Package frc.robot.subsystems.swervedrive.swerve

Class SwerveDrive.SwerveModuleConfig<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder>

java.lang.Object

frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig<DriveMotorType,SteeringMotorType,AbsoluteEncoder>

Type Parameters:

DriveMotorType - The motor type for the drive motor on the swerve moduule.

SteeringMotorType - The motor type for the steering motor on the module.

AbsoluteEncoder - The absolute encoder type.

Enclosing class:

SwerveDrive

public static class SwerveDrive.SwerveModuleConfig<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder>
extends java.lang.Object

Helper class for easier swerve module creation

Field Summary

Fields

Modifier and Type	Field	Description
double	angleOffset
DriveMotorType	drive
AbsoluteEncoder	encoder
SwerveModule.SwerveModuleLocation	loc
SteeringMotorType	steering

Constructor Summary

Constructors

Constructor	Description
SwerveModuleConfig(DriveMotorType driveMotor, SteeringMotorType steerMotor, AbsoluteEncoder encoderSteering, double offset, SwerveModule.SwerveModuleLocation location)	Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.

Method Summary

Modifier and Type	Method	Description
SwerveModule<DriveMotorType,SteeringMotorType,AbsoluteEncoder>	createModule(double driveGearRatio, double steerGearRatio, double wheelDiameterMeters, double wheelBaseMeters, double driveTrainWidthMeters, double steeringMotorFreeSpeedRPM, double maxSpeedMPS, double maxDriveAcceleration, boolean steeringInverted, boolean drivingInverted)	Create the swerve module from the configuration.

Methods inherited from class java.lang.Object

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

Field Detail

drive

public DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController drive

steering

public SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController steering

encoder

public AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder encoder

angleOffset

public double angleOffset

loc

public SwerveModule.SwerveModuleLocation loc

Constructor Detail

SwerveModuleConfig

public SwerveModuleConfig(DriveMotorType driveMotor,
                          SteeringMotorType steerMotor,
                          AbsoluteEncoder encoderSteering,
                          double offset,
                          SwerveModule.SwerveModuleLocation location)

Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.

Parameters:

driveMotor - Drive motor for the swerve module.

steerMotor - Steer motor for the swerve module.

encoderSteering - CANCoder for the steering motor on the swerve module.

offset - Absolute encoder offset.

location - Swerve Moduule location on the chassis.

Method Detail

createModule

public SwerveModule<DriveMotorType,SteeringMotorType,AbsoluteEncoder> createModule(double driveGearRatio,
                                                                                               double steerGearRatio,
                                                                                               double wheelDiameterMeters,
                                                                                               double wheelBaseMeters,
                                                                                               double driveTrainWidthMeters,
                                                                                               double steeringMotorFreeSpeedRPM,
                                                                                               double maxSpeedMPS,
                                                                                               double maxDriveAcceleration,
                                                                                               boolean steeringInverted,
                                                                                               boolean drivingInverted)

Create the swerve module from the configuration.

Parameters:

driveGearRatio - Drive gear ratio in form of (rotation:1 AKA rotations/1) to get the encoder ticks per rotation.

steerGearRatio - Steering motor gear ratio (usually 12.8:1 for MK4 in form of rotations:1 or rotations/1), only applied if using Neo's.

wheelDiameterMeters - The wheel diameter of the swerve drive module in meters.

wheelBaseMeters - The Distance between front and back wheels of the robot in meters.

driveTrainWidthMeters - The Distance between centers of right and left wheels in meters.

steeringMotorFreeSpeedRPM - The RPM free speed of the steering motor.

maxSpeedMPS - The maximum drive speed in meters per second.

maxDriveAcceleration - The maximum drive acceleration in meters^2 per second.

steeringInverted - The steering motor is inverted.

drivingInverted - The driving motor is inverted.

Returns:

The Swerve Module.