Package frc.robot.subsystems.swerve

Interface SwerveIO

All Known Implementing Classes:

SwerveReal

public interface SwerveIO

IO Class for Swerve

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	SwerveIO.SwerveInputs	Inputs Class for Swerve

Method Summary

Modifier and Type	Method	Description
default SwerveModule	createSwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int cancoderID, Rotation2d angleOffset)	Create a Swerve Module for the respective IO Layer
default void	updateInputs(SwerveIO.SwerveInputs inputs)
default void	zeroGyro()

Method Details

updateInputs

default void updateInputs(SwerveIO.SwerveInputs inputs)

createSwerveModule

default SwerveModule createSwerveModule(int moduleNumber,
 int driveMotorID,
 int angleMotorID,
 int cancoderID,
 Rotation2d angleOffset)

Create a Swerve Module for the respective IO Layer

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

Returns:

SwerveModule

zeroGyro

default void zeroGyro()