Package frc.robot.subsystems.swerve

Class SwerveReal

java.lang.Object

frc.robot.subsystems.swerve.SwerveReal

All Implemented Interfaces:

SwerveIO

public class SwerveReal
extends Object
implements SwerveIO

Real Class for Swerve

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.swerve.SwerveIO

SwerveIO.SwerveInputs

Constructor Summary

Constructors

Constructor	Description
SwerveReal()	Real Swerve Initializer

Method Summary

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

Methods inherited from class java.lang.Object

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

Constructor Details

SwerveReal

public SwerveReal()

Real Swerve Initializer

Method Details

updateInputs

public void updateInputs(SwerveIO.SwerveInputs inputs)

Update Inputs

Specified by:

updateInputs in interface SwerveIO

createSwerveModule

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

Description copied from interface: SwerveIO

Create a Swerve Module for the respective IO Layer

Specified by:

createSwerveModule in interface SwerveIO

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

public void zeroGyro()

Zero the Gyro

Specified by:

zeroGyro in interface SwerveIO