Package frc.robot.subsystems.swervedrive2.swervelib.parser

Class SwerveModuleConfiguration

java.lang.Object

frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration

public class SwerveModuleConfiguration
extends Object

Swerve Module configuration class which is used to configure SwerveModule.

Field Summary

Fields

Modifier and Type	Field	Description
SwerveAbsoluteEncoder	absoluteEncoder	The Absolute Encoder for the swerve module.
boolean	absoluteEncoderInverted	Whether the absolute encoder is inverted.
double	angleKV	Angle volt-meter-per-second.
SwerveMotor	angleMotor	The drive motor and angle motor of this swerve module.
boolean	angleMotorInverted	State of inversion of the angle motor.
double	angleOffset	Angle offset in degrees for the Swerve Module.
PIDFConfig	anglePIDF	PIDF configuration options for the angle motor closed-loop PID controller.
SwerveMotor	driveMotor	The drive motor and angle motor of this swerve module.
boolean	driveMotorInverted	State of inversion of the drive motor.
double	maxSpeed	Maximum robot speed in meters per second.
edu.wpi.first.math.geometry.Translation2d	moduleLocation	Swerve module location relative to the robot.
SwerveModulePhysicalCharacteristics	physicalCharacteristics	Physical characteristics of the swerve module.
PIDFConfig	velocityPIDF	PIDF configuration options for the drive motor closed-loop PID controller.

Constructor Summary

Constructors

Constructor	Description
SwerveModuleConfiguration(SwerveMotor driveMotor, SwerveMotor angleMotor, SwerveAbsoluteEncoder absoluteEncoder, double angleOffset, double xMeters, double yMeters, PIDFConfig anglePIDF, PIDFConfig velocityPIDF, double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics)	Construct a configuration object for swerve modules.
SwerveModuleConfiguration(SwerveMotor driveMotor, SwerveMotor angleMotor, SwerveAbsoluteEncoder absoluteEncoder, double angleOffset, double xMeters, double yMeters, PIDFConfig anglePIDF, PIDFConfig velocityPIDF, double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics, boolean absoluteEncoderInverted, boolean driveMotorInverted, boolean angleMotorInverted)	Construct a configuration object for swerve modules.

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.controller.SimpleMotorFeedforward	createDriveFeedforward()	Create the drive feedforward for swerve modules.
double	getPositionEncoderConversion(boolean isDriveMotor)	Get the encoder conversion for position encoders.

Methods inherited from class java.lang.Object

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

Field Detail

angleOffset

public final double angleOffset

Angle offset in degrees for the Swerve Module.

absoluteEncoderInverted

public final boolean absoluteEncoderInverted

Whether the absolute encoder is inverted.

driveMotorInverted

public final boolean driveMotorInverted

State of inversion of the drive motor.

angleMotorInverted

public final boolean angleMotorInverted

State of inversion of the angle motor.

maxSpeed

public final double maxSpeed

Maximum robot speed in meters per second.

anglePIDF

public PIDFConfig anglePIDF

PIDF configuration options for the angle motor closed-loop PID controller.

velocityPIDF

public PIDFConfig velocityPIDF

PIDF configuration options for the drive motor closed-loop PID controller.

angleKV

public double angleKV

Angle volt-meter-per-second.

moduleLocation

public edu.wpi.first.math.geometry.Translation2d moduleLocation

Swerve module location relative to the robot.

physicalCharacteristics

public SwerveModulePhysicalCharacteristics physicalCharacteristics

Physical characteristics of the swerve module.

driveMotor

public SwerveMotor driveMotor

The drive motor and angle motor of this swerve module.

angleMotor

public SwerveMotor angleMotor

The drive motor and angle motor of this swerve module.

absoluteEncoder

public SwerveAbsoluteEncoder absoluteEncoder

The Absolute Encoder for the swerve module.

Constructor Detail

SwerveModuleConfiguration

public SwerveModuleConfiguration(SwerveMotor driveMotor,
                                 SwerveMotor angleMotor,
                                 SwerveAbsoluteEncoder absoluteEncoder,
                                 double angleOffset,
                                 double xMeters,
                                 double yMeters,
                                 PIDFConfig anglePIDF,
                                 PIDFConfig velocityPIDF,
                                 double maxSpeed,
                                 SwerveModulePhysicalCharacteristics physicalCharacteristics,
                                 boolean absoluteEncoderInverted,
                                 boolean driveMotorInverted,
                                 boolean angleMotorInverted)

Construct a configuration object for swerve modules.

Parameters:

driveMotor - Drive SwerveMotor.

angleMotor - Angle SwerveMotor

absoluteEncoder - Absolute encoder SwerveAbsoluteEncoder.

angleOffset - Absolute angle offset to 0.

absoluteEncoderInverted - Absolute encoder inverted.

angleMotorInverted - State of inversion of the angle motor.

driveMotorInverted - Drive motor inverted.

xMeters - Module location in meters from the center horizontally.

yMeters - Module location in meters from center vertically.

anglePIDF - Angle PIDF configuration.

velocityPIDF - Velocity PIDF configuration.

maxSpeed - Maximum speed in meters per second.

physicalCharacteristics - Physical characteristics of the swerve module.

SwerveModuleConfiguration

public SwerveModuleConfiguration(SwerveMotor driveMotor,
                                 SwerveMotor angleMotor,
                                 SwerveAbsoluteEncoder absoluteEncoder,
                                 double angleOffset,
                                 double xMeters,
                                 double yMeters,
                                 PIDFConfig anglePIDF,
                                 PIDFConfig velocityPIDF,
                                 double maxSpeed,
                                 SwerveModulePhysicalCharacteristics physicalCharacteristics)

Construct a configuration object for swerve modules. Assumes the absolute encoder and drive motor are not inverted.

Parameters:

driveMotor - Drive SwerveMotor.

angleMotor - Angle SwerveMotor

absoluteEncoder - Absolute encoder SwerveAbsoluteEncoder.

angleOffset - Absolute angle offset to 0.

xMeters - Module location in meters from the center horizontally.

yMeters - Module location in meters from center vertically.

anglePIDF - Angle PIDF configuration.

velocityPIDF - Velocity PIDF configuration.

maxSpeed - Maximum robot speed in meters per second.

physicalCharacteristics - Physical characteristics of the swerve module.

Method Detail

createDriveFeedforward

public edu.wpi.first.math.controller.SimpleMotorFeedforward createDriveFeedforward()

Create the drive feedforward for swerve modules.

Returns:

Drive feedforward for drive motor on a swerve module.

getPositionEncoderConversion

public double getPositionEncoderConversion(boolean isDriveMotor)

Get the encoder conversion for position encoders.

Parameters:

isDriveMotor - For the drive motor.

Returns:

Position encoder conversion factor.