Package frc.robot.subsystems.swerve.mod

Class SwerveModuleReal

java.lang.Object

frc.robot.subsystems.swerve.mod.SwerveModuleReal

All Implemented Interfaces:

SwerveModuleIO

@NullMarked
public class SwerveModuleReal
extends Object
implements SwerveModuleIO

Real swerve module implementation (assumes two TalonFXs)

Nested Class Summary

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

SwerveModuleIO.SwerveModuleInputs

Constructor Summary

Constructors

Constructor	Description
SwerveModuleReal(int index, PhoenixOdometryThread odometryThread)	Real swerve module implementation

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

Methods inherited from class java.lang.Object

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

Constructor Details

SwerveModuleReal

public SwerveModuleReal(int index,
 PhoenixOdometryThread odometryThread)

Real swerve module implementation

Method Details

updateInputs

public void updateInputs(SwerveModuleIO.SwerveModuleInputs inputs)

Description copied from interface: SwerveModuleIO

Update inputs

Specified by:

updateInputs in interface SwerveModuleIO

runDriveOpenLoop

public void runDriveOpenLoop(double output)

Description copied from interface: SwerveModuleIO

Set voltage on drive motor

Specified by:

runDriveOpenLoop in interface SwerveModuleIO

runAngleOpenLoop

public void runAngleOpenLoop(double output)

Description copied from interface: SwerveModuleIO

Set voltage on angle motor

Specified by:

runAngleOpenLoop in interface SwerveModuleIO

runDriveVelocity

public void runDriveVelocity(double velocityRadPerSec,
 double feedforward)

Description copied from interface: SwerveModuleIO

Set velocity setpoint

Specified by:

runDriveVelocity in interface SwerveModuleIO

runAnglePosition

public void runAnglePosition(Rotation2d rotation)

Description copied from interface: SwerveModuleIO

Set angle setpoint

Specified by:

runAnglePosition in interface SwerveModuleIO

setDrivePID

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

Description copied from interface: SwerveModuleIO

Set PID constants for drive motor

Specified by:

setDrivePID in interface SwerveModuleIO

setAnglePID

public void setAnglePID(double kP,
 double kI,
 double kD)

Description copied from interface: SwerveModuleIO

Set PID constants for angle motor

Specified by:

setAnglePID in interface SwerveModuleIO

setDriveBrakeMode

public void setDriveBrakeMode(boolean enabled)

Description copied from interface: SwerveModuleIO

Set drive brake mode

Specified by:

setDriveBrakeMode in interface SwerveModuleIO

setAngleBrakeMode

public void setAngleBrakeMode(boolean enabled)

Description copied from interface: SwerveModuleIO

Set angle brake mode

Specified by:

setAngleBrakeMode in interface SwerveModuleIO