SwerveModuleIO (Java-Template API)

All Known Implementing Classes:: SwerveModuleReal, SwerveModuleSim

@NullMarked public interface SwerveModuleIO

IO for swerve module

Nested Class Summary

Nested Classes

Modifier and Type

Interface

Description

static class

SwerveModuleIO.SwerveModuleInputs

Inputs for swerve module
Method Summary

Modifier and Type

Method

Description

void

runAngleOpenLoop(double output)

Set voltage on angle motor

void

runAnglePosition(Rotation2d rotation)

Set angle setpoint

void

runDriveOpenLoop(double output)

Set voltage on drive motor

void

runDriveVelocity(double velocityRadPerSec, double feedforward)

Set velocity setpoint

void

setAngleBrakeMode(boolean enabled)

Set angle brake mode

void

setAnglePID(double kP, double kI, double kD)

Set PID constants for angle motor

void

setDriveBrakeMode(boolean enabled)

Set drive brake mode

void

setDrivePID(double kP, double kI, double kD, double kS, double kV, double kA)

Set PID constants for drive motor

void

updateInputs(SwerveModuleIO.SwerveModuleInputs inputs)

Update inputs

Method Details
- updateInputs
  
  void updateInputs(SwerveModuleIO.SwerveModuleInputs inputs)
  
  Update inputs
- runDriveOpenLoop
  
  void runDriveOpenLoop(double output)
  
  Set voltage on drive motor
- runAngleOpenLoop
  
  void runAngleOpenLoop(double output)
  
  Set voltage on angle motor
- runDriveVelocity
  
  void runDriveVelocity(double velocityRadPerSec, double feedforward)
  
  Set velocity setpoint
- runAnglePosition
  
  void runAnglePosition(Rotation2d rotation)
  
  Set angle setpoint
- setDrivePID
  
  void setDrivePID(double kP, double kI, double kD, double kS, double kV, double kA)
  
  Set PID constants for drive motor
- setAnglePID
  
  void setAnglePID(double kP, double kI, double kD)
  
  Set PID constants for angle motor
- setDriveBrakeMode
  
  void setDriveBrakeMode(boolean enabled)
  
  Set drive brake mode
- setAngleBrakeMode
  
  void setAngleBrakeMode(boolean enabled)
  
  Set angle brake mode