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

Class SwerveMotor

  • Direct Known Subclasses:
    SparkMaxSwerve
    public abstract class SwerveMotor
extends Object
    Swerve motor abstraction which defines a standard interface for motors within a swerve module.

    • Field Summary

      Fields 
      Modifier and Type Field Description
      protected boolean isDriveMotor
      Whether the swerve motor is a drive motor.

    • Constructor Summary

      Constructors 
      Constructor Description
      SwerveMotor()  

    • Method Summary

      All Methods Instance Methods Abstract Methods 
      Modifier and Type Method Description
      abstract void burnFlash()
      Save the configurations from flash to EEPROM.
      abstract void clearStickyFaults()
      Clear the sticky faults on the motor controller.
      abstract void configureIntegratedEncoder​(double positionConversionFactor)
      Configure the integrated encoder for the swerve module.
      abstract void configurePIDF​(PIDFConfig config)
      Configure the PIDF values for the closed loop controller.
      abstract void configurePIDWrapping​(double minInput, double maxInput)
      Configure the PID wrapping for the position closed loop controller.
      abstract void factoryDefaults()
      Configure the factory defaults.
      abstract Object getMotor()
      Get the motor object from the module.
      abstract double getPosition()
      Get the position of the integrated encoder.
      abstract double getVelocity()
      Get the velocity of the integrated encoder.
      abstract boolean isAttachedAbsoluteEncoder()
      Queries whether the absolute encoder is directly attached to the motor controller.
      abstract void set​(double percentOutput)
      Set the percentage output.
      abstract SwerveMotor setAbsoluteEncoder​(SwerveAbsoluteEncoder encoder)
      Set the absolute encoder to be a compatible absolute encoder.
      abstract 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.
      abstract void setInverted​(boolean inverted)
      Set the motor to be inverted.
      abstract void setLoopRampRate​(double rampRate)
      Set the maximum rate the open/closed loop output can change by.
      abstract void setMotorBrake​(boolean isBrakeMode)
      Set the idle mode.
      abstract void setPosition​(double position)
      Set the integrated encoder position.
      abstract void setReference​(double setpoint, double feedforward)
      Set the closed loop PID controller reference point.
      abstract void setVoltageCompensation​(double nominalVoltage)
      Set the voltage compensation for the swerve module motor.

    • Field Detail

      • isDriveMotor

        protected boolean isDriveMotor
        Whether the swerve motor is a drive motor.

    • Constructor Detail

      • SwerveMotor

        public SwerveMotor()

    • Method Detail

      • factoryDefaults

        public abstract void factoryDefaults()
        Configure the factory defaults.

      • clearStickyFaults

        public abstract void clearStickyFaults()
        Clear the sticky faults on the motor controller.

      • setAbsoluteEncoder

        public abstract SwerveMotor setAbsoluteEncoder​(SwerveAbsoluteEncoder encoder)
        Set the absolute encoder to be a compatible absolute encoder.
        Parameters:
        encoder - The encoder to use.

      • configureIntegratedEncoder

        public abstract void configureIntegratedEncoder​(double positionConversionFactor)
        Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
        Parameters:
        positionConversionFactor - The conversion factor to apply for position.

      • configurePIDF

        public abstract void configurePIDF​(PIDFConfig config)
        Configure the PIDF values for the closed loop controller. 0 is disabled or off.
        Parameters:
        config - Configuration class holding the PIDF values.

      • configurePIDWrapping

        public abstract void configurePIDWrapping​(double minInput,
                                          double maxInput)
        Configure the PID wrapping for the position closed loop controller.
        Parameters:
        minInput - Minimum PID input.
        maxInput - Maximum PID input.

      • setMotorBrake

        public abstract void setMotorBrake​(boolean isBrakeMode)
        Set the idle mode.
        Parameters:
        isBrakeMode - Set the brake mode.

      • setInverted

        public abstract void setInverted​(boolean inverted)
        Set the motor to be inverted.
        Parameters:
        inverted - State of inversion.

      • burnFlash

        public abstract void burnFlash()
        Save the configurations from flash to EEPROM.

      • set

        public abstract void set​(double percentOutput)
        Set the percentage output.
        Parameters:
        percentOutput - percent out for the motor controller.

      • setReference

        public abstract void setReference​(double setpoint,
                                  double feedforward)
        Set the closed loop PID controller reference point.
        Parameters:
        setpoint - Setpoint in MPS or Angle in degrees.
        feedforward - Feedforward in volt-meter-per-second or kV.

      • getVelocity

        public abstract double getVelocity()
        Get the velocity of the integrated encoder.
        Returns:
        velocity

      • getPosition

        public abstract double getPosition()
        Get the position of the integrated encoder.
        Returns:
        Position

      • setPosition

        public abstract void setPosition​(double position)
        Set the integrated encoder position.
        Parameters:
        position - Integrated encoder position. Should be angle in degrees or meters per second.

      • setVoltageCompensation

        public abstract void setVoltageCompensation​(double nominalVoltage)
        Set the voltage compensation for the swerve module motor.
        Parameters:
        nominalVoltage - Nominal voltage for operation to output to.

      • setCurrentLimit

        public abstract 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.
        Parameters:
        currentLimit - Current limit in AMPS at free speed.

      • setLoopRampRate

        public abstract void setLoopRampRate​(double rampRate)
        Set the maximum rate the open/closed loop output can change by.
        Parameters:
        rampRate - Time in seconds to go from 0 to full throttle.

      • getMotor

        public abstract Object getMotor()
        Get the motor object from the module.
        Returns:
        Motor object.

      • isAttachedAbsoluteEncoder

        public abstract boolean isAttachedAbsoluteEncoder()
        Queries whether the absolute encoder is directly attached to the motor controller.
        Returns:
        connected absolute encoder state.