SwerveModuleIO (FRC2023 API)

All Known Implementing Classes:: SwerveModuleReal

public interface SwerveModuleIO

IO Class for SwerveModule

Nested Class Summary

Nested Classes

Modifier and Type

Interface

Description

static class

SwerveModuleIO.SwerveModuleInputs

Inputs Class for SwerveModule
Method Summary

Modifier and Type

Method

Description

default void

setAngleMotor(com.ctre.phoenix6.controls.ControlRequest request)

default void

setAngleSelectedSensorPosition(double angle)

default void

setDriveMotor(com.ctre.phoenix6.controls.ControlRequest request)

default void

setPositionAngleMotor(double absolutePosition)

default void

updateInputs(SwerveModuleIO.SwerveModuleInputs inputs)

Method Details
- updateInputs
  
  default void updateInputs(SwerveModuleIO.SwerveModuleInputs inputs)
- setDriveMotor
  
  default void setDriveMotor(com.ctre.phoenix6.controls.ControlRequest request)
- setAngleMotor
  
  default void setAngleMotor(com.ctre.phoenix6.controls.ControlRequest request)
- setAngleSelectedSensorPosition
  
  default void setAngleSelectedSensorPosition(double angle)
- setPositionAngleMotor
  
  default void setPositionAngleMotor(double absolutePosition)