Package frc.robot.subsystems.swerve.mod

Class ModuleConstants

java.lang.Object

frc.robot.subsystems.swerve.mod.ModuleConstants

@NullMarked
public class ModuleConstants
extends Object

Per-module constants

Field Summary

Fields

Modifier and Type	Field	Description
final int	angleMotorId	CAN ID for the angle motor
final Rotation2d	angleOffset	Reported angle when wheel is straight
final int	canCoderId	CAN ID for the CANCoder
final int	driveMotorId	CAN ID for the drive motor

Constructor Summary

Constructors

Constructor	Description
ModuleConstants(int driveMotorId, int angleMotorId, int canCoderId, Rotation2d angleOffset)	Per-module constants

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

driveMotorId

public final int driveMotorId

CAN ID for the drive motor

angleMotorId

public final int angleMotorId

CAN ID for the angle motor

canCoderId

public final int canCoderId

CAN ID for the CANCoder

angleOffset

public final Rotation2d angleOffset

Reported angle when wheel is straight

Constructor Details

ModuleConstants

public ModuleConstants(int driveMotorId,
 int angleMotorId,
 int canCoderId,
 Rotation2d angleOffset)

Per-module constants