Package frc.lib.util.swerve

Class SwerveModule

java.lang.Object

frc.lib.util.swerve.SwerveModule

public class SwerveModule
extends Object

Swerve Module

Field Summary

Fields

Modifier and Type	Field	Description
int	moduleNumber

Constructor Summary

Constructors

Constructor	Description
SwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int cancoderID, Rotation2d angleOffset, SwerveModuleIO io)	Swerve Module

Method Summary

Modifier and Type	Method	Description
Rotation2d	getCANcoder()	Get the rotation of the CANCoder
SwerveModulePosition	getPosition()	Get the current Swerve Module Position
SwerveModuleState	getState()	Get the current Swerve Module State
void	periodic()
void	resetToAbsolute()	Reset the Swerve Module angle to face forward
void	setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop)	Set the desired state of the Swerve Module

Methods inherited from class java.lang.Object

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

Field Details

moduleNumber

public int moduleNumber

Constructor Details

SwerveModule

public SwerveModule(int moduleNumber,
 int driveMotorID,
 int angleMotorID,
 int cancoderID,
 Rotation2d angleOffset,
 SwerveModuleIO io)

Swerve Module

Parameters:

moduleNumber - Module Number

driveMotorID - CAN ID of the Drive Motor

angleMotorID - CAN ID of the Angle Motor

cancoderID - CAN ID of the CANCoder

angleOffset - Angle Offset of the CANCoder to align the wheels

Method Details

periodic

public void periodic()

setDesiredState

public void setDesiredState(SwerveModuleState desiredState,
 boolean isOpenLoop)

Set the desired state of the Swerve Module

Parameters:

desiredState - The desired SwerveModuleState for the module

isOpenLoop - Whether the state should be open or closed loop controlled

getCANcoder

public Rotation2d getCANcoder()

Get the rotation of the CANCoder

Returns:

The rotation of the CANCoder in Rotation2d

resetToAbsolute

public void resetToAbsolute()

Reset the Swerve Module angle to face forward

getState

public SwerveModuleState getState()

Get the current Swerve Module State

Returns:

The current SwerveModuleState

getPosition

public SwerveModulePosition getPosition()

Get the current Swerve Module Position

Returns:

The current SwerveModulePosition