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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
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<h2 title="Class SwerveModule" class="title">Class SwerveModule<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AngleMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoderType></h2>
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<li>java.lang.Object</li>
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<ul class="inheritance">
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<li>frc.robot.subsystems.swervedrive.swerve.SwerveModule<DriveMotorType,​AngleMotorType,​AbsoluteEncoderType></li>
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</ul>
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<dl>
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<dt><span class="paramLabel">Type Parameters:</span></dt>
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<dd><code>DriveMotorType</code> - Main motor type that drives the wheel.</dd>
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<dd><code>AngleMotorType</code> - Motor that controls the angle of the wheel.</dd>
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<dd><code>AbsoluteEncoderType</code> - Absolute encoder for the swerve drive module.</dd>
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</dl>
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<dl>
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<dt>All Implemented Interfaces:</dt>
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<dd><code>edu.wpi.first.util.sendable.Sendable</code>, <code>edu.wpi.first.wpilibj.motorcontrol.MotorController</code>, <code>java.lang.AutoCloseable</code></dd>
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</dl>
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<hr>
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<pre>public class <span class="typeNameLabel">SwerveModule<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AngleMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoderType></span>
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extends java.lang.Object
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implements edu.wpi.first.wpilibj.motorcontrol.MotorController, edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
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<div class="block">Swerve module for representing a single swerve module of the robot.</div>
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</li>
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<!-- ======== NESTED CLASS SUMMARY ======== -->
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</a>
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<h3>Nested Class Summary</h3>
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<table class="memberSummary">
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<caption><span>Nested Classes</span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Class</th>
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<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code>static class </code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></span></code></th>
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<td class="colLast">
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<div class="block">Swerve Module location on the robot.</div>
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</td>
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<tr class="rowColor">
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<td class="colFirst"><code>static class </code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></span></code></th>
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<td class="colLast">
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<div class="block">Verbosity levels for data publishing,</div>
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</td>
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</tr>
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</table>
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</li>
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</ul>
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</section>
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<!-- =========== FIELD SUMMARY =========== -->
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<section role="region">
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<li class="blockList"><a id="field.summary">
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</a>
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<h3>Field Summary</h3>
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<table class="memberSummary">
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Field</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private <a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><?></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoder">absoluteEncoder</a></span></code></th>
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<td class="colLast">
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<div class="block">Absolute encoder for the swerve module.</div>
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</td>
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleOffset">angleOffset</a></span></code></th>
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<td class="colLast">
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<div class="block">Angle offset of the CANCoder at initialization.</div>
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private edu.wpi.first.math.controller.SimpleMotorFeedforward</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveFeedforward">driveFeedforward</a></span></code></th>
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<td class="colLast">
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<div class="block">Drive feedforward for PID when driving by velocity.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotor">driveMotor</a></span></code></th>
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<td class="colLast">
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<div class="block">Motor Controllers for drive motor of the swerve module.</div>
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drivePower">drivePower</a></span></code></th>
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<td class="colLast">
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<div class="block">Power to drive motor from -1 to 1.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>private double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveTrainWidth">driveTrainWidth</a></span></code></th>
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<td class="colLast">
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<div class="block">The Distance between centers of right and left wheels in meters.</div>
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</td>
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<tr class="altColor">
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<td class="colFirst"><code>private boolean</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#invertedDrive">invertedDrive</a></span></code></th>
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<td class="colLast">
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<div class="block">Inverted drive motor.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>private boolean</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#invertedTurn">invertedTurn</a></span></code></th>
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<td class="colLast">
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<div class="block">Inverted turning motor.</div>
|
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxDriveSpeedMPS">maxDriveSpeedMPS</a></span></code></th>
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<td class="colLast">
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<div class="block">Maximum speed in meters per second, used to eliminate unnecessary movement of the module.</div>
|
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>private edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab</code></td>
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleTab">moduleTab</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private java.util.HashMap<java.lang.String,​edu.wpi.first.wpilibj.shuffleboard.SimpleWidget></code></td>
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#NT4Entries">NT4Entries</a></span></code></th>
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||
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<td class="colLast"> </td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>private double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#steeringKV">steeringKV</a></span></code></th>
|
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<td class="colLast">
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<div class="block">kV for steering feedforward.</div>
|
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</td>
|
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveLocation">swerveLocation</a></span></code></th>
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<td class="colLast">
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<div class="block">Enum representing the swerve module's location on the robot, assuming square.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>edu.wpi.first.math.geometry.Translation2d</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveModuleLocation">swerveModuleLocation</a></span></code></th>
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<td class="colLast">
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<div class="block">Swerve Module location object relative to the center of the robot.</div>
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#targetAngle">targetAngle</a></span></code></th>
|
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<td class="colLast">
|
||
|
|
<div class="block">Store the last angle for optimization.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr class="rowColor">
|
||
|
|
<td class="colFirst"><code>private double</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#targetAngularVelocityRPS">targetAngularVelocityRPS</a></span></code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Angular velocity in radians per second.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr class="altColor">
|
||
|
|
<td class="colFirst"><code>private double</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#targetVelocity">targetVelocity</a></span></code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Target velocity for the swerve module.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr class="rowColor">
|
||
|
|
<td class="colFirst"><code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#turningMotor">turningMotor</a></span></code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Motor Controller for the turning motor of the swerve drive module.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr class="altColor">
|
||
|
|
<td class="colFirst"><code>private double</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#wheelBase">wheelBase</a></span></code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">The Distance between front and back wheels of the robot in meters.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
|
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||
|
|
<section role="region">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList"><a id="constructor.summary">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<h3>Constructor Summary</h3>
|
||
|
|
<table class="memberSummary">
|
||
|
|
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||
|
|
<tr>
|
||
|
|
<th class="colFirst" scope="col">Constructor</th>
|
||
|
|
<th class="colLast" scope="col">Description</th>
|
||
|
|
</tr>
|
||
|
|
<tr class="altColor">
|
||
|
|
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(DriveMotorType,AngleMotorType,AbsoluteEncoderType,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation,double,double,double,double,double,double,double,double,double,double,double,boolean,boolean)">SwerveModule</a></span>​(<a href="SwerveModule.html" title="type parameter in SwerveModule">DriveMotorType</a> mainMotor,
|
||
|
|
<a href="SwerveModule.html" title="type parameter in SwerveModule">AngleMotorType</a> angleMotor,
|
||
|
|
<a href="SwerveModule.html" title="type parameter in SwerveModule">AbsoluteEncoderType</a> encoder,
|
||
|
|
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> swervePosition,
|
||
|
|
double driveGearRatio,
|
||
|
|
double steerGearRatio,
|
||
|
|
double steeringOffsetDegrees,
|
||
|
|
double wheelDiameterMeters,
|
||
|
|
double wheelBaseMeters,
|
||
|
|
double driveTrainWidthMeters,
|
||
|
|
double steeringMotorFreeSpeedRPM,
|
||
|
|
double maxSpeedMPS,
|
||
|
|
double maxDriveAcceleration,
|
||
|
|
double drivingPowerLimit,
|
||
|
|
double steeringPowerLimit,
|
||
|
|
boolean steeringInverted,
|
||
|
|
boolean drivingInverted)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Swerve module constructor.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
|
<!-- ========== METHOD SUMMARY =========== -->
|
||
|
|
<section role="region">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList"><a id="method.summary">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<h3>Method Summary</h3>
|
||
|
|
<table class="memberSummary">
|
||
|
|
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||
|
|
<tr>
|
||
|
|
<th class="colFirst" scope="col">Modifier and Type</th>
|
||
|
|
<th class="colSecond" scope="col">Method</th>
|
||
|
|
<th class="colLast" scope="col">Description</th>
|
||
|
|
</tr>
|
||
|
|
<tr id="i0" class="altColor">
|
||
|
|
<td class="colFirst"><code>boolean</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#activeCAN()">activeCAN</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i1" class="rowColor">
|
||
|
|
<td class="colFirst"><code>private edu.wpi.first.wpilibj.shuffleboard.SimpleWidget</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#addEntry(java.lang.String,java.lang.Object)">addEntry</a></span>​(java.lang.String name,
|
||
|
|
java.lang.Object defaultValue)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Create a widget and add the entry to the hashmap of entries for network tables.</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="#close()">close</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Closes this resource, relinquishing any underlying resources.</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="#disable()">disable</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Disable the motor controller.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i4" class="altColor">
|
||
|
|
<td class="colFirst"><code>double</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#get()">get</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Common interface for getting the current set speed of a motor controller.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i5" class="rowColor">
|
||
|
|
<td class="colFirst"><code>boolean</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getInverted()">getInverted</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Common interface for returning if a motor controller is in the inverted state or not.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i6" class="altColor">
|
||
|
|
<td class="colFirst"><code>edu.wpi.first.math.kinematics.SwerveModulePosition</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 swerve module position based off the sensors.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i7" class="rowColor">
|
||
|
|
<td class="colFirst"><code><a href="kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getState()">getState</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Get the module state.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i8" class="altColor">
|
||
|
|
<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getSwerveModulePosition(frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">getSwerveModulePosition</a></span>​(<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> swerveLocation)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Get the swerve module position in <code>Translation2d</code> from the enum passed.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i9" class="rowColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable</a></span>​(edu.wpi.first.util.sendable.SendableBuilder builder)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Initializes this <code>Sendable</code> object.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i10" class="altColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#publish(frc.robot.subsystems.swervedrive.swerve.SwerveModule.Verbosity)">publish</a></span>​(<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> level)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Publish data to the smart dashboard relating to this swerve module.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i11" class="rowColor">
|
||
|
|
<td class="colFirst"><code>boolean</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#remoteIntegratedEncoder()">remoteIntegratedEncoder</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Checks if the absolute encoder is able to be read directly by the motor controller instead of using the
|
||
|
|
synchronizeEncoder() function periodically.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i12" class="altColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#resetEncoders()">resetEncoders</a></span>()</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Reset the REV encoders onboard the SparkMax's to 0, and set's the drive motor to position to 0 and synchronizes the
|
||
|
|
internal steering encoders with the 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="#set(double)">set</a></span>​(double speed)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Common interface for setting the speed of a motor controller.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i14" class="altColor">
|
||
|
|
<td class="colFirst"><code>private void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setAngle(double)">setAngle</a></span>​(double angle)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Set the angle of the swerve module without feedforward.</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="#setAngle(double,double)">setAngle</a></span>​(double angle,
|
||
|
|
double feedforward)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Set the angle of the swerve module.</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="#setAngleOffset(double)">setAngleOffset</a></span>​(double offset)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Configure the magnetic offset in the CANCoder.</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="#setCurrentLimit(int,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">setCurrentLimit</a></span>​(int currentLimit,
|
||
|
|
<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> type)</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="i18" 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>​(boolean isInverted)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Common interface for inverting direction of a motor controller.</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="#setInvertedAbsoluteEncoder(boolean)">setInvertedAbsoluteEncoder</a></span>​(boolean isInverted)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Invert the absolute encoder.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i20" class="altColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInvertedTurn(boolean)">setInvertedTurn</a></span>​(boolean isInverted)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Set the steering motor to be inverted.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i21" class="rowColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDF(double,double,double,double,double,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">setPIDF</a></span>​(double p,
|
||
|
|
double i,
|
||
|
|
double d,
|
||
|
|
double f,
|
||
|
|
double integralZone,
|
||
|
|
<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> moduleMotorType)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the motor controller.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i22" class="altColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setState(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2)">setState</a></span>​(<a href="kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> state)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Set the module speed and angle based off the module state.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i23" class="rowColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVelocity(double)">setVelocity</a></span>​(double velocity)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Set the drive motor velocity in MPS.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
<tr id="i24" class="altColor">
|
||
|
|
<td class="colFirst"><code>void</code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>​(double nominalVoltage)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Set the voltage compensation for the swerve module motor.</div>
|
||
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</td>
|
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</tr>
|
||
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<tr id="i25" class="rowColor">
|
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<td class="colFirst"><code>void</code></td>
|
||
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stopMotor()">stopMotor</a></span>()</code></th>
|
||
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<td class="colLast">
|
||
|
|
<div class="block">Stops motor movement.</div>
|
||
|
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</td>
|
||
|
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|
||
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<tr id="i26" class="altColor">
|
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<td class="colFirst"><code>void</code></td>
|
||
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#subscribe()">subscribe</a></span>()</code></th>
|
||
|
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<td class="colLast">
|
||
|
|
<div class="block">Subscribe from data within smart dashboard to make changes to the swerve module.</div>
|
||
|
|
</td>
|
||
|
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</tr>
|
||
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<tr id="i27" class="rowColor">
|
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<td class="colFirst"><code>static java.lang.String</code></td>
|
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|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#SwerveModuleLocationToString(frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">SwerveModuleLocationToString</a></span>​(<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> swerveLocation)</code></th>
|
||
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<td class="colLast">
|
||
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<div class="block">Convert <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><code>SwerveModule.SwerveModuleLocation</code></a> to <code>String</code> representation.</div>
|
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|
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<tr id="i28" class="altColor">
|
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<td class="colFirst"><code>void</code></td>
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#synchronizeSteeringEncoder()">synchronizeSteeringEncoder</a></span>()</code></th>
|
||
|
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<td class="colLast">
|
||
|
|
<div class="block">Synchronizes the internal encoder for the steering motor with the value from the absolute encoder.</div>
|
||
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|
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|
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|
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|
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<h3>Methods inherited from class java.lang.Object</h3>
|
||
|
|
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
|
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|
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|
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</a>
|
||
|
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<h3>Methods inherited from interface edu.wpi.first.wpilibj.motorcontrol.MotorController</h3>
|
||
|
|
<code>setVoltage</code></li>
|
||
|
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|
||
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|
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|
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|
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|
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|
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|
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|
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</a>
|
||
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<h3>Field Detail</h3>
|
||
|
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<a id="swerveModuleLocation">
|
||
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|
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|
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|
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|
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<h4>swerveModuleLocation</h4>
|
||
|
|
<pre>public final edu.wpi.first.math.geometry.Translation2d swerveModuleLocation</pre>
|
||
|
|
<div class="block">Swerve Module location object relative to the center of the robot.</div>
|
||
|
|
</li>
|
||
|
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</ul>
|
||
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<a id="driveMotor">
|
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|
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|
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<h4>driveMotor</h4>
|
||
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<pre>public final <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a> driveMotor</pre>
|
||
|
|
<div class="block">Motor Controllers for drive motor of the swerve module.</div>
|
||
|
|
</li>
|
||
|
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</ul>
|
||
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<a id="turningMotor">
|
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|
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<h4>turningMotor</h4>
|
||
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<pre>public final <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a> turningMotor</pre>
|
||
|
|
<div class="block">Motor Controller for the turning motor of the swerve drive module.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="swerveLocation">
|
||
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|
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|
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<h4>swerveLocation</h4>
|
||
|
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<pre>private final <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> swerveLocation</pre>
|
||
|
|
<div class="block">Enum representing the swerve module's location on the robot, assuming square.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="absoluteEncoder">
|
||
|
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|
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</a>
|
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|
||
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|
||
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<h4>absoluteEncoder</h4>
|
||
|
|
<pre>private final <a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><?> absoluteEncoder</pre>
|
||
|
|
<div class="block">Absolute encoder for the swerve module.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="driveTrainWidth">
|
||
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|
||
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</a>
|
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|
||
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|
||
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<h4>driveTrainWidth</h4>
|
||
|
|
<pre>private final double driveTrainWidth</pre>
|
||
|
|
<div class="block">The Distance between centers of right and left wheels in meters.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="wheelBase">
|
||
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|
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|
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|
||
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|
||
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<h4>wheelBase</h4>
|
||
|
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<pre>private final double wheelBase</pre>
|
||
|
|
<div class="block">The Distance between front and back wheels of the robot in meters.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="driveFeedforward">
|
||
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|
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|
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|
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||
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<h4>driveFeedforward</h4>
|
||
|
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<pre>private final edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward</pre>
|
||
|
|
<div class="block">Drive feedforward for PID when driving by velocity.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="steeringKV">
|
||
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|
||
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</a>
|
||
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|
||
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<h4>steeringKV</h4>
|
||
|
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<pre>private final double steeringKV</pre>
|
||
|
|
<div class="block">kV for steering feedforward.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="moduleTab">
|
||
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|
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|
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|
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<h4>moduleTab</h4>
|
||
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<pre>private final edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab moduleTab</pre>
|
||
|
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</li>
|
||
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</ul>
|
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<a id="NT4Entries">
|
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<h4>NT4Entries</h4>
|
||
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<pre>private final java.util.HashMap<java.lang.String,​edu.wpi.first.wpilibj.shuffleboard.SimpleWidget> NT4Entries</pre>
|
||
|
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</li>
|
||
|
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</ul>
|
||
|
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<a id="angleOffset">
|
||
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|
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</a>
|
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|
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|
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<h4>angleOffset</h4>
|
||
|
|
<pre>public double angleOffset</pre>
|
||
|
|
<div class="block">Angle offset of the CANCoder at initialization.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="maxDriveSpeedMPS">
|
||
|
|
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|
||
|
|
</a>
|
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|
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|
||
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<h4>maxDriveSpeedMPS</h4>
|
||
|
|
<pre>public double maxDriveSpeedMPS</pre>
|
||
|
|
<div class="block">Maximum speed in meters per second, used to eliminate unnecessary movement of the module.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="invertedDrive">
|
||
|
|
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|
||
|
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</a>
|
||
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|
||
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|
||
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<h4>invertedDrive</h4>
|
||
|
|
<pre>private boolean invertedDrive</pre>
|
||
|
|
<div class="block">Inverted drive motor.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="invertedTurn">
|
||
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|
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|
||
|
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</a>
|
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|
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|
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<h4>invertedTurn</h4>
|
||
|
|
<pre>private boolean invertedTurn</pre>
|
||
|
|
<div class="block">Inverted turning motor.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="drivePower">
|
||
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|
||
|
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|
||
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|
||
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||
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<h4>drivePower</h4>
|
||
|
|
<pre>private double drivePower</pre>
|
||
|
|
<div class="block">Power to drive motor from -1 to 1.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="targetAngle">
|
||
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|
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|
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|
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<h4>targetAngle</h4>
|
||
|
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<pre>private double targetAngle</pre>
|
||
|
|
<div class="block">Store the last angle for optimization.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="targetAngularVelocityRPS">
|
||
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|
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|
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|
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|
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<h4>targetAngularVelocityRPS</h4>
|
||
|
|
<pre>private double targetAngularVelocityRPS</pre>
|
||
|
|
<div class="block">Angular velocity in radians per second.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="targetVelocity">
|
||
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|
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|
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|
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<h4>targetVelocity</h4>
|
||
|
|
<pre>private double targetVelocity</pre>
|
||
|
|
<div class="block">Target velocity for the swerve module.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
|
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||
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|
||
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|
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|
||
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|
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|
||
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<h3>Constructor Detail</h3>
|
||
|
|
<a id="<init>(edu.wpi.first.wpilibj.motorcontrol.MotorController,edu.wpi.first.wpilibj.motorcontrol.MotorController,java.lang.Object,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation,double,double,double,double,double,double,double,double,double,double,double,boolean,boolean)">
|
||
|
|
<!-- -->
|
||
|
|
</a><a id="<init>(DriveMotorType,AngleMotorType,AbsoluteEncoderType,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation,double,double,double,double,double,double,double,double,double,double,double,boolean,boolean)">
|
||
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|
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|
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|
||
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<h4>SwerveModule</h4>
|
||
|
|
<pre>public SwerveModule​(<a href="SwerveModule.html" title="type parameter in SwerveModule">DriveMotorType</a> mainMotor,
|
||
|
|
<a href="SwerveModule.html" title="type parameter in SwerveModule">AngleMotorType</a> angleMotor,
|
||
|
|
<a href="SwerveModule.html" title="type parameter in SwerveModule">AbsoluteEncoderType</a> encoder,
|
||
|
|
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> swervePosition,
|
||
|
|
double driveGearRatio,
|
||
|
|
double steerGearRatio,
|
||
|
|
double steeringOffsetDegrees,
|
||
|
|
double wheelDiameterMeters,
|
||
|
|
double wheelBaseMeters,
|
||
|
|
double driveTrainWidthMeters,
|
||
|
|
double steeringMotorFreeSpeedRPM,
|
||
|
|
double maxSpeedMPS,
|
||
|
|
double maxDriveAcceleration,
|
||
|
|
double drivingPowerLimit,
|
||
|
|
double steeringPowerLimit,
|
||
|
|
boolean steeringInverted,
|
||
|
|
boolean drivingInverted)</pre>
|
||
|
|
<div class="block">Swerve module constructor. Both motors <b>MUST</b> be a <code>MotorController</code> class. It is recommended to create
|
||
|
|
a command to reset the encoders when triggered and</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>mainMotor</code> - Main drive motor. Must be a <code>MotorController</code> type.</dd>
|
||
|
|
<dd><code>angleMotor</code> - Angle motor for controlling the angle of the swerve module.</dd>
|
||
|
|
<dd><code>encoder</code> - Absolute encoder for the swerve module.</dd>
|
||
|
|
<dd><code>driveGearRatio</code> - Drive gear ratio in form of (rotation:1 AKA rotations/1) to get the encoder ticks
|
||
|
|
per rotation.</dd>
|
||
|
|
<dd><code>steerGearRatio</code> - Steering motor gear ratio (usually 12.8:1 for MK4 in form of rotations:1 or
|
||
|
|
rotations/1), only applied if using Neo's.</dd>
|
||
|
|
<dd><code>swervePosition</code> - Swerve Module position on the robot.</dd>
|
||
|
|
<dd><code>steeringOffsetDegrees</code> - The current offset of the absolute encoder from 0 in degrees.</dd>
|
||
|
|
<dd><code>wheelDiameterMeters</code> - The wheel diameter of the swerve drive module in meters.</dd>
|
||
|
|
<dd><code>wheelBaseMeters</code> - The Distance between front and back wheels of the robot in meters.</dd>
|
||
|
|
<dd><code>driveTrainWidthMeters</code> - The Distance between centers of right and left wheels in meters.</dd>
|
||
|
|
<dd><code>steeringMotorFreeSpeedRPM</code> - The RPM free speed of the steering motor.</dd>
|
||
|
|
<dd><code>maxSpeedMPS</code> - The maximum drive speed in meters per second.</dd>
|
||
|
|
<dd><code>maxDriveAcceleration</code> - The maximum drive acceleration in meters^2 per second.</dd>
|
||
|
|
<dd><code>drivingPowerLimit</code> - The power limit for the closed loop PID of the driver motor.</dd>
|
||
|
|
<dd><code>steeringPowerLimit</code> - The power limit for the closed loop PID of the steering motor.</dd>
|
||
|
|
<dd><code>steeringInverted</code> - The steering motor is inverted.</dd>
|
||
|
|
<dd><code>drivingInverted</code> - The driving motor is inverted.</dd>
|
||
|
|
<dt><span class="throwsLabel">Throws:</span></dt>
|
||
|
|
<dd><code>java.lang.RuntimeException</code> - if an assertion fails or invalid swerve module location is given.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
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<!-- ============ METHOD DETAIL ========== -->
|
||
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|
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|
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|
||
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|
||
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|
||
|
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<h3>Method Detail</h3>
|
||
|
|
<a id="SwerveModuleLocationToString(frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">
|
||
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|
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|
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|
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<h4>SwerveModuleLocationToString</h4>
|
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<pre class="methodSignature">public static java.lang.String SwerveModuleLocationToString​(<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> swerveLocation)</pre>
|
||
|
|
<div class="block">Convert <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><code>SwerveModule.SwerveModuleLocation</code></a> to <code>String</code> representation.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>swerveLocation</code> - Swerve position to convert.</dd>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd><code>String</code> name of the <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><code>SwerveModule.SwerveModuleLocation</code></a> enum.</dd>
|
||
|
|
</dl>
|
||
|
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|
||
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</ul>
|
||
|
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<a id="resetEncoders()">
|
||
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|
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|
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|
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|
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|
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<h4>resetEncoders</h4>
|
||
|
|
<pre class="methodSignature">public void resetEncoders()</pre>
|
||
|
|
<div class="block">Reset the REV encoders onboard the SparkMax's to 0, and set's the drive motor to position to 0 and synchronizes the
|
||
|
|
internal steering encoders with the absolute encoder.</div>
|
||
|
|
</li>
|
||
|
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</ul>
|
||
|
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<a id="synchronizeSteeringEncoder()">
|
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|
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|
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|
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<h4>synchronizeSteeringEncoder</h4>
|
||
|
|
<pre class="methodSignature">public void synchronizeSteeringEncoder()</pre>
|
||
|
|
<div class="block">Synchronizes the internal encoder for the steering motor with the value from the absolute encoder.</div>
|
||
|
|
</li>
|
||
|
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</ul>
|
||
|
|
<a id="setPIDF(double,double,double,double,double,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">
|
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|
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|
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|
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<h4>setPIDF</h4>
|
||
|
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<pre class="methodSignature">public void setPIDF​(double p,
|
||
|
|
double i,
|
||
|
|
double d,
|
||
|
|
double f,
|
||
|
|
double integralZone,
|
||
|
|
<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> moduleMotorType)</pre>
|
||
|
|
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the motor controller. Tuning the PID
|
||
|
|
<p>
|
||
|
|
<b>P</b> = .5 and increase it by .1 until oscillations occur, then decrease by .05 then .005 until oscillations
|
||
|
|
stop and angle is perfect or near perfect.
|
||
|
|
</p>
|
||
|
|
<p>
|
||
|
|
<b>I</b> = 0 tune this if your PID never quite reaches the target, after tuning <b>D</b>. Increase this by
|
||
|
|
<b>P</b>*.01 each time and adjust accordingly.
|
||
|
|
</p>
|
||
|
|
<p>
|
||
|
|
<b>D</b> = 0 tune this if the PID accelerates too fast, it will smooth the motion. Increase this by <b>P</b>*10
|
||
|
|
and adjust accordingly.
|
||
|
|
</p>
|
||
|
|
<p>
|
||
|
|
<b>F</b> = 0 tune this if the PID is being used for velocity, the <b>F</b> is multiplied by the target and added
|
||
|
|
to the voltage output. Increase this by 0.01 until the PIDF reaches the desired state in a fast enough manner.
|
||
|
|
</p>
|
||
|
|
Documentation for this is best described by CTRE <a href="https://docs.ctre-phoenix.com/en/stable/ch16_ClosedLoop.html#position-closed-loop-control-mode">here</a>.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>p</code> - Proportional gain for closed loop. This is multiplied by closed loop error in sensor units.</dd>
|
||
|
|
<dd><code>i</code> - Integral gain for closed loop. This is multiplied by closed loop error in sensor units every
|
||
|
|
PID Loop.</dd>
|
||
|
|
<dd><code>d</code> - Derivative gain for closed loop. This is multiplied by derivative error (sensor units per
|
||
|
|
PID loop).</dd>
|
||
|
|
<dd><code>f</code> - Feed Fwd gain for Closed loop.</dd>
|
||
|
|
<dd><code>integralZone</code> - 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.</dd>
|
||
|
|
<dd><code>moduleMotorType</code> - Swerve drive motor type.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="setAngleOffset(double)">
|
||
|
|
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|
||
|
|
</a>
|
||
|
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|
||
|
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|
||
|
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<h4>setAngleOffset</h4>
|
||
|
|
<pre class="methodSignature">public void setAngleOffset​(double offset)</pre>
|
||
|
|
<div class="block">Configure the magnetic offset in the CANCoder.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>offset</code> - Magnetic offset in degrees.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="activeCAN()">
|
||
|
|
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|
||
|
|
</a>
|
||
|
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|
||
|
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|
||
|
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<h4>activeCAN</h4>
|
||
|
|
<pre class="methodSignature">public boolean activeCAN()</pre>
|
||
|
|
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>true on all devices are accessible over CAN.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="remoteIntegratedEncoder()">
|
||
|
|
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|
||
|
|
</a>
|
||
|
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|
||
|
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|
||
|
|
<h4>remoteIntegratedEncoder</h4>
|
||
|
|
<pre class="methodSignature">public boolean remoteIntegratedEncoder()</pre>
|
||
|
|
<div class="block">Checks if the absolute encoder is able to be read directly by the motor controller instead of using the
|
||
|
|
synchronizeEncoder() function periodically.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>If the absolute sensor in the steering motor is directly accessed by the motor controller.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="setAngle(double,double)">
|
||
|
|
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|
||
|
|
</a>
|
||
|
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|
||
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|
||
|
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<h4>setAngle</h4>
|
||
|
|
<pre class="methodSignature">public void setAngle​(double angle,
|
||
|
|
double feedforward)</pre>
|
||
|
|
<div class="block">Set the angle of the swerve module.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>angle</code> - Angle in degrees.</dd>
|
||
|
|
<dd><code>feedforward</code> - The feedforward for the PID.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="setAngle(double)">
|
||
|
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|
||
|
|
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|
||
|
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|
||
|
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|
||
|
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<h4>setAngle</h4>
|
||
|
|
<pre class="methodSignature">private void setAngle​(double angle)</pre>
|
||
|
|
<div class="block">Set the angle of the swerve module without feedforward.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>angle</code> - Angle in degrees.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="setVelocity(double)">
|
||
|
|
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|
||
|
|
</a>
|
||
|
|
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|
||
|
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|
||
|
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<h4>setVelocity</h4>
|
||
|
|
<pre class="methodSignature">public void setVelocity​(double velocity)</pre>
|
||
|
|
<div class="block">Set the drive motor velocity in MPS.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>velocity</code> - Velocity in MPS.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="getState()">
|
||
|
|
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|
||
|
|
</a>
|
||
|
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|
||
|
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|
||
|
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<h4>getState</h4>
|
||
|
|
<pre class="methodSignature">public <a href="kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> getState()</pre>
|
||
|
|
<div class="block">Get the module state.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>SwerveModuleState with the encoder inputs.</dd>
|
||
|
|
<dt><span class="throwsLabel">Throws:</span></dt>
|
||
|
|
<dd><code>java.lang.RuntimeException</code> - Exception if CANCoder doesnt exist</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="setState(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2)">
|
||
|
|
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|
||
|
|
</a>
|
||
|
|
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|
||
|
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|
||
|
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<h4>setState</h4>
|
||
|
|
<pre class="methodSignature">public void setState​(<a href="kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> state)</pre>
|
||
|
|
<div class="block">Set the module speed and angle based off the module state.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>state</code> - Module state.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="getPosition()">
|
||
|
|
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|
||
|
|
</a>
|
||
|
|
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|
||
|
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|
||
|
|
<h4>getPosition</h4>
|
||
|
|
<pre class="methodSignature">public edu.wpi.first.math.kinematics.SwerveModulePosition getPosition()</pre>
|
||
|
|
<div class="block">Get the swerve module position based off the sensors.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>Swerve Module position, with the angle as what the angle is supposed to be, not what it actually is.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="subscribe()">
|
||
|
|
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|
||
|
|
</a>
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>subscribe</h4>
|
||
|
|
<pre class="methodSignature">public void subscribe()</pre>
|
||
|
|
<div class="block">Subscribe from data within smart dashboard to make changes to the swerve module.</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="addEntry(java.lang.String,java.lang.Object)">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>addEntry</h4>
|
||
|
|
<pre class="methodSignature">private edu.wpi.first.wpilibj.shuffleboard.SimpleWidget addEntry​(java.lang.String name,
|
||
|
|
java.lang.Object defaultValue)</pre>
|
||
|
|
<div class="block">Create a widget and add the entry to the hashmap of entries for network tables.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>name</code> - Key to display on shuffleboard.</dd>
|
||
|
|
<dd><code>defaultValue</code> - Default value.</dd>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>Widget that can be modified.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="publish(frc.robot.subsystems.swervedrive.swerve.SwerveModule.Verbosity)">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>publish</h4>
|
||
|
|
<pre class="methodSignature">public void publish​(<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> level)</pre>
|
||
|
|
<div class="block">Publish data to the smart dashboard relating to this swerve module.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>level</code> - Verbosity level, affects the CAN utilization, on HIGH it will enable the update button.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="initSendable(edu.wpi.first.util.sendable.SendableBuilder)">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>initSendable</h4>
|
||
|
|
<pre class="methodSignature">public void initSendable​(edu.wpi.first.util.sendable.SendableBuilder builder)</pre>
|
||
|
|
<div class="block">Initializes this <code>Sendable</code> object.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||
|
|
<dd><code>initSendable</code> in interface <code>edu.wpi.first.util.sendable.Sendable</code></dd>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>builder</code> - sendable builder</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="close()">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>close</h4>
|
||
|
|
<pre class="methodSignature">public void close()</pre>
|
||
|
|
<div class="block">Closes this resource, relinquishing any underlying resources. This method is invoked automatically on objects
|
||
|
|
managed by the <code>try</code>-with-resources statement.
|
||
|
|
|
||
|
|
<p>While this interface method is declared to throw <code>
|
||
|
|
Exception</code>, implementers are <em>strongly</em> encouraged to declare concrete implementations of the <code>close</code>
|
||
|
|
method to throw more specific exceptions, or to throw no exception at all if the close operation cannot fail.
|
||
|
|
|
||
|
|
<p> Cases where the close operation may fail require careful
|
||
|
|
attention by implementers. It is strongly advised to relinquish the underlying resources and to internally
|
||
|
|
<em>mark</em> the resource as closed, prior to throwing the exception. The <code>close</code> method is unlikely to be
|
||
|
|
invoked more than once and so this ensures that the resources are released in a timely manner. Furthermore it
|
||
|
|
reduces problems that could arise when the resource wraps, or is wrapped, by another resource.
|
||
|
|
|
||
|
|
<p><em>Implementers of this interface are also strongly advised
|
||
|
|
to not have the <code>close</code> method throw <code>InterruptedException</code>.</em>
|
||
|
|
<p>
|
||
|
|
This exception interacts with a thread's interrupted status, and runtime misbehavior is likely to occur if an
|
||
|
|
<code>InterruptedException</code> is suppressed.
|
||
|
|
<p>
|
||
|
|
More generally, if it would cause problems for an exception to be suppressed, the <code>AutoCloseable.close</code>
|
||
|
|
method should not throw it.
|
||
|
|
|
||
|
|
<p>Note that unlike the <code>close</code>
|
||
|
|
method of <code>Closeable</code>, this <code>close</code> method is <em>not</em> required to be idempotent. In other words,
|
||
|
|
calling this <code>close</code> method more than once may have some visible side effect, unlike <code>Closeable.close</code>
|
||
|
|
which is required to have no effect if called more than once.
|
||
|
|
<p>
|
||
|
|
However, implementers of this interface are strongly encouraged to make their <code>close</code> methods idempotent.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||
|
|
<dd><code>close</code> in interface <code>java.lang.AutoCloseable</code></dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="disable()">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>disable</h4>
|
||
|
|
<pre class="methodSignature">public void disable()</pre>
|
||
|
|
<div class="block">Disable the motor controller.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||
|
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<dd><code>disable</code> in interface <code>edu.wpi.first.wpilibj.motorcontrol.MotorController</code></dd>
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</dl>
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</ul>
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<a id="stopMotor()">
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<h4>stopMotor</h4>
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<pre class="methodSignature">public void stopMotor()</pre>
|
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<div class="block">Stops motor movement. Motor can be moved again by calling set without having to re-enable the motor.</div>
|
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<dl>
|
||
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<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
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<dd><code>stopMotor</code> in interface <code>edu.wpi.first.wpilibj.motorcontrol.MotorController</code></dd>
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</dl>
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</li>
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</ul>
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<a id="set(double)">
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<h4>set</h4>
|
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<pre class="methodSignature">public void set​(double speed)</pre>
|
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<div class="block">Common interface for setting the speed of a motor controller.</div>
|
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<dl>
|
||
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<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||
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<dd><code>set</code> in interface <code>edu.wpi.first.wpilibj.motorcontrol.MotorController</code></dd>
|
||
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<dt><span class="paramLabel">Parameters:</span></dt>
|
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<dd><code>speed</code> - The speed to set. Value should be between -1.0 and 1.0.</dd>
|
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</dl>
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</li>
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</ul>
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<a id="get()">
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<h4>get</h4>
|
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<pre class="methodSignature">public double get()</pre>
|
||
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<div class="block">Common interface for getting the current set speed of a motor controller.</div>
|
||
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<dl>
|
||
|
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<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||
|
|
<dd><code>get</code> in interface <code>edu.wpi.first.wpilibj.motorcontrol.MotorController</code></dd>
|
||
|
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<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
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<dd>The current set speed. Value is between -1.0 and 1.0.</dd>
|
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</dl>
|
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</li>
|
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</ul>
|
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<a id="getSwerveModulePosition(frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">
|
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|
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</a>
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<h4>getSwerveModulePosition</h4>
|
||
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<pre class="methodSignature">private edu.wpi.first.math.geometry.Translation2d getSwerveModulePosition​(<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> swerveLocation)</pre>
|
||
|
|
<div class="block">Get the swerve module position in <code>Translation2d</code> from the enum passed.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>swerveLocation</code> - Swerve module location enum.</dd>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>Location as <code>Translation2d</code>.</dd>
|
||
|
|
<dt><span class="throwsLabel">Throws:</span></dt>
|
||
|
|
<dd><code>java.lang.RuntimeException</code> - If Enum value is not defined.</dd>
|
||
|
|
</dl>
|
||
|
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</li>
|
||
|
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</ul>
|
||
|
|
<a id="setVoltageCompensation(double)">
|
||
|
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|
||
|
|
</a>
|
||
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|
||
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|
||
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<h4>setVoltageCompensation</h4>
|
||
|
|
<pre class="methodSignature">public void setVoltageCompensation​(double nominalVoltage)</pre>
|
||
|
|
<div class="block">Set the voltage compensation for the swerve module motor.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>nominalVoltage</code> - Nominal voltage for operation to output to.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="setCurrentLimit(int,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
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|
||
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|
||
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<h4>setCurrentLimit</h4>
|
||
|
|
<pre class="methodSignature">public void setCurrentLimit​(int currentLimit,
|
||
|
|
<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> type)</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="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>currentLimit</code> - Current limit in AMPS at free speed.</dd>
|
||
|
|
<dd><code>type</code> - Swerve Drive Motor type to configure.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="setInvertedTurn(boolean)">
|
||
|
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|
||
|
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</a>
|
||
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|
||
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|
||
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<h4>setInvertedTurn</h4>
|
||
|
|
<pre class="methodSignature">public void setInvertedTurn​(boolean isInverted)</pre>
|
||
|
|
<div class="block">Set the steering motor to be inverted.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>isInverted</code> - The state of inversion, true is inverted.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="setInvertedAbsoluteEncoder(boolean)">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
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<ul class="blockList">
|
||
|
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<li class="blockList">
|
||
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<h4>setInvertedAbsoluteEncoder</h4>
|
||
|
|
<pre class="methodSignature">public void setInvertedAbsoluteEncoder​(boolean isInverted)</pre>
|
||
|
|
<div class="block">Invert the absolute encoder.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>isInverted</code> - The state of inversion, true is inverted.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
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<a id="getInverted()">
|
||
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|
||
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</a>
|
||
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<ul class="blockList">
|
||
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|
||
|
|
<h4>getInverted</h4>
|
||
|
|
<pre class="methodSignature">public boolean getInverted()</pre>
|
||
|
|
<div class="block">Common interface for returning if a motor controller is in the inverted state or not.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||
|
|
<dd><code>getInverted</code> in interface <code>edu.wpi.first.wpilibj.motorcontrol.MotorController</code></dd>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>isInverted The state of the inversion true is inverted.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="setInverted(boolean)">
|
||
|
|
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|
||
|
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</a>
|
||
|
|
<ul class="blockListLast">
|
||
|
|
<li class="blockList">
|
||
|
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<h4>setInverted</h4>
|
||
|
|
<pre class="methodSignature">public void setInverted​(boolean isInverted)</pre>
|
||
|
|
<div class="block">Common interface for inverting direction of a motor controller.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||
|
|
<dd><code>setInverted</code> in interface <code>edu.wpi.first.wpilibj.motorcontrol.MotorController</code></dd>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>isInverted</code> - The state of inversion, true is inverted.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
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</li>
|
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</ul>
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</div>
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