Package frc.alotobots.library.subsystems.swervedrive

Class Module

java.lang.Object

frc.alotobots.library.subsystems.swervedrive.Module

public class Module
extends Object

Constructor Summary

Constructors

Constructor	Description
Module(ModuleIO io, int index, com.ctre.phoenix6.swerve.SwerveModuleConstants constants)

Method Summary

Modifier and Type	Method	Description
Rotation2d	getAngle()	Returns the current turn angle of the module.
double	getFFCharacterizationVelocity()	Returns the module velocity in rotations/sec (Phoenix native units).
SwerveModulePosition[]	getOdometryPositions()	Returns the module positions received this cycle.
double[]	getOdometryTimestamps()	Returns the timestamps of the samples received this cycle.
SwerveModulePosition	getPosition()	Returns the module position (turn angle and drive position).
double	getPositionMeters()	Returns the current drive position of the module in meters.
SwerveModuleState	getState()	Returns the module state (turn angle and drive velocity).
double	getVelocityMetersPerSec()	Returns the current drive velocity of the module in meters per second.
double	getWheelRadiusCharacterizationPosition()	Returns the module position in radians.
void	periodic()
void	runCharacterization(double output)	Runs the module with the specified output while controlling to zero degrees.
void	runSetpoint(SwerveModuleState state)	Runs the module with the specified setpoint state.
void	stop()	Disables all outputs to motors.

Methods inherited from class java.lang.Object

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

Constructor Details

Module

public Module(ModuleIO io,
 int index,
 com.ctre.phoenix6.swerve.SwerveModuleConstants constants)

Method Details

periodic

public void periodic()

runSetpoint

public void runSetpoint(SwerveModuleState state)

Runs the module with the specified setpoint state. Mutates the state to optimize it.

runCharacterization

public void runCharacterization(double output)

Runs the module with the specified output while controlling to zero degrees.

stop

public void stop()

Disables all outputs to motors.

getAngle

public Rotation2d getAngle()

Returns the current turn angle of the module.

getPositionMeters

public double getPositionMeters()

Returns the current drive position of the module in meters.

getVelocityMetersPerSec

public double getVelocityMetersPerSec()

Returns the current drive velocity of the module in meters per second.

getPosition

public SwerveModulePosition getPosition()

Returns the module position (turn angle and drive position).

getState

public SwerveModuleState getState()

Returns the module state (turn angle and drive velocity).

getOdometryPositions

public SwerveModulePosition[] getOdometryPositions()

Returns the module positions received this cycle.

getOdometryTimestamps

public double[] getOdometryTimestamps()

Returns the timestamps of the samples received this cycle.

getWheelRadiusCharacterizationPosition

public double getWheelRadiusCharacterizationPosition()

Returns the module position in radians.

getFFCharacterizationVelocity

public double getFFCharacterizationVelocity()

Returns the module velocity in rotations/sec (Phoenix native units).