.drive.modules.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.modules.ModuleIO

ModuleIO.ModuleInputs

Constructor Summary

Constructors

Constructor	Description
ModuleIOKraken(DriveConstants.ModuleHardwareConfig pConfig)

Method Summary

Modifier and Type	Method	Description
void	resetAzimuthEncoder()
void	setAzimuthPID(double pKP, double pKI, double pKD)
void	setAzimuthPosition(edu.wpi.first.math.geometry.Rotation2d pRotation, double pFeedforward)
void	setAzimuthVolts(double pVolts)
void	setDriveAmperage(double pAmps)
void	setDrivePID(double pKP, double pKI, double pKD)
void	setDriveVelocity(double pVelocityMPS, double pFeedforward)
void	setDriveVolts(double pVolts)
void	updateInputs(ModuleIO.ModuleInputs pInputs)

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 pConfig)

Method Details

updateInputs

public void updateInputs(ModuleIO.ModuleInputs pInputs)

Specified by:

updateInputs in interface ModuleIO

setDriveVolts

public void setDriveVolts(double pVolts)

Specified by:

setDriveVolts in interface ModuleIO

setDriveAmperage

public void setDriveAmperage(double pAmps)

Specified by:

setDriveAmperage in interface ModuleIO

setDriveVelocity

public void setDriveVelocity(double pVelocityMPS,
 double pFeedforward)

Specified by:

setDriveVelocity in interface ModuleIO

setDrivePID

public void setDrivePID(double pKP,
 double pKI,
 double pKD)

Specified by:

setDrivePID in interface ModuleIO

resetAzimuthEncoder

public void resetAzimuthEncoder()

Specified by:

resetAzimuthEncoder in interface ModuleIO

setAzimuthVolts

public void setAzimuthVolts(double pVolts)

Specified by:

setAzimuthVolts in interface ModuleIO

setAzimuthPosition

public void setAzimuthPosition(edu.wpi.first.math.geometry.Rotation2d pRotation,
 double pFeedforward)

Specified by:

setAzimuthPosition in interface ModuleIO

setAzimuthPID

public void setAzimuthPID(double pKP,
 double pKI,
 double pKD)

Specified by:

setAzimuthPID in interface ModuleIO