Package frc.robot.subsystems.swervedrive2.swervelib.motors

Class SparkMaxSwerve

java.lang.Object

frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor

frc.robot.subsystems.swervedrive2.swervelib.motors.SparkMaxSwerve

public class SparkMaxSwerve
extends SwerveMotor

An implementation of CANSparkMax as a SwerveMotor.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
(package private) static class	SparkMaxSwerve.SparkMAX_slotIdx	REV Slots for PID configuration.

Field Summary

Fields

Modifier and Type	Field	Description
com.revrobotics.AbsoluteEncoder	absoluteEncoder	Absolute encoder attached to the SparkMax (if exists)
com.revrobotics.RelativeEncoder	encoder	Integrated encoder.
private boolean	factoryDefaultOccurred	Factory default already occurred.
com.revrobotics.CANSparkMax	motor	SparkMAX Instance.
com.revrobotics.SparkMaxPIDController	pid	Closed-loop PID controller.

Fields inherited from class frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor

isDriveMotor

Constructor Summary

Constructors

Constructor	Description
SparkMaxSwerve(int id, boolean isDriveMotor)	Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
SparkMaxSwerve(com.revrobotics.CANSparkMax motor, boolean isDriveMotor)	Initialize the swerve motor.

Method Summary

Modifier and Type	Method	Description
void	burnFlash()	Save the configurations from flash to EEPROM.
void	clearStickyFaults()	Clear the sticky faults on the motor controller.
void	configureCANStatusFrames(int CANStatus0, int CANStatus1, int CANStatus2, int CANStatus3, int CANStatus4)	Set the CAN status frames.
void	configureIntegratedEncoder(double positionConversionFactor)	Configure the integrated encoder for the swerve module.
void	configurePIDF(PIDFConfig config)	Configure the PIDF values for the closed loop controller.
void	configurePIDWrapping(double minInput, double maxInput)	Configure the PID wrapping for the position closed loop controller.
void	factoryDefaults()	Configure the factory defaults.
Object	getMotor()	Get the motor object from the module.
double	getPosition()	Get the position of the integrated encoder.
double	getVelocity()	Get the velocity of the integrated encoder.
boolean	isAttachedAbsoluteEncoder()	Queries whether the absolute encoder is directly attached to the motor controller.
void	set(double percentOutput)	Set the percentage output.
SwerveMotor	setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)	Set the absolute encoder to be a compatible absolute encoder.
void	setCurrentLimit(int currentLimit)	Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
void	setInverted(boolean inverted)	Set the motor to be inverted.
void	setLoopRampRate(double rampRate)	Set the maximum rate the open/closed loop output can change by.
void	setMotorBrake(boolean isBrakeMode)	Set the idle mode.
void	setPosition(double position)	Set the integrated encoder position.
void	setReference(double setpoint, double feedforward)	Set the closed loop PID controller reference point.
void	setVoltageCompensation(double nominalVoltage)	Set the voltage compensation for the swerve module motor.

Methods inherited from class java.lang.Object

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

Field Detail

motor

public com.revrobotics.CANSparkMax motor

SparkMAX Instance.

encoder

public com.revrobotics.RelativeEncoder encoder

Integrated encoder.

absoluteEncoder

public com.revrobotics.AbsoluteEncoder absoluteEncoder

Absolute encoder attached to the SparkMax (if exists)

pid

public com.revrobotics.SparkMaxPIDController pid

Closed-loop PID controller.

factoryDefaultOccurred

private boolean factoryDefaultOccurred

Factory default already occurred.

Constructor Detail

SparkMaxSwerve

public SparkMaxSwerve(com.revrobotics.CANSparkMax motor,
                      boolean isDriveMotor)

Initialize the swerve motor.

Parameters:

motor - The SwerveMotor as a SparkMax object.

isDriveMotor - Is the motor being initialized a drive motor?

SparkMaxSwerve

public SparkMaxSwerve(int id,
                      boolean isDriveMotor)

Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.

Parameters:

id - CAN ID of the SparkMax.

isDriveMotor - Is the motor being initialized a drive motor?

Method Detail

setVoltageCompensation

public void setVoltageCompensation(double nominalVoltage)

Set the voltage compensation for the swerve module motor.

Specified by:

setVoltageCompensation in class SwerveMotor

Parameters:

nominalVoltage - Nominal voltage for operation to output to.

setCurrentLimit

public void setCurrentLimit(int currentLimit)

Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation. This is useful to protect the motor from current spikes.

Specified by:

setCurrentLimit in class SwerveMotor

Parameters:

currentLimit - Current limit in AMPS at free speed.

setLoopRampRate

public void setLoopRampRate(double rampRate)

Set the maximum rate the open/closed loop output can change by.

Specified by:

setLoopRampRate in class SwerveMotor

Parameters:

rampRate - Time in seconds to go from 0 to full throttle.

getMotor

public Object getMotor()

Get the motor object from the module.

Specified by:

getMotor in class SwerveMotor

Returns:

Motor object.

isAttachedAbsoluteEncoder

public boolean isAttachedAbsoluteEncoder()

Queries whether the absolute encoder is directly attached to the motor controller.

Specified by:

isAttachedAbsoluteEncoder in class SwerveMotor

Returns:

connected absolute encoder state.

factoryDefaults

public void factoryDefaults()

Configure the factory defaults.

Specified by:

factoryDefaults in class SwerveMotor

clearStickyFaults

public void clearStickyFaults()

Clear the sticky faults on the motor controller.

Specified by:

clearStickyFaults in class SwerveMotor

setAbsoluteEncoder

public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)

Set the absolute encoder to be a compatible absolute encoder.

Specified by:

setAbsoluteEncoder in class SwerveMotor

Parameters:

encoder - The encoder to use.

Returns:

The SwerveMotor for easy instantiation.

configureIntegratedEncoder

public void configureIntegratedEncoder(double positionConversionFactor)

Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.

Specified by:

configureIntegratedEncoder in class SwerveMotor

Parameters:

positionConversionFactor - The conversion factor to apply.

configurePIDF

public void configurePIDF(PIDFConfig config)

Configure the PIDF values for the closed loop controller.

Specified by:

configurePIDF in class SwerveMotor

Parameters:

config - Configuration class holding the PIDF values.

configurePIDWrapping

public void configurePIDWrapping(double minInput,
                                 double maxInput)

Configure the PID wrapping for the position closed loop controller.

Specified by:

configurePIDWrapping in class SwerveMotor

Parameters:

minInput - Minimum PID input.

maxInput - Maximum PID input.

configureCANStatusFrames

public void configureCANStatusFrames(int CANStatus0,
                                     int CANStatus1,
                                     int CANStatus2,
                                     int CANStatus3,
                                     int CANStatus4)

Set the CAN status frames.

Parameters:

CANStatus0 - Applied Output, Faults, Sticky Faults, Is Follower

CANStatus1 - Motor Velocity, Motor Temperature, Motor Voltage, Motor Current

CANStatus2 - Motor Position

CANStatus3 - Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position

CANStatus4 - Alternate Encoder Velocity, Alternate Encoder Position

setMotorBrake

public void setMotorBrake(boolean isBrakeMode)

Set the idle mode.

Specified by:

setMotorBrake in class SwerveMotor

Parameters:

isBrakeMode - Set the brake mode.

setInverted

public void setInverted(boolean inverted)

Set the motor to be inverted.

Specified by:

setInverted in class SwerveMotor

Parameters:

inverted - State of inversion.

burnFlash

public void burnFlash()

Save the configurations from flash to EEPROM.

Specified by:

burnFlash in class SwerveMotor

set

public void set(double percentOutput)

Set the percentage output.

Specified by:

set in class SwerveMotor

Parameters:

percentOutput - percent out for the motor controller.

setReference

public void setReference(double setpoint,
                         double feedforward)

Set the closed loop PID controller reference point.

Specified by:

setReference in class SwerveMotor

Parameters:

setpoint - Setpoint in MPS or Angle in degrees.

feedforward - Feedforward in volt-meter-per-second or kV.

getVelocity

public double getVelocity()

Get the velocity of the integrated encoder.

Specified by:

getVelocity in class SwerveMotor

Returns:

velocity

getPosition

public double getPosition()

Get the position of the integrated encoder.

Specified by:

getPosition in class SwerveMotor

Returns:

Position

setPosition

public void setPosition(double position)

Set the integrated encoder position.

Specified by:

setPosition in class SwerveMotor

Parameters:

position - Integrated encoder position.