Package com.lightningrobotics.common.subsystem.drivetrain.swerve

Class SwerveModule

java.lang.Object

com.lightningrobotics.common.subsystem.drivetrain.swerve.SwerveModule

public class SwerveModule
extends java.lang.Object

Represents a single swerve module with both drive and azimuth control.

Constructor Summary

Constructors

Constructor	Description
SwerveModule(SwerveGains gains, edu.wpi.first.wpilibj.motorcontrol.MotorController driveMotor, edu.wpi.first.wpilibj.motorcontrol.MotorController angleMotor, java.util.function.Supplier<edu.wpi.first.math.geometry.Rotation2d> moduleAngle, java.util.function.DoubleSupplier driveMotorVelocity, PIDFController driveController, PIDFController angleController)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj.motorcontrol.MotorController	getAzimuthMotor()
edu.wpi.first.wpilibj.motorcontrol.MotorController	getDriveMotor()
edu.wpi.first.math.geometry.Rotation2d	getModuleAngle()
SwerveModuleState	getState()
double	getVelocity()
void	setRawAzimuthPower(double pwr)
void	setRawDrivePower(double pwr)
void	setState(SwerveModuleState target)

Methods inherited from class java.lang.Object

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

Constructor Detail

SwerveModule

public SwerveModule(SwerveGains gains,
                    edu.wpi.first.wpilibj.motorcontrol.MotorController driveMotor,
                    edu.wpi.first.wpilibj.motorcontrol.MotorController angleMotor,
                    java.util.function.Supplier<edu.wpi.first.math.geometry.Rotation2d> moduleAngle,
                    java.util.function.DoubleSupplier driveMotorVelocity,
                    PIDFController driveController,
                    PIDFController angleController)

Method Detail

getModuleAngle

public edu.wpi.first.math.geometry.Rotation2d getModuleAngle()

getVelocity

public double getVelocity()

getDriveMotor

public edu.wpi.first.wpilibj.motorcontrol.MotorController getDriveMotor()

getAzimuthMotor

public edu.wpi.first.wpilibj.motorcontrol.MotorController getAzimuthMotor()

setState

public void setState(SwerveModuleState target)

setRawAzimuthPower

public void setRawAzimuthPower(double pwr)

setRawDrivePower

public void setRawDrivePower(double pwr)

getState

public SwerveModuleState getState()