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 IO

Nested Class Summary

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

SwerveModuleIO.Empty, SwerveModuleIO.SwerveModuleInputs

Constructor Summary

Constructors

Constructor	Description
SwerveModuleReal(int driveMotorID, int angleMotorID, int cancoderID, Rotation2d cancoderOffset)	Instantiating motors and Encoders

Method Summary

Modifier and Type	Method	Description
void	setAngleMotor(double angle)
void	setDriveMotor(double mps)
void	setDriveMotorPower(double power)
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

Constructor Details

SwerveModuleReal

public SwerveModuleReal(int driveMotorID,
 int angleMotorID,
 int cancoderID,
 Rotation2d cancoderOffset)

Instantiating motors and Encoders

Method Details

setAngleMotor

public void setAngleMotor(double angle)

Specified by:

setAngleMotor in interface SwerveModuleIO

setDriveMotor

public void setDriveMotor(double mps)

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

setDriveMotorPower

public void setDriveMotorPower(double power)

Specified by:

setDriveMotorPower in interface SwerveModuleIO