Package frc.lib.util.swerve

Class SwerveModuleReal

java.lang.Object

frc.lib.util.swerve.SwerveModuleReal

All Implemented Interfaces:

SwerveModuleIO

public class SwerveModuleReal
extends Object
implements SwerveModuleIO

Swerve Module with real motors and sensors

Nested Class Summary

Nested classes/interfaces inherited from interface frc.lib.util.swerve.SwerveModuleIO

SwerveModuleIO.SwerveModuleInputs

Constructor Summary

Constructors

Constructor	Description
SwerveModuleReal(int moduleNumber, int driveMotorID, int angleMotorID, int cancoderID, Rotation2d angleOffset)	A real Swerve Module with motors and sensors

Method Summary

Modifier and Type	Method	Description
void	setAngleMotor(com.ctre.phoenix6.controls.ControlRequest request)
void	setDriveMotor(com.ctre.phoenix6.controls.ControlRequest request)
void	setPositionAngleMotor(double absolutePosition)
void	updateInputs(SwerveModuleIO.SwerveModuleInputs inputs)

Methods inherited from class java.lang.Object

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

Methods inherited from interface frc.lib.util.swerve.SwerveModuleIO

setAngleSelectedSensorPosition

Constructor Details

SwerveModuleReal

public SwerveModuleReal(int moduleNumber,
 int driveMotorID,
 int angleMotorID,
 int cancoderID,
 Rotation2d angleOffset)

A real Swerve Module with motors and sensors

Parameters:

moduleNumber - The Module Number

driveMotorID - The Drive Motor CAN ID

angleMotorID - The Angle Motor CAN ID

cancoderID - The CANCode CAN ID

angleOffset - The Angle Offset in Rotation2d

Method Details

setAngleMotor

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

Specified by:

setAngleMotor in interface SwerveModuleIO

setDriveMotor

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

Specified by:

setDriveMotor in interface SwerveModuleIO

updateInputs

public void updateInputs(SwerveModuleIO.SwerveModuleInputs inputs)

Specified by:

updateInputs in interface SwerveModuleIO

setPositionAngleMotor

public void setPositionAngleMotor(double absolutePosition)

Specified by:

setPositionAngleMotor in interface SwerveModuleIO