Package frc.robot.subsystems.swervedrive.swerve.motors

Class REVSwerveMotor

java.lang.Object

frc.robot.subsystems.swervedrive.swerve.SwerveMotor

frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor

public class REVSwerveMotor
extends SwerveMotor

Nested Class Summary

Nested Classes

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

Nested classes/interfaces inherited from class frc.robot.subsystems.swervedrive.swerve.SwerveMotor

SwerveMotor.ModuleMotorType

Field Summary

Fields

Modifier and Type	Field	Description
private com.revrobotics.MotorFeedbackSensor	m_encoder
private java.util.function.Supplier<java.lang.Double>	m_encoderPosRet
private java.util.function.Supplier<java.lang.Double>	m_encoderRet
private com.revrobotics.SparkMaxPIDController.ArbFFUnits	m_feedforwardUnits
private boolean	m_integratedAbsEncoder
private int	m_mainPidSlot
private double	m_moduleRadkV	kV feed forward for PID
private com.revrobotics.CANSparkMax	m_motor
private com.revrobotics.SparkMaxPIDController	m_pid
private com.revrobotics.CANSparkMax.ControlType	m_pidControlType
private int	m_secondaryPidSlot

Fields inherited from class frc.robot.subsystems.swervedrive.swerve.SwerveMotor

kD, kF, kI, kIZ, kP, m_motorType, target

Constructor Summary

Constructors

Constructor	Description
REVSwerveMotor(com.revrobotics.CANSparkMax motor, SwerveEncoder<?> absoluteEncoder, SwerveMotor.ModuleMotorType type, double gearRatio, double wheelDiameter, double freeSpeedRPM, double powerLimit)	Constructor for REV Swerve Motor, expecting CANSparkMax.

Method Summary

Modifier and Type	Method	Description
double	get()	Get the current value of the encoder corresponding to the PID.
double	getAmps()	Get the current output.
double	getPosition()	Get the current value of the encoder.
void	optimizeCANFrames()	Optimize the CAN status frames to reduce utilization.
boolean	reachable()	Check that the link is good on the swerve module and CAN bus is able to retrieve data.
boolean	remoteIntegratedEncoder()	Check if the absolute encoder is used inplace of the integrated encoder.
void	saveConfig()	Save configuration data to the motor controller so it is persistent on reboot.
void	set(double speed)	Set the speed of the drive motor from -1 to 1.
void	setCANStatusFrames(int CANStatus0, int CANStatus1, int CANStatus2, int CANStatus3, int CANStatus4)	Set the CAN status frames.
void	setConversionFactor(double conversionFactor)	Configures the conversion factor based upon which motor.
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	setEncoder(double value)	Set the encoder value.
void	setInverted(boolean inverted)	Invert the motor.
void	setPIDF(double P, double I, double D, double F, double integralZone)	Set the PIDF coefficients for the closed loop PID onboard the SparkMax.
void	setPIDOutputRange(double min, double max)	Configure the maximum power (-1 to 1) the PID can output.
void	setTarget(double target, double feedforward)	Set the target for the PID loop.
void	setVoltageCompensation(double nominalVoltage)	Set the voltage compensation for the swerve module motor.
void	stop()	Stop the motor by sending 0 volts to it.

Methods inherited from class frc.robot.subsystems.swervedrive.swerve.SwerveMotor

fromMotor

Methods inherited from class java.lang.Object

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

Field Detail

m_mainPidSlot

private final int m_mainPidSlot

m_secondaryPidSlot

private final int m_secondaryPidSlot

m_pidControlType

private final com.revrobotics.CANSparkMax.ControlType m_pidControlType

m_motor

private final com.revrobotics.CANSparkMax m_motor

m_encoder

private final com.revrobotics.MotorFeedbackSensor m_encoder

m_integratedAbsEncoder

private final boolean m_integratedAbsEncoder

m_pid

private final com.revrobotics.SparkMaxPIDController m_pid

m_feedforwardUnits

private final com.revrobotics.SparkMaxPIDController.ArbFFUnits m_feedforwardUnits

m_encoderRet

private final java.util.function.Supplier<java.lang.Double> m_encoderRet

m_encoderPosRet

private final java.util.function.Supplier<java.lang.Double> m_encoderPosRet

m_moduleRadkV

private final double m_moduleRadkV

kV feed forward for PID

Constructor Detail

REVSwerveMotor

public REVSwerveMotor(com.revrobotics.CANSparkMax motor,
                      SwerveEncoder<?> absoluteEncoder,
                      SwerveMotor.ModuleMotorType type,
                      double gearRatio,
                      double wheelDiameter,
                      double freeSpeedRPM,
                      double powerLimit)

Constructor for REV Swerve Motor, expecting CANSparkMax. Clears sticky faults and restores factory defaults.

Parameters:

motor - SparkMAX motor controller.

absoluteEncoder - The absolute encoder used for the module, if the motor is a turning motor and the encoder is compatible it will set the encoder as the remote integrated encoder and does not need periodic synchronization.

type - Swerve module motor type.

gearRatio - Gear ratio.

wheelDiameter - Wheel diameter in meters.

freeSpeedRPM - Free speed RPM of the motor.

powerLimit - Power limit for the motor.

Method Detail

setPIDOutputRange

public void setPIDOutputRange(double min,
                              double max)

Configure the maximum power (-1 to 1) the PID can output. This helps manage voltage pull for the drive base.

Specified by:

setPIDOutputRange in class SwerveMotor

Parameters:

min - Minimum output.

max - Maximum output.

setPIDF

public void setPIDF(double P,
                    double I,
                    double D,
                    double F,
                    double integralZone)

Set the PIDF coefficients for the closed loop PID onboard the SparkMax.

Specified by:

setPIDF in class SwerveMotor

Parameters:

P - Proportional gain for closed loop. This is multiplied by closed loop error in sensor units. Default is 1.0

I - Integral gain for closed loop. This is multiplied by closed loop error in sensor units every PID Loop.

D - Derivative gain for closed loop. This is multiplied by derivative error (sensor units per PID loop). Default is 0.1

F - Feed Fwd gain for Closed loop.

integralZone - Integral Zone can be used to auto clear the integral accumulator if the sensor pos is too far from the target. This prevents unstable oscillation if the kI is too large. Value is in sensor units.

setConversionFactor

public void setConversionFactor(double conversionFactor)

Configures the conversion factor based upon which motor.

Specified by:

setConversionFactor in class SwerveMotor

Parameters:

conversionFactor - Conversion from RPM to MPS for drive motor, and rotations to degrees for the turning motor.

setTarget

public void setTarget(double target,
                      double feedforward)

Set the target for the PID loop.

Specified by:

setTarget in class SwerveMotor

Parameters:

target - The PID target to aim for.

feedforward - feedForward value.

stop

public void stop()

Stop the motor by sending 0 volts to it.

Specified by:

stop in class SwerveMotor

set

public void set(double speed)

Set the speed of the drive motor from -1 to 1.

Specified by:

set in class SwerveMotor

Parameters:

speed - Speed from -1 to 1.

get

public double get()

Get the current value of the encoder corresponding to the PID.

Specified by:

get in class SwerveMotor

Returns:

Current value of the encoder.

getAmps

public double getAmps()

Get the current output.

Specified by:

getAmps in class SwerveMotor

Returns:

Output amps.

getPosition

public double getPosition()

Get the current value of the encoder.

Specified by:

getPosition in class SwerveMotor

Returns:

Current value of the encoder.

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.

setEncoder

public void setEncoder(double value)

Set the encoder value.

Specified by:

setEncoder in class SwerveMotor

Parameters:

value - Value to set the encoder to.

setCANStatusFrames

public void setCANStatusFrames(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

reachable

public boolean reachable()

Check that the link is good on the swerve module and CAN bus is able to retrieve data.

Specified by:

reachable in class SwerveMotor

Returns:

true on all devices are accessible over CAN.

remoteIntegratedEncoder

public boolean remoteIntegratedEncoder()

Check if the absolute encoder is used inplace of the integrated encoder.

Specified by:

remoteIntegratedEncoder in class SwerveMotor

Returns:

true, if the absolute encoder is being used as the integrated controller.

optimizeCANFrames

public void optimizeCANFrames()

Optimize the CAN status frames to reduce utilization.

Specified by:

optimizeCANFrames in class SwerveMotor

saveConfig

public void saveConfig()

Save configuration data to the motor controller so it is persistent on reboot.

Specified by:

saveConfig in class SwerveMotor

setInverted

public void setInverted(boolean inverted)

Invert the motor.

Specified by:

setInverted in class SwerveMotor

Parameters:

inverted - Set the motor as inverted.