Package swervelib.motors

Class TalonSRXSwerve

java.lang.Object
swervelib.motors.SwerveMotor
swervelib.motors.TalonSRXSwerve
public class TalonSRXSwerve extends SwerveMotor
WPI_TalonSRX Swerve Motor.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private final boolean
    absoluteEncoder
    Whether the absolute encoder is integrated.
    private final boolean
    factoryDefaultOccurred
    Factory default already occurred.
    (package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX
    motor
    TalonSRX motor controller.
    private double
    positionConversionFactor
    The position conversion factor.

    Fields inherited from class swervelib.motors.SwerveMotor

    isDriveMotor

  • Constructor Summary

    Constructors
    Constructor
    Description
    TalonSRXSwerve(int id, boolean isDriveMotor)
    Construct the TalonSRX swerve motor given the ID.
    TalonSRXSwerve(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor, boolean isDriveMotor)
    Constructor for TalonSRX 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
    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.
    double
    convertToNativeSensorUnits(double setpoint)
    Convert the setpoint into native sensor units.
    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
    getRawPosition()
    Get the raw position.
    double
    getVelocity()
    Get the velocity of the integrated encoder.
    boolean
    isAttachedAbsoluteEncoder()
    Queries whether the absolute encoder is directly attached to the motor controller.
    private double
    placeInAppropriate0To360Scope(double scopeReference, double newAngle)
    Put an angle within the the 360 deg scope of a reference.
    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 Details

    • factoryDefaultOccurred

      private final boolean factoryDefaultOccurred
      Factory default already occurred.
      See Also:

    • motor

      com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor
      TalonSRX motor controller.

    • absoluteEncoder

      private final boolean absoluteEncoder
      Whether the absolute encoder is integrated.
      See Also:

    • positionConversionFactor

      private double positionConversionFactor
      The position conversion factor.

  • Constructor Details

    • TalonSRXSwerve

      public TalonSRXSwerve(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor, boolean isDriveMotor)
      Constructor for TalonSRX swerve motor.
      Parameters:
      motor - Motor to use.
      isDriveMotor - Whether this motor is a drive motor.

    • TalonSRXSwerve

      public TalonSRXSwerve(int id, boolean isDriveMotor)
      Construct the TalonSRX swerve motor given the ID.
      Parameters:
      id - ID of the TalonSRX on the canbus.
      isDriveMotor - Whether the motor is a drive or steering motor.

  • Method Details

    • 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 single line configuration.

    • 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 for position.

    • configurePIDF

      public void configurePIDF(PIDFConfig config)
      Configure the PIDF values for the closed loop controller. 0 is disabled or off.
      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.

    • 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

    • getRawPosition

      public double getRawPosition()
      Get the raw position.
      Returns:
      Position in meters or degrees.

    • getPosition

      public double getPosition()
      Get the position of the integrated encoder.
      Specified by:
      getPosition in class SwerveMotor
      Returns:
      Position in Meters or Degrees.

    • setPosition

      public void setPosition(double position)
      Set the integrated encoder position.
      Specified by:
      setPosition in class SwerveMotor
      Parameters:
      position - Integrated encoder position. Should be angle in degrees or meters.

    • 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.

    • placeInAppropriate0To360Scope

      private double placeInAppropriate0To360Scope(double scopeReference, double newAngle)
      Put an angle within the the 360 deg scope of a reference. For example, given a scope reference of 756 degrees, assumes the full scope is (720-1080), and places an angle of 22 degrees into it, returning 742 deg.
      Parameters:
      scopeReference - Current Angle (deg)
      newAngle - Target Angle (deg)
      Returns:
      Closest angle within scope (deg)

    • convertToNativeSensorUnits

      public double convertToNativeSensorUnits(double setpoint)
      Convert the setpoint into native sensor units.
      Parameters:
      setpoint - Setpoint to mutate. In meters per second or degrees.
      Returns:
      Setpoint as native sensor units. Encoder ticks per 100ms, or Encoder tick.