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

Interface ModuleIO

All Known Implementing Classes:
ModuleIOSim, ModuleIOTalonFX
public interface ModuleIO

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    ModuleIO.ModuleIOInputs
     

  • Method Summary

    Modifier and Type
    Method
    Description
    default void
    setDriveOpenLoop(double output)
    Run the drive motor at the specified open loop value.
    default void
    setDriveVelocity(double velocityRadPerSec)
    Run the drive motor at the specified velocity.
    default void
    setTurnOpenLoop(double output)
    Run the turn motor at the specified open loop value.
    default void
    setTurnPosition(Rotation2d rotation)
    Run the turn motor to the specified rotation.
    default void
    updateInputs(ModuleIO.ModuleIOInputs inputs)
    Updates the set of loggable inputs.

  • Method Details

    • updateInputs

      default void updateInputs(ModuleIO.ModuleIOInputs inputs)
      Updates the set of loggable inputs.

    • setDriveOpenLoop

      default void setDriveOpenLoop(double output)
      Run the drive motor at the specified open loop value.

    • setTurnOpenLoop

      default void setTurnOpenLoop(double output)
      Run the turn motor at the specified open loop value.

    • setDriveVelocity

      default void setDriveVelocity(double velocityRadPerSec)
      Run the drive motor at the specified velocity.

    • setTurnPosition

      default void setTurnPosition(Rotation2d rotation)
      Run the turn motor to the specified rotation.