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Updated swervelib
2023-02-13 14:37:05 -06:00
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.motors</a></div>
<h2 title="Class SparkMaxSwerve" class="title">Class SparkMaxSwerve</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<ul class="inheritance">
<li><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor</a></li>
<li>
<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive2.swervelib.motors.SparkMaxSwerve</li>
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<pre>public class <span class="typeNameLabel">SparkMaxSwerve</span>
extends <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></pre>
<div class="block">An implementation of <code>CANSparkMax</code> as a <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a>.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Class</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>(package private) static class&nbsp;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></span></code></th>
<td class="colLast">
<div class="block">REV Slots for PID configuration.</div>
</td>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
<td class="colFirst"><code>com.revrobotics.AbsoluteEncoder</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoder">absoluteEncoder</a></span></code></th>
<td class="colLast">
<div class="block">Absolute encoder attached to the SparkMax (if exists)</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>com.revrobotics.RelativeEncoder</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoder">encoder</a></span></code></th>
<td class="colLast">
<div class="block">Integrated encoder.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefaultOccurred">factoryDefaultOccurred</a></span></code></th>
<td class="colLast">
<div class="block">Factory default already occurred.</div>
</td>
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<tr class="rowColor">
<td class="colFirst"><code>com.revrobotics.CANSparkMax</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#motor">motor</a></span></code></th>
<td class="colLast">
<div class="block">SparkMAX Instance.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>com.revrobotics.SparkMaxPIDController</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#pid">pid</a></span></code></th>
<td class="colLast">
<div class="block">Closed-loop PID controller.</div>
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<h3>Fields inherited from class&nbsp;frc.robot.subsystems.swervedrive2.swervelib.motors.<a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></h3>
<code><a href="SwerveMotor.html#isDriveMotor">isDriveMotor</a></code></li>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int,boolean)">SparkMaxSwerve</a></span>&#8203;(int&nbsp;id,
boolean&nbsp;isDriveMotor)</code></th>
<td class="colLast">
<div class="block">Initialize the <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a> as a <code>CANSparkMax</code> connected to a Brushless Motor.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.revrobotics.CANSparkMax,boolean)">SparkMaxSwerve</a></span>&#8203;(com.revrobotics.CANSparkMax&nbsp;motor,
boolean&nbsp;isDriveMotor)</code></th>
<td class="colLast">
<div class="block">Initialize the swerve motor.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#burnFlash()">burnFlash</a></span>()</code></th>
<td class="colLast">
<div class="block">Save the configurations from flash to EEPROM.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
<td class="colLast">
<div class="block">Clear the sticky faults on the motor controller.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configureCANStatusFrames(int,int,int,int,int)">configureCANStatusFrames</a></span>&#8203;(int&nbsp;CANStatus0,
int&nbsp;CANStatus1,
int&nbsp;CANStatus2,
int&nbsp;CANStatus3,
int&nbsp;CANStatus4)</code></th>
<td class="colLast">
<div class="block">Set the CAN status frames.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configureIntegratedEncoder(double)">configureIntegratedEncoder</a></span>&#8203;(double&nbsp;positionConversionFactor)</code></th>
<td class="colLast">
<div class="block">Configure the integrated encoder for the swerve module.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configurePIDF(frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig)">configurePIDF</a></span>&#8203;(<a href="../parser/PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a>&nbsp;config)</code></th>
<td class="colLast">
<div class="block">Configure the PIDF values for the closed loop controller.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configurePIDWrapping(double,double)">configurePIDWrapping</a></span>&#8203;(double&nbsp;minInput,
double&nbsp;maxInput)</code></th>
<td class="colLast">
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefaults()">factoryDefaults</a></span>()</code></th>
<td class="colLast">
<div class="block">Configure the factory defaults.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMotor()">getMotor</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the motor object from the module.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the position of the integrated encoder.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the velocity of the integrated encoder.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isAttachedAbsoluteEncoder()">isAttachedAbsoluteEncoder</a></span>()</code></th>
<td class="colLast">
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
</td>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(double)">set</a></span>&#8203;(double&nbsp;percentOutput)</code></th>
<td class="colLast">
<div class="block">Set the percentage output.</div>
</td>
</tr>
<tr id="i12" class="altColor">
<td class="colFirst"><code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setAbsoluteEncoder(frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder</a></span>&#8203;(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</code></th>
<td class="colLast">
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
</td>
</tr>
<tr id="i13" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentLimit(int)">setCurrentLimit</a></span>&#8203;(int&nbsp;currentLimit)</code></th>
<td class="colLast">
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</div>
</td>
</tr>
<tr id="i14" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>&#8203;(boolean&nbsp;inverted)</code></th>
<td class="colLast">
<div class="block">Set the motor to be inverted.</div>
</td>
</tr>
<tr id="i15" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setLoopRampRate(double)">setLoopRampRate</a></span>&#8203;(double&nbsp;rampRate)</code></th>
<td class="colLast">
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
</td>
</tr>
<tr id="i16" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setMotorBrake(boolean)">setMotorBrake</a></span>&#8203;(boolean&nbsp;isBrakeMode)</code></th>
<td class="colLast">
<div class="block">Set the idle mode.</div>
</td>
</tr>
<tr id="i17" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPosition(double)">setPosition</a></span>&#8203;(double&nbsp;position)</code></th>
<td class="colLast">
<div class="block">Set the integrated encoder position.</div>
</td>
</tr>
<tr id="i18" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setReference(double,double)">setReference</a></span>&#8203;(double&nbsp;setpoint,
double&nbsp;feedforward)</code></th>
<td class="colLast">
<div class="block">Set the closed loop PID controller reference point.</div>
</td>
</tr>
<tr id="i19" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>&#8203;(double&nbsp;nominalVoltage)</code></th>
<td class="colLast">
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</td>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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<a id="motor">
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<h4>motor</h4>
<pre>public&nbsp;com.revrobotics.CANSparkMax motor</pre>
<div class="block">SparkMAX Instance.</div>
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<h4>encoder</h4>
<pre>public&nbsp;com.revrobotics.RelativeEncoder encoder</pre>
<div class="block">Integrated encoder.</div>
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<h4>absoluteEncoder</h4>
<pre>public&nbsp;com.revrobotics.AbsoluteEncoder absoluteEncoder</pre>
<div class="block">Absolute encoder attached to the SparkMax (if exists)</div>
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<h4>pid</h4>
<pre>public&nbsp;com.revrobotics.SparkMaxPIDController pid</pre>
<div class="block">Closed-loop PID controller.</div>
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<pre>private&nbsp;boolean factoryDefaultOccurred</pre>
<div class="block">Factory default already occurred.</div>
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<h3>Constructor Detail</h3>
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<h4>SparkMaxSwerve</h4>
<pre>public&nbsp;SparkMaxSwerve&#8203;(com.revrobotics.CANSparkMax&nbsp;motor,
boolean&nbsp;isDriveMotor)</pre>
<div class="block">Initialize the swerve motor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>motor</code> - The SwerveMotor as a SparkMax object.</dd>
<dd><code>isDriveMotor</code> - Is the motor being initialized a drive motor?</dd>
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<h4>SparkMaxSwerve</h4>
<pre>public&nbsp;SparkMaxSwerve&#8203;(int&nbsp;id,
boolean&nbsp;isDriveMotor)</pre>
<div class="block">Initialize the <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a> as a <code>CANSparkMax</code> connected to a Brushless Motor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>id</code> - CAN ID of the SparkMax.</dd>
<dd><code>isDriveMotor</code> - Is the motor being initialized a drive motor?</dd>
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<h4>setVoltageCompensation</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setVoltageCompensation&#8203;(double&nbsp;nominalVoltage)</pre>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#setVoltageCompensation(double)">setVoltageCompensation</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>nominalVoltage</code> - Nominal voltage for operation to output to.</dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;setCurrentLimit&#8203;(int&nbsp;currentLimit)</pre>
<div class="block">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.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#setCurrentLimit(int)">setCurrentLimit</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>currentLimit</code> - Current limit in AMPS at free speed.</dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;setLoopRampRate&#8203;(double&nbsp;rampRate)</pre>
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#setLoopRampRate(double)">setLoopRampRate</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>rampRate</code> - Time in seconds to go from 0 to full throttle.</dd>
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<h4>getMotor</h4>
<pre class="methodSignature">public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;getMotor()</pre>
<div class="block">Get the motor object from the module.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#getMotor()">getMotor</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Motor object.</dd>
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<pre class="methodSignature">public&nbsp;boolean&nbsp;isAttachedAbsoluteEncoder()</pre>
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#isAttachedAbsoluteEncoder()">isAttachedAbsoluteEncoder</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>connected absolute encoder state.</dd>
</dl>
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<h4>factoryDefaults</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;factoryDefaults()</pre>
<div class="block">Configure the factory defaults.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#factoryDefaults()">factoryDefaults</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;clearStickyFaults()</pre>
<div class="block">Clear the sticky faults on the motor controller.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#clearStickyFaults()">clearStickyFaults</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
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<h4>setAbsoluteEncoder</h4>
<pre class="methodSignature">public&nbsp;<a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a>&nbsp;setAbsoluteEncoder&#8203;(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</pre>
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#setAbsoluteEncoder(frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>encoder</code> - The encoder to use.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a> for easy instantiation.</dd>
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<h4>configureIntegratedEncoder</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;configureIntegratedEncoder&#8203;(double&nbsp;positionConversionFactor)</pre>
<div class="block">Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#configureIntegratedEncoder(double)">configureIntegratedEncoder</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>positionConversionFactor</code> - The conversion factor to apply.</dd>
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<h4>configurePIDF</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;configurePIDF&#8203;(<a href="../parser/PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a>&nbsp;config)</pre>
<div class="block">Configure the PIDF values for the closed loop controller.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#configurePIDF(frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig)">configurePIDF</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>config</code> - Configuration class holding the PIDF values.</dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;configurePIDWrapping&#8203;(double&nbsp;minInput,
double&nbsp;maxInput)</pre>
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#configurePIDWrapping(double,double)">configurePIDWrapping</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>minInput</code> - Minimum PID input.</dd>
<dd><code>maxInput</code> - Maximum PID input.</dd>
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<h4>configureCANStatusFrames</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;configureCANStatusFrames&#8203;(int&nbsp;CANStatus0,
int&nbsp;CANStatus1,
int&nbsp;CANStatus2,
int&nbsp;CANStatus3,
int&nbsp;CANStatus4)</pre>
<div class="block">Set the CAN status frames.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>CANStatus0</code> - Applied Output, Faults, Sticky Faults, Is Follower</dd>
<dd><code>CANStatus1</code> - Motor Velocity, Motor Temperature, Motor Voltage, Motor Current</dd>
<dd><code>CANStatus2</code> - Motor Position</dd>
<dd><code>CANStatus3</code> - Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position</dd>
<dd><code>CANStatus4</code> - Alternate Encoder Velocity, Alternate Encoder Position</dd>
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<h4>setMotorBrake</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setMotorBrake&#8203;(boolean&nbsp;isBrakeMode)</pre>
<div class="block">Set the idle mode.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#setMotorBrake(boolean)">setMotorBrake</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>isBrakeMode</code> - Set the brake mode.</dd>
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<h4>setInverted</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setInverted&#8203;(boolean&nbsp;inverted)</pre>
<div class="block">Set the motor to be inverted.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>inverted</code> - State of inversion.</dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;burnFlash()</pre>
<div class="block">Save the configurations from flash to EEPROM.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#burnFlash()">burnFlash</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
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<h4>set</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;set&#8203;(double&nbsp;percentOutput)</pre>
<div class="block">Set the percentage output.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#set(double)">set</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>percentOutput</code> - percent out for the motor controller.</dd>
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<h4>setReference</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setReference&#8203;(double&nbsp;setpoint,
double&nbsp;feedforward)</pre>
<div class="block">Set the closed loop PID controller reference point.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#setReference(double,double)">setReference</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>setpoint</code> - Setpoint in MPS or Angle in degrees.</dd>
<dd><code>feedforward</code> - Feedforward in volt-meter-per-second or kV.</dd>
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<a id="getVelocity()">
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<h4>getVelocity</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getVelocity()</pre>
<div class="block">Get the velocity of the integrated encoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#getVelocity()">getVelocity</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>velocity</dd>
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<h4>getPosition</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getPosition()</pre>
<div class="block">Get the position of the integrated encoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#getPosition()">getPosition</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Position</dd>
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<h4>setPosition</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setPosition&#8203;(double&nbsp;position)</pre>
<div class="block">Set the integrated encoder position.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#setPosition(double)">setPosition</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>position</code> - Integrated encoder position.</dd>
</dl>
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