Package frc.alotobots.library.subsystems.swervedrive.io

Class ModuleIOTalonFX

java.lang.Object
frc.alotobots.library.subsystems.swervedrive.io.ModuleIOTalonFX
All Implemented Interfaces:
ModuleIO
Direct Known Subclasses:
ModuleIOTalonFXReal, ModuleIOTalonFXSim
public class ModuleIOTalonFX extends Object implements ModuleIO

  • Field Details

    • constants

      protected final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> constants

    • driveTalon

      protected final com.ctre.phoenix6.hardware.TalonFX driveTalon

    • turnTalon

      protected final com.ctre.phoenix6.hardware.TalonFX turnTalon

    • cancoder

      protected final com.ctre.phoenix6.hardware.CANcoder cancoder

    • voltageRequest

      protected final com.ctre.phoenix6.controls.VoltageOut voltageRequest

    • positionVoltageRequest

      protected final com.ctre.phoenix6.controls.PositionVoltage positionVoltageRequest

    • velocityVoltageRequest

      protected final com.ctre.phoenix6.controls.VelocityVoltage velocityVoltageRequest

    • torqueCurrentRequest

      protected final com.ctre.phoenix6.controls.TorqueCurrentFOC torqueCurrentRequest

    • positionTorqueCurrentRequest

      protected final com.ctre.phoenix6.controls.PositionTorqueCurrentFOC positionTorqueCurrentRequest

    • velocityTorqueCurrentRequest

      protected final com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC velocityTorqueCurrentRequest

    • drivePosition

      protected final com.ctre.phoenix6.StatusSignal<Angle> drivePosition

    • driveVelocity

      protected final com.ctre.phoenix6.StatusSignal<AngularVelocity> driveVelocity

    • driveAppliedVolts

      protected final com.ctre.phoenix6.StatusSignal<Voltage> driveAppliedVolts

    • driveCurrent

      protected final com.ctre.phoenix6.StatusSignal<Current> driveCurrent

    • turnAbsolutePosition

      protected final com.ctre.phoenix6.StatusSignal<Angle> turnAbsolutePosition

    • turnVelocity

      protected final com.ctre.phoenix6.StatusSignal<AngularVelocity> turnVelocity

    • turnAppliedVolts

      protected final com.ctre.phoenix6.StatusSignal<Voltage> turnAppliedVolts

    • turnCurrent

      protected final com.ctre.phoenix6.StatusSignal<Current> turnCurrent

  • Constructor Details

    • ModuleIOTalonFX

      protected ModuleIOTalonFX(com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> constants)

  • Method Details

    • updateInputs

      public void updateInputs(ModuleIO.ModuleIOInputs inputs)
      Description copied from interface: ModuleIO
      Updates the set of loggable inputs.
      Specified by:
      updateInputs in interface ModuleIO

    • setDriveOpenLoop

      public void setDriveOpenLoop(double output)
      Description copied from interface: ModuleIO
      Run the drive motor at the specified open loop value.
      Specified by:
      setDriveOpenLoop in interface ModuleIO

    • setTurnOpenLoop

      public void setTurnOpenLoop(double output)
      Description copied from interface: ModuleIO
      Run the turn motor at the specified open loop value.
      Specified by:
      setTurnOpenLoop in interface ModuleIO

    • setDriveVelocity

      public void setDriveVelocity(double velocityRadPerSec)
      Description copied from interface: ModuleIO
      Run the drive motor at the specified velocity.
      Specified by:
      setDriveVelocity in interface ModuleIO

    • setTurnPosition

      public void setTurnPosition(Rotation2d rotation)
      Description copied from interface: ModuleIO
      Run the turn motor to the specified rotation.
      Specified by:
      setTurnPosition in interface ModuleIO