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.Empty, SwerveIO.SwerveInputs

Constructor Summary

Constructors

Constructor	Description
SwerveReal()	Real Swerve Initializer

Method Summary

Modifier and Type	Method	Description
SwerveModule[]	createModules()
SwerveModule	createSwerveModule(int moduleNumber, int driveMotorID, int angleMotorID, int cancoderID, Rotation2d angleOffset)
void	setPose(Pose2d pose)
void	updateInputs(SwerveIO.SwerveInputs inputs)

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)

Specified by:

updateInputs in interface SwerveIO

createSwerveModule

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

createModules

public SwerveModule[] createModules()

Specified by:

createModules in interface SwerveIO

setPose

public void setPose(Pose2d pose)

Specified by:

setPose in interface SwerveIO