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Updated support for Talons

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thenetworkgrinch
2023-02-13 17:21:24 -06:00
parent e8d248b68a
commit 8f28956426
126 changed files with 5706 additions and 190 deletions
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@@ -310,6 +310,36 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<div class="block">Helper class used to parse the JSON directory with specified configuration options.</div>
</th>
</tr>
<tr id="i33" class="rowColor">
<td class="colFirst"><a href="swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></td>
<th class="colLast" scope="row">
<div class="block"><code>TalonFX</code> Swerve Motor.</div>
</th>
</tr>
<tr id="i34" class="altColor">
<td class="colFirst"><a href="swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></td>
<th class="colLast" scope="row">
<div class="block"><code>WPI_TalonSRX</code> Swerve Motor.</div>
</th>
</tr>
<tr id="i35" class="rowColor">
<td class="colFirst"><a href="swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></td>
<th class="colLast" scope="row">
<div class="block">The Talon PID to use onboard.</div>
</th>
</tr>
<tr id="i36" class="altColor">
<td class="colFirst"><a href="swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></td>
<th class="colLast" scope="row">
<div class="block">The remote sensor.</div>
</th>
</tr>
<tr id="i37" class="rowColor">
<td class="colFirst"><a href="swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></td>
<th class="colLast" scope="row">
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
</th>
</tr>
</table>
</li>
</ul>

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<title>All Classes</title>
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<li><a href="swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></li>
<li><a href="swervelib/motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></li>
<li><a href="swervelib/parser/SwerveParser.html" title="class in swervelib.parser">SwerveParser</a></li>
<li><a href="swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></li>
<li><a href="swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></li>
<li><a href="swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></li>
<li><a href="swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></li>
<li><a href="swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></li>
</ul>
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<h1 title="Constant Field Values" class="title">Constant Field Values</h1>
<section>
<h2 title="Contents">Contents</h2>
<ul>
<li><a href="#swervelib.motors">swervelib.motors.*</a></li>
</ul>
</section>
</div>
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<h2 title="swervelib.motors">swervelib.motors.*</h2>
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<caption><span>swervelib.motors.<a href="swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Constant Field</th>
<th class="colLast" scope="col">Value</th>
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<td class="colFirst"><a id="swervelib.motors.TalonFXSwerve.factoryDefaultOccurred">
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</a><code>private&nbsp;final&nbsp;boolean</code></td>
<th class="colSecond" scope="row"><code><a href="swervelib/motors/TalonFXSwerve.html#factoryDefaultOccurred">factoryDefaultOccurred</a></code></th>
<td class="colLast"><code>false</code></td>
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<caption><span>swervelib.motors.<a href="swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
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</a><code>private&nbsp;final&nbsp;boolean</code></td>
<th class="colSecond" scope="row"><code><a href="swervelib/motors/TalonSRXSwerve.html#factoryDefaultOccurred">factoryDefaultOccurred</a></code></th>
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<dd>
<div class="block">Absolute encoder attached to the SparkMax (if exists)</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#absoluteEncoder">absoluteEncoder</a></span> - Variable in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Whether the absolute encoder is integrated.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#absoluteEncoder">absoluteEncoder</a></span> - Variable in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Whether the absolute encoder is integrated.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/parser/SwerveModuleConfiguration.html#absoluteEncoder">absoluteEncoder</a></span> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">The Absolute Encoder for the swerve module.</div>
@@ -216,6 +224,8 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Algebraically apply a deadband using a piece wise function.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html#AUXILIARY_PID">AUXILIARY_PID</a></span> - swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></dt>
<dd>&nbsp;</dd>
</dl>
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@@ -174,10 +174,20 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Swerve Modules.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html#MotionProfile">MotionProfile</a></span> - swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/SparkMaxSwerve.html#motor">motor</a></span> - Variable in class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dt>
<dd>
<div class="block">SparkMAX Instance.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#motor">motor</a></span> - Variable in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">TalonFX motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#motor">motor</a></span> - Variable in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">TalonSRX motor controller.</div>
</dd>
<dt><a href="../swervelib/parser/json/MotorConfigDouble.html" title="class in swervelib.parser.json"><span class="typeNameLink">MotorConfigDouble</span></a> - Class in <a href="../swervelib/parser/json/package-summary.html">swervelib.parser.json</a></dt>
<dd>
<div class="block">Used to store doubles for motor configuration.</div>

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@@ -182,6 +182,16 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html#Position">Position</a></span> - swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#positionConversionFactor">positionConversionFactor</a></span> - Variable in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">The position conversion factor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#positionConversionFactor">positionConversionFactor</a></span> - Variable in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">The position conversion factor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html#PRIMARY_PID">PRIMARY_PID</a></span> - swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></dt>
<dd>&nbsp;</dd>
</dl>
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@@ -102,6 +102,10 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">The minimum number of seconds to take for the motor to go from 0 to full throttle.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html#REMOTE_SENSOR_0">REMOTE_SENSOR_0</a></span> - swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html#REMOTE_SENSOR_1">REMOTE_SENSOR_1</a></span> - swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/SwerveDrive.html#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)">replaceSwerveModuleFeedforward(SimpleMotorFeedforward)</a></span> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Setup the swerve module feedforward.</div>

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<dd>
<div class="block">Set the percentage output.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#set(double)">set(double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Set the percentage output.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#set(double)">set(double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Set the percentage output.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/SparkMaxSwerve.html#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder(SwerveAbsoluteEncoder)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dt>
<dd>
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
@@ -114,6 +122,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder(SwerveAbsoluteEncoder)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder(SwerveAbsoluteEncoder)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/SwerveModule.html#setAngle(double)">setAngle(double)</a></span> - Method in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Set the angle for the module.</div>
@@ -132,6 +148,16 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<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>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#setCurrentLimit(int)">setCurrentLimit(int)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<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>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#setCurrentLimit(int)">setCurrentLimit(int)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<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>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/SwerveModule.html#setDesiredState(swervelib.math.SwerveModuleState2,boolean)">setDesiredState(SwerveModuleState2, boolean)</a></span> - Method in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Set the desired state of the swerve module.</div>
@@ -148,6 +174,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Set the motor to be inverted.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#setInverted(boolean)">setInverted(boolean)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Set the motor to be inverted.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#setInverted(boolean)">setInverted(boolean)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Set the motor to be inverted.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/SparkMaxSwerve.html#setLoopRampRate(double)">setLoopRampRate(double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dt>
<dd>
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
@@ -156,6 +190,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#setLoopRampRate(double)">setLoopRampRate(double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#setLoopRampRate(double)">setLoopRampRate(double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/SwerveDrive.html#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)">setModuleStates(SwerveModuleState2[], boolean)</a></span> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the module states (azimuth and velocity) directly.</div>
@@ -168,6 +210,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Set the idle mode.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#setMotorBrake(boolean)">setMotorBrake(boolean)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Set the idle mode.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#setMotorBrake(boolean)">setMotorBrake(boolean)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Set the idle mode.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/SwerveDrive.html#setMotorBrake(boolean)">setMotorBrake(boolean)</a></span> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Sets the drive motors to brake/coast mode.</div>
@@ -184,6 +234,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Set the integrated encoder position.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#setPosition(double)">setPosition(double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Set the integrated encoder position.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#setPosition(double)">setPosition(double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Set the integrated encoder position.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/SparkMaxSwerve.html#setReference(double,double)">setReference(double, double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dt>
<dd>
<div class="block">Set the closed loop PID controller reference point.</div>
@@ -192,6 +250,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Set the closed loop PID controller reference point.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#setReference(double,double)">setReference(double, double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Set the closed loop PID controller reference point.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#setReference(double,double)">setReference(double, double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Set the closed loop PID controller reference point.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/SparkMaxSwerve.html#setVoltageCompensation(double)">setVoltageCompensation(double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dt>
<dd>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
@@ -200,6 +266,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#setVoltageCompensation(double)">setVoltageCompensation(double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#setVoltageCompensation(double)">setVoltageCompensation(double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/imu/NavXSwerve.html#setYaw(double)">setYaw(double)</a></span> - Method in class swervelib.imu.<a href="../swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></dt>
<dd>
<div class="block">Set the yaw in degrees.</div>

46
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@@ -2,7 +2,7 @@
<!-- NewPage -->
<html lang="en">
<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 17:20:01 CST 2023 -->
<title>T-Index</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">
@@ -98,10 +98,52 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
</a>
<h2 class="title">T</h2>
<dl>
<dt><a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors"><span class="typeNameLink">TalonFXSwerve</span></a> - Class in <a href="../swervelib/motors/package-summary.html">swervelib.motors</a></dt>
<dd>
<div class="block"><code>TalonFX</code> Swerve Motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#%3Cinit%3E(int,boolean)">TalonFXSwerve(int, boolean)</a></span> - Constructor for class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Construct the TalonFX swerve motor given the ID.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#%3Cinit%3E(int,java.lang.String,boolean)">TalonFXSwerve(int, String, boolean)</a></span> - Constructor for class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Construct the TalonFX swerve motor given the ID and CANBus.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX,boolean)">TalonFXSwerve(WPI_TalonFX, boolean)</a></span> - Constructor for class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Constructor for TalonFX swerve motor.</div>
</dd>
<dt><a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors"><span class="typeNameLink">TalonSRXSwerve</span></a> - Class in <a href="../swervelib/motors/package-summary.html">swervelib.motors</a></dt>
<dd>
<div class="block"><code>WPI_TalonSRX</code> Swerve Motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#%3Cinit%3E(int,boolean)">TalonSRXSwerve(int, boolean)</a></span> - Constructor for class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Construct the TalonSRX swerve motor given the ID.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX,boolean)">TalonSRXSwerve(WPI_TalonSRX, boolean)</a></span> - Constructor for class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Constructor for TalonSRX swerve motor.</div>
</dd>
<dt><a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors"><span class="typeNameLink">TalonSRXSwerve.CTRE_pidIdx</span></a> - Enum in <a href="../swervelib/motors/package-summary.html">swervelib.motors</a></dt>
<dd>
<div class="block">The Talon PID to use onboard.</div>
</dd>
<dt><a href="../swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors"><span class="typeNameLink">TalonSRXSwerve.CTRE_remoteSensor</span></a> - Enum in <a href="../swervelib/motors/package-summary.html">swervelib.motors</a></dt>
<dd>
<div class="block">The remote sensor.</div>
</dd>
<dt><a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors"><span class="typeNameLink">TalonSRXSwerve.CTRE_slotIdx</span></a> - Enum in <a href="../swervelib/motors/package-summary.html">swervelib.motors</a></dt>
<dd>
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/SwerveController.html#thetaController">thetaController</a></span> - Variable in class swervelib.<a href="../swervelib/SwerveController.html" title="class in swervelib">SwerveController</a></dt>
<dd>
<div class="block">PID Controller for the robot heading.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html#THIRD_PID">THIRD_PID</a></span> - swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/SwerveModule.html#time">time</a></span> - Variable in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Timer for simulation.</div>
@@ -126,6 +168,8 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html#Turning">Turning</a></span> - swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/parser/json/DeviceJson.html#type">type</a></span> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></dt>
<dd>
<div class="block">The device type, e.g.</div>

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@@ -2,7 +2,7 @@
<!-- NewPage -->
<html lang="en">
<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 17:20:01 CST 2023 -->
<title>U-Index</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

10
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@@ -2,7 +2,7 @@
<!-- NewPage -->
<html lang="en">
<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 17:20:01 CST 2023 -->
<title>B-Index</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">
@@ -114,6 +114,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Save the configurations from flash to EEPROM.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#burnFlash()">burnFlash()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Save the configurations from flash to EEPROM.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#burnFlash()">burnFlash()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Save the configurations from flash to EEPROM.</div>
</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">X</a>&nbsp;<a href="index-23.html">Y</a>&nbsp;<a href="index-24.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a></div>
</main>

31
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@@ -2,7 +2,7 @@
<!-- NewPage -->
<html lang="en">
<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 17:20:01 CST 2023 -->
<title>V-Index</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">
@@ -102,13 +102,42 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Returns the enum constant of this type with the specified name.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></dt>
<dd>
<div class="block">Returns the enum constant of this type with the specified name.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></dt>
<dd>
<div class="block">Returns the enum constant of this type with the specified name.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></dt>
<dd>
<div class="block">Returns the enum constant of this type with the specified name.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html#values()">values()</a></span> - Static method in enum swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></dt>
<dd>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html#values()">values()</a></span> - Static method in enum swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></dt>
<dd>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html#values()">values()</a></span> - Static method in enum swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></dt>
<dd>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html#values()">values()</a></span> - Static method in enum swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></dt>
<dd>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html#Velocity">Velocity</a></span> - swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html#Velocity">Velocity</a></span> - swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/parser/SwerveModuleConfiguration.html#velocityPIDF">velocityPIDF</a></span> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">PIDF configuration options for the drive motor closed-loop PID controller.</div>

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<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
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<title>C-Index</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">
@@ -182,6 +182,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Clear the sticky faults on the motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#clearStickyFaults()">clearStickyFaults()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Clear the sticky faults on the motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#clearStickyFaults()">clearStickyFaults()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Clear the sticky faults on the motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/SwerveController.html#config">config</a></span> - Variable in class swervelib.<a href="../swervelib/SwerveController.html" title="class in swervelib">SwerveController</a></dt>
<dd>
<div class="block"><a href="../swervelib/parser/SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> object storing data to generate the <code>PIDController</code> for controlling the
@@ -215,6 +223,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Configure the integrated encoder for the swerve module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#configureIntegratedEncoder(double)">configureIntegratedEncoder(double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Configure the integrated encoder for the swerve module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#configureIntegratedEncoder(double)">configureIntegratedEncoder(double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Configure the integrated encoder for the swerve module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/SparkMaxSwerve.html#configurePIDF(swervelib.parser.PIDFConfig)">configurePIDF(PIDFConfig)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dt>
<dd>
<div class="block">Configure the PIDF values for the closed loop controller.</div>
@@ -223,6 +239,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Configure the PIDF values for the closed loop controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#configurePIDF(swervelib.parser.PIDFConfig)">configurePIDF(PIDFConfig)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Configure the PIDF values for the closed loop controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#configurePIDF(swervelib.parser.PIDFConfig)">configurePIDF(PIDFConfig)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Configure the PIDF values for the closed loop controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/SparkMaxSwerve.html#configurePIDWrapping(double,double)">configurePIDWrapping(double, double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dt>
<dd>
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
@@ -231,6 +255,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#configurePIDWrapping(double,double)">configurePIDWrapping(double, double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#configurePIDWrapping(double,double)">configurePIDWrapping(double, double)</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/parser/SwerveParser.html#controllerPropertiesJson">controllerPropertiesJson</a></span> - Static variable in class swervelib.parser.<a href="../swervelib/parser/SwerveParser.html" title="class in swervelib.parser">SwerveParser</a></dt>
<dd>
<div class="block">Parsed controllerproperties.json</div>
@@ -285,6 +317,12 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Create <a href="../swervelib/SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html#%3Cinit%3E()">CTRE_pidIdx()</a></span> - Constructor for enum swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html#%3Cinit%3E()">CTRE_remoteSensor()</a></span> - Constructor for enum swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html#%3Cinit%3E()">CTRE_slotIdx()</a></span> - Constructor for enum swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/parser/json/PhysicalPropertiesJson.html#currentLimit">currentLimit</a></span> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a></dt>
<dd>
<div class="block">The current limit in AMPs to apply to the motors.</div>

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<title>D-Index</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">
@@ -117,6 +117,8 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/parser/json/DeviceJson.html#%3Cinit%3E()">DeviceJson()</a></span> - Constructor for class swervelib.parser.json.<a href="../swervelib/parser/json/DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html#Distance">Distance</a></span> - swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/parser/json/ModuleJson.html#drive">drive</a></span> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a></dt>
<dd>
<div class="block">Drive motor device configuration.</div>

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<title>E-Index</title>
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<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
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<title>F-Index</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">
@@ -134,6 +134,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Factory default already occurred.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#factoryDefaultOccurred">factoryDefaultOccurred</a></span> - Variable in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Factory default already occurred.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#factoryDefaultOccurred">factoryDefaultOccurred</a></span> - Variable in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Factory default already occurred.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/SparkMaxSwerve.html#factoryDefaults()">factoryDefaults()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dt>
<dd>
<div class="block">Configure the factory defaults.</div>
@@ -142,6 +150,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Configure the factory defaults.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#factoryDefaults()">factoryDefaults()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Configure the factory defaults.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#factoryDefaults()">factoryDefaults()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Configure the factory defaults.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/SwerveModule.html#fakePos">fakePos</a></span> - Variable in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Current state.</div>
@@ -154,6 +170,8 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Field object.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html#FOURTH_PID">FOURTH_PID</a></span> - swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></dt>
<dd>&nbsp;</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">X</a>&nbsp;<a href="index-23.html">Y</a>&nbsp;<a href="index-24.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a></div>
</main>

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<html lang="en">
<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 17:20:01 CST 2023 -->
<title>G-Index</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">
@@ -166,6 +166,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Get the motor object from the module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#getMotor()">getMotor()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Get the motor object from the module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#getMotor()">getMotor()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Get the motor object from the module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/SwerveDrive.html#getPitch()">getPitch()</a></span> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</div>
@@ -182,6 +190,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Get the position of the integrated encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#getPosition()">getPosition()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Get the position of the integrated encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#getPosition()">getPosition()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Get the position of the integrated encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/SwerveModule.html#getPosition()">getPosition()</a></span> - Method in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../swervelib/parser/SwerveModuleConfiguration.html#getPositionEncoderConversion(boolean)">getPositionEncoderConversion(boolean)</a></span> - Method in class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
@@ -228,6 +244,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Get the velocity of the integrated encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#getVelocity()">getVelocity()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Get the velocity of the integrated encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#getVelocity()">getVelocity()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Get the velocity of the integrated encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/SwerveDrive.html#getYaw()">getYaw()</a></span> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</div>

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<meta name="dc.created" content="2023-02-13">

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<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
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<title>I-Index</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">
@@ -144,6 +144,14 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<dd>
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonFXSwerve.html#isAttachedAbsoluteEncoder()">isAttachedAbsoluteEncoder()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/TalonSRXSwerve.html#isAttachedAbsoluteEncoder()">isAttachedAbsoluteEncoder()</a></span> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../swervelib/motors/SwerveMotor.html#isDriveMotor">isDriveMotor</a></span> - Variable in class swervelib.motors.<a href="../swervelib/motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></dt>
<dd>
<div class="block">Whether the swerve motor is a drive motor.</div>

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<li class="circle">swervelib.motors.<a href="swervelib/motors/SwerveMotor.html" title="class in swervelib.motors"><span class="typeNameLink">SwerveMotor</span></a>
<ul>
<li class="circle">swervelib.motors.<a href="swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors"><span class="typeNameLink">SparkMaxSwerve</span></a></li>
<li class="circle">swervelib.motors.<a href="swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors"><span class="typeNameLink">TalonFXSwerve</span></a></li>
<li class="circle">swervelib.motors.<a href="swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors"><span class="typeNameLink">TalonSRXSwerve</span></a></li>
</ul>
</li>
<li class="circle">swervelib.parser.<a href="swervelib/parser/SwerveParser.html" title="class in swervelib.parser"><span class="typeNameLink">SwerveParser</span></a></li>
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<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Enum</span></a>&lt;E&gt; (implements java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a>&lt;T&gt;, java.io.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/Serializable.html?is-external=true" title="class or interface in java.io" class="externalLink">Serializable</a>)
<ul>
<li class="circle">swervelib.motors.<a href="swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors"><span class="typeNameLink">SparkMaxSwerve.SparkMAX_slotIdx</span></a></li>
<li class="circle">swervelib.motors.<a href="swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors"><span class="typeNameLink">TalonSRXSwerve.CTRE_pidIdx</span></a></li>
<li class="circle">swervelib.motors.<a href="swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors"><span class="typeNameLink">TalonSRXSwerve.CTRE_remoteSensor</span></a></li>
<li class="circle">swervelib.motors.<a href="swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors"><span class="typeNameLink">TalonSRXSwerve.CTRE_slotIdx</span></a></li>
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<title>SwerveMotor</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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@@ -133,7 +133,7 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<li class="blockList">
<dl>
<dt>Direct Known Subclasses:</dt>
<dd><code><a href="SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></code></dd>
<dd><code><a href="SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></code>, <code><a href="TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></code>, <code><a href="TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></code></dd>
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<pre>public abstract class <span class="typeNameLabel">SwerveMotor</span>

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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.motors</a></div>
<h2 title="Enum TalonFXSwerve.CTRE_pidIdx" class="title">Enum TalonFXSwerve.CTRE_pidIdx</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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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Enum</a>&lt;<a href="TalonFXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_pidIdx</a>&gt;</li>
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<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/Serializable.html?is-external=true" title="class or interface in java.io" class="externalLink">Serializable</a></code>, <code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a>&lt;<a href="TalonFXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_pidIdx</a>&gt;</code></dd>
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<dl>
<dt>Enclosing class:</dt>
<dd><a href="TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dd>
</dl>
<hr>
<pre>static enum <span class="typeNameLabel">TalonFXSwerve.CTRE_pidIdx</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a>&lt;<a href="TalonFXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_pidIdx</a>&gt;</pre>
<div class="block">The Talon PID to use onboard.</div>
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<th class="colFirst" scope="col">Enum Constant</th>
<th class="colLast" scope="col">Description</th>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#AUXILIARY_PID">AUXILIARY_PID</a></span></code></th>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#FOURTH_PID">FOURTH_PID</a></span></code></th>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#THIRD_PID">THIRD_PID</a></span></code></th>
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<td class="colFirst"><code>private </code></td>
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<td class="colFirst"><code>static <a href="TalonFXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_pidIdx</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</code></th>
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<td class="colFirst"><code>static <a href="TalonFXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_pidIdx</a>[]</code></td>
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<pre>public static final&nbsp;<a href="TalonFXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_pidIdx</a> PRIMARY_PID</pre>
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<pre>public static final&nbsp;<a href="TalonFXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_pidIdx</a> AUXILIARY_PID</pre>
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<pre>public static final&nbsp;<a href="TalonFXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_pidIdx</a> THIRD_PID</pre>
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<pre>public static final&nbsp;<a href="TalonFXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_pidIdx</a> FOURTH_PID</pre>
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<h4>CTRE_pidIdx</h4>
<pre>private&nbsp;CTRE_pidIdx()</pre>
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<pre class="methodSignature">public static&nbsp;<a href="TalonFXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_pidIdx</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (TalonFXSwerve.CTRE_pidIdx c : TalonFXSwerve.CTRE_pidIdx.values())
&nbsp; System.out.println(c);
</pre></div>
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<pre class="methodSignature">public static&nbsp;<a href="TalonFXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_pidIdx</a>&nbsp;valueOf&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</pre>
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The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
not permitted.)</div>
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<dt><span class="returnLabel">Returns:</span></dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/IllegalArgumentException.html?is-external=true" title="class or interface in java.lang" class="externalLink">IllegalArgumentException</a></code> - if this enum type has no constant with the specified name</dd>
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<h2 title="Enum TalonFXSwerve.CTRE_remoteSensor" class="title">Enum TalonFXSwerve.CTRE_remoteSensor</h2>
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<pre>static enum <span class="typeNameLabel">TalonFXSwerve.CTRE_remoteSensor</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a>&lt;<a href="TalonFXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_remoteSensor</a>&gt;</pre>
<div class="block">The remote sensor.</div>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#REMOTE_SENSOR_0">REMOTE_SENSOR_0</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#REMOTE_SENSOR_1">REMOTE_SENSOR_1</a></span></code></th>
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<td class="colFirst"><code>private </code></td>
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">CTRE_remoteSensor</a></span>()</code></th>
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<td class="colFirst"><code>static <a href="TalonFXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_remoteSensor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</code></th>
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<td class="colFirst"><code>static <a href="TalonFXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_remoteSensor</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
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<h4>REMOTE_SENSOR_0</h4>
<pre>public static final&nbsp;<a href="TalonFXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_remoteSensor</a> REMOTE_SENSOR_0</pre>
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<h4>REMOTE_SENSOR_1</h4>
<pre>public static final&nbsp;<a href="TalonFXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_remoteSensor</a> REMOTE_SENSOR_1</pre>
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<h4>CTRE_remoteSensor</h4>
<pre>private&nbsp;CTRE_remoteSensor()</pre>
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<pre class="methodSignature">public static&nbsp;<a href="TalonFXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_remoteSensor</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (TalonFXSwerve.CTRE_remoteSensor c : TalonFXSwerve.CTRE_remoteSensor.values())
&nbsp; System.out.println(c);
</pre></div>
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<pre class="methodSignature">public static&nbsp;<a href="TalonFXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_remoteSensor</a>&nbsp;valueOf&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</pre>
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<h2 title="Enum TalonFXSwerve.CTRE_slotIdx" class="title">Enum TalonFXSwerve.CTRE_slotIdx</h2>
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<pre>static enum <span class="typeNameLabel">TalonFXSwerve.CTRE_slotIdx</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a>&lt;<a href="TalonFXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_slotIdx</a>&gt;</pre>
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
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<td class="colFirst"><code>private </code></td>
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<td class="colFirst"><code>static <a href="TalonFXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_slotIdx</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</code></th>
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<div class="block">Returns the enum constant of this type with the specified name.</div>
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<td class="colFirst"><code>static <a href="TalonFXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_slotIdx</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
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<pre>public static final&nbsp;<a href="TalonFXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_slotIdx</a> Distance</pre>
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<pre>public static final&nbsp;<a href="TalonFXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_slotIdx</a> Turning</pre>
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<pre>public static final&nbsp;<a href="TalonFXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_slotIdx</a> Velocity</pre>
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<pre>public static final&nbsp;<a href="TalonFXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_slotIdx</a> MotionProfile</pre>
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<pre>private&nbsp;CTRE_slotIdx()</pre>
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<pre class="methodSignature">public static&nbsp;<a href="TalonFXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_slotIdx</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
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<pre>
for (TalonFXSwerve.CTRE_slotIdx c : TalonFXSwerve.CTRE_slotIdx.values())
&nbsp; System.out.println(c);
</pre></div>
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<pre class="methodSignature">public static&nbsp;<a href="TalonFXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonFXSwerve.CTRE_slotIdx</a>&nbsp;valueOf&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
not permitted.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/IllegalArgumentException.html?is-external=true" title="class or interface in java.lang" class="externalLink">IllegalArgumentException</a></code> - if this enum type has no constant with the specified name</dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.motors</a></div>
<h2 title="Class TalonFXSwerve" class="title">Class TalonFXSwerve</h2>
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<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 swervelib.motors">swervelib.motors.SwerveMotor</a></li>
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<ul class="inheritance">
<li>swervelib.motors.TalonFXSwerve</li>
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<pre>public class <span class="typeNameLabel">TalonFXSwerve</span>
extends <a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></pre>
<div class="block"><code>TalonFX</code> Swerve Motor.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
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<td class="colFirst"><code>private boolean</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">Whether the absolute encoder is integrated.</div>
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<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>
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<td class="colFirst"><code>(package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonFX</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">TalonFX motor controller.</div>
</td>
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<tr class="rowColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#positionConversionFactor">positionConversionFactor</a></span></code></th>
<td class="colLast">
<div class="block">The position conversion factor.</div>
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<h3>Fields inherited from class&nbsp;swervelib.motors.<a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></h3>
<code><a href="SwerveMotor.html#isDriveMotor">isDriveMotor</a></code></li>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int,boolean)">TalonFXSwerve</a></span>&#8203;(int&nbsp;id,
boolean&nbsp;isDriveMotor)</code></th>
<td class="colLast">
<div class="block">Construct the TalonFX swerve motor given the ID.</div>
</td>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int,java.lang.String,boolean)">TalonFXSwerve</a></span>&#8203;(int&nbsp;id,
<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;canbus,
boolean&nbsp;isDriveMotor)</code></th>
<td class="colLast">
<div class="block">Construct the TalonFX swerve motor given the ID and CANBus.</div>
</td>
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<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX,boolean)">TalonFXSwerve</a></span>&#8203;(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX&nbsp;motor,
boolean&nbsp;isDriveMotor)</code></th>
<td class="colLast">
<div class="block">Constructor for TalonFX swerve motor.</div>
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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>
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<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="#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="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configurePIDF(swervelib.parser.PIDFConfig)">configurePIDF</a></span>&#8203;(<a href="../parser/PIDFConfig.html" title="class in 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="i4" class="altColor">
<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="i5" class="rowColor">
<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="i6" class="altColor">
<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="i7" class="rowColor">
<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="i8" class="altColor">
<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="i9" class="rowColor">
<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="i10" class="altColor">
<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="i11" class="rowColor">
<td class="colFirst"><code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder</a></span>&#8203;(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in 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="i12" class="altColor">
<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="i13" class="rowColor">
<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="i14" class="altColor">
<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="i15" class="rowColor">
<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="i16" class="altColor">
<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="i17" class="rowColor">
<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="i18" 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>&#8203;(double&nbsp;nominalVoltage)</code></th>
<td class="colLast">
<div class="block">Set the voltage compensation for the swerve module motor.</div>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h3>Field Detail</h3>
<a id="motor">
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<h4>motor</h4>
<pre>com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor</pre>
<div class="block">TalonFX motor controller.</div>
</li>
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<h4>factoryDefaultOccurred</h4>
<pre>private final&nbsp;boolean factoryDefaultOccurred</pre>
<div class="block">Factory default already occurred.</div>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../constant-values.html#swervelib.motors.TalonFXSwerve.factoryDefaultOccurred">Constant Field Values</a></dd>
</dl>
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<h4>absoluteEncoder</h4>
<pre>private&nbsp;boolean absoluteEncoder</pre>
<div class="block">Whether the absolute encoder is integrated.</div>
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<h4>positionConversionFactor</h4>
<pre>private&nbsp;double positionConversionFactor</pre>
<div class="block">The position conversion factor.</div>
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<h3>Constructor Detail</h3>
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<h4>TalonFXSwerve</h4>
<pre>public&nbsp;TalonFXSwerve&#8203;(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX&nbsp;motor,
boolean&nbsp;isDriveMotor)</pre>
<div class="block">Constructor for TalonFX swerve motor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>motor</code> - Motor to use.</dd>
<dd><code>isDriveMotor</code> - Whether this motor is a drive motor.</dd>
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<h4>TalonFXSwerve</h4>
<pre>public&nbsp;TalonFXSwerve&#8203;(int&nbsp;id,
<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;canbus,
boolean&nbsp;isDriveMotor)</pre>
<div class="block">Construct the TalonFX swerve motor given the ID and CANBus.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>id</code> - ID of the TalonFX on the CANBus.</dd>
<dd><code>canbus</code> - CANBus on which the TalonFX is on.</dd>
<dd><code>isDriveMotor</code> - Whether the motor is a drive or steering motor.</dd>
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<h4>TalonFXSwerve</h4>
<pre>public&nbsp;TalonFXSwerve&#8203;(int&nbsp;id,
boolean&nbsp;isDriveMotor)</pre>
<div class="block">Construct the TalonFX swerve motor given the ID.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>id</code> - ID of the TalonFX on the canbus.</dd>
<dd><code>isDriveMotor</code> - Whether the motor is a drive or steering motor.</dd>
</dl>
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</ul>
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<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 swervelib.motors">SwerveMotor</a></code></dd>
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<h4>clearStickyFaults</h4>
<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 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 swervelib.motors">SwerveMotor</a>&nbsp;setAbsoluteEncoder&#8203;(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in 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(swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>encoder</code> - The encoder to use.</dd>
</dl>
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<a id="configureIntegratedEncoder(double)">
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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 swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>positionConversionFactor</code> - The conversion factor to apply for position.</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 swervelib.parser">PIDFConfig</a>&nbsp;config)</pre>
<div class="block">Configure the PIDF values for the closed loop controller. 0 is disabled or off.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#configurePIDF(swervelib.parser.PIDFConfig)">configurePIDF</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in 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 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>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 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 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 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 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 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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<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 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 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 swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>position</code> - Integrated encoder position. Should be angle in degrees or meters per second.</dd>
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<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 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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<h4>setCurrentLimit</h4>
<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 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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<dd><code><a href="SwerveMotor.html#setLoopRampRate(double)">setLoopRampRate</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></dd>
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<h2 title="Enum TalonSRXSwerve.CTRE_pidIdx" class="title">Enum TalonSRXSwerve.CTRE_pidIdx</h2>
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<dt>Enclosing class:</dt>
<dd><a href="TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dd>
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<pre>static enum <span class="typeNameLabel">TalonSRXSwerve.CTRE_pidIdx</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a>&lt;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>&gt;</pre>
<div class="block">The Talon PID to use onboard.</div>
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<tr class="altColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#AUXILIARY_PID">AUXILIARY_PID</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#FOURTH_PID">FOURTH_PID</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#PRIMARY_PID">PRIMARY_PID</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#THIRD_PID">THIRD_PID</a></span></code></th>
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<td class="colFirst"><code>private </code></td>
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">CTRE_pidIdx</a></span>()</code></th>
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<td class="colFirst"><code>static <a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</code></th>
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<div class="block">Returns the enum constant of this type with the specified name.</div>
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<td class="colFirst"><code>static <a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
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<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a> PRIMARY_PID</pre>
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<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a> AUXILIARY_PID</pre>
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<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a> THIRD_PID</pre>
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<h4>FOURTH_PID</h4>
<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a> FOURTH_PID</pre>
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<h4>CTRE_pidIdx</h4>
<pre>private&nbsp;CTRE_pidIdx()</pre>
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<pre class="methodSignature">public static&nbsp;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (TalonSRXSwerve.CTRE_pidIdx c : TalonSRXSwerve.CTRE_pidIdx.values())
&nbsp; System.out.println(c);
</pre></div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
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<pre class="methodSignature">public static&nbsp;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>&nbsp;valueOf&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
not permitted.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.motors</a></div>
<h2 title="Enum TalonSRXSwerve.CTRE_remoteSensor" class="title">Enum TalonSRXSwerve.CTRE_remoteSensor</h2>
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<pre>static enum <span class="typeNameLabel">TalonSRXSwerve.CTRE_remoteSensor</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a>&lt;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>&gt;</pre>
<div class="block">The remote sensor.</div>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#REMOTE_SENSOR_0">REMOTE_SENSOR_0</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#REMOTE_SENSOR_1">REMOTE_SENSOR_1</a></span></code></th>
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<td class="colFirst"><code>private </code></td>
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<td class="colFirst"><code>static <a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</code></th>
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<td class="colFirst"><code>static <a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>[]</code></td>
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<h4>REMOTE_SENSOR_0</h4>
<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a> REMOTE_SENSOR_0</pre>
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<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a> REMOTE_SENSOR_1</pre>
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<pre>private&nbsp;CTRE_remoteSensor()</pre>
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<pre class="methodSignature">public static&nbsp;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (TalonSRXSwerve.CTRE_remoteSensor c : TalonSRXSwerve.CTRE_remoteSensor.values())
&nbsp; System.out.println(c);
</pre></div>
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<pre class="methodSignature">public static&nbsp;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>&nbsp;valueOf&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
not permitted.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/IllegalArgumentException.html?is-external=true" title="class or interface in java.lang" class="externalLink">IllegalArgumentException</a></code> - if this enum type has no constant with the specified name</dd>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/NullPointerException.html?is-external=true" title="class or interface in java.lang" class="externalLink">NullPointerException</a></code> - if the argument is null</dd>
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<h2 title="Enum TalonSRXSwerve.CTRE_slotIdx" class="title">Enum TalonSRXSwerve.CTRE_slotIdx</h2>
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<pre>static enum <span class="typeNameLabel">TalonSRXSwerve.CTRE_slotIdx</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a>&lt;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a>&gt;</pre>
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#Distance">Distance</a></span></code></th>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MotionProfile">MotionProfile</a></span></code></th>
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<td class="colFirst"><code>private </code></td>
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<td class="colFirst"><code>static <a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</code></th>
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<td class="colFirst"><code>static <a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a>[]</code></td>
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<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a> Distance</pre>
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<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a> Turning</pre>
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<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a> Velocity</pre>
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<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a> MotionProfile</pre>
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<h4>CTRE_slotIdx</h4>
<pre>private&nbsp;CTRE_slotIdx()</pre>
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<pre class="methodSignature">public static&nbsp;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
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<pre>
for (TalonSRXSwerve.CTRE_slotIdx c : TalonSRXSwerve.CTRE_slotIdx.values())
&nbsp; System.out.println(c);
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<pre class="methodSignature">public static&nbsp;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a>&nbsp;valueOf&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</pre>
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<dt><span class="throwsLabel">Throws:</span></dt>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.motors</a></div>
<h2 title="Class TalonSRXSwerve" class="title">Class TalonSRXSwerve</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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<li><a href="SwerveMotor.html" title="class in swervelib.motors">swervelib.motors.SwerveMotor</a></li>
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<li>swervelib.motors.TalonSRXSwerve</li>
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<pre>public class <span class="typeNameLabel">TalonSRXSwerve</span>
extends <a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></pre>
<div class="block"><code>WPI_TalonSRX</code> Swerve Motor.</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="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></span></code></th>
<td class="colLast">
<div class="block">The Talon PID to use onboard.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>(package private) static class&nbsp;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></span></code></th>
<td class="colLast">
<div class="block">The remote sensor.</div>
</td>
</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="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></span></code></th>
<td class="colLast">
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
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<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
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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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<td class="colFirst"><code>private boolean</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">Whether the absolute encoder is integrated.</div>
</td>
</tr>
<tr class="rowColor">
<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="altColor">
<td class="colFirst"><code>(package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX</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">TalonSRX motor controller.</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="#positionConversionFactor">positionConversionFactor</a></span></code></th>
<td class="colLast">
<div class="block">The position conversion factor.</div>
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<h3>Fields inherited from class&nbsp;swervelib.motors.<a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></h3>
<code><a href="SwerveMotor.html#isDriveMotor">isDriveMotor</a></code></li>
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<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
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<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(int,boolean)">TalonSRXSwerve</a></span>&#8203;(int&nbsp;id,
boolean&nbsp;isDriveMotor)</code></th>
<td class="colLast">
<div class="block">Construct the TalonSRX swerve motor given the ID.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX,boolean)">TalonSRXSwerve</a></span>&#8203;(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX&nbsp;motor,
boolean&nbsp;isDriveMotor)</code></th>
<td class="colLast">
<div class="block">Constructor for TalonSRX swerve motor.</div>
</td>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colLast" scope="col">Description</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="#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="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configurePIDF(swervelib.parser.PIDFConfig)">configurePIDF</a></span>&#8203;(<a href="../parser/PIDFConfig.html" title="class in 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="i4" class="altColor">
<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="i5" class="rowColor">
<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="i6" class="altColor">
<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="i7" class="rowColor">
<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="i8" class="altColor">
<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="i9" class="rowColor">
<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="i10" class="altColor">
<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="i11" class="rowColor">
<td class="colFirst"><code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder</a></span>&#8203;(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in 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="i12" class="altColor">
<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="i13" class="rowColor">
<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="i14" class="altColor">
<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="i15" class="rowColor">
<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="i16" class="altColor">
<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="i17" class="rowColor">
<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="i18" 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>&#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>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h4>factoryDefaultOccurred</h4>
<pre>private final&nbsp;boolean factoryDefaultOccurred</pre>
<div class="block">Factory default already occurred.</div>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../constant-values.html#swervelib.motors.TalonSRXSwerve.factoryDefaultOccurred">Constant Field Values</a></dd>
</dl>
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<a id="motor">
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<h4>motor</h4>
<pre>com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor</pre>
<div class="block">TalonSRX motor controller.</div>
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<h4>absoluteEncoder</h4>
<pre>private&nbsp;boolean absoluteEncoder</pre>
<div class="block">Whether the absolute encoder is integrated.</div>
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<h4>positionConversionFactor</h4>
<pre>private&nbsp;double positionConversionFactor</pre>
<div class="block">The position conversion factor.</div>
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<h3>Constructor Detail</h3>
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<h4>TalonSRXSwerve</h4>
<pre>public&nbsp;TalonSRXSwerve&#8203;(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX&nbsp;motor,
boolean&nbsp;isDriveMotor)</pre>
<div class="block">Constructor for TalonSRX swerve motor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>motor</code> - Motor to use.</dd>
<dd><code>isDriveMotor</code> - Whether this motor is a drive motor.</dd>
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<h4>TalonSRXSwerve</h4>
<pre>public&nbsp;TalonSRXSwerve&#8203;(int&nbsp;id,
boolean&nbsp;isDriveMotor)</pre>
<div class="block">Construct the TalonSRX swerve motor given the ID.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>id</code> - ID of the TalonSRX on the canbus.</dd>
<dd><code>isDriveMotor</code> - Whether the motor is a drive or steering motor.</dd>
</dl>
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<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 swervelib.motors">SwerveMotor</a></code></dd>
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<a id="clearStickyFaults()">
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<h4>clearStickyFaults</h4>
<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 swervelib.motors">SwerveMotor</a></code></dd>
</dl>
</li>
</ul>
<a id="setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)">
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<ul class="blockList">
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<h4>setAbsoluteEncoder</h4>
<pre class="methodSignature">public&nbsp;<a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;setAbsoluteEncoder&#8203;(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in 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(swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>encoder</code> - The encoder to use.</dd>
</dl>
</li>
</ul>
<a id="configureIntegratedEncoder(double)">
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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 swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>positionConversionFactor</code> - The conversion factor to apply for position.</dd>
</dl>
</li>
</ul>
<a id="configurePIDF(swervelib.parser.PIDFConfig)">
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<h4>configurePIDF</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;configurePIDF&#8203;(<a href="../parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</pre>
<div class="block">Configure the PIDF values for the closed loop controller. 0 is disabled or off.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="SwerveMotor.html#configurePIDF(swervelib.parser.PIDFConfig)">configurePIDF</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>config</code> - Configuration class holding the PIDF values.</dd>
</dl>
</li>
</ul>
<a id="configurePIDWrapping(double,double)">
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<h4>configurePIDWrapping</h4>
<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 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>
</dl>
</li>
</ul>
<a id="setMotorBrake(boolean)">
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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 swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>isBrakeMode</code> - Set the brake mode.</dd>
</dl>
</li>
</ul>
<a id="setInverted(boolean)">
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<ul class="blockList">
<li class="blockList">
<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 swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>inverted</code> - State of inversion.</dd>
</dl>
</li>
</ul>
<a id="burnFlash()">
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</a>
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<h4>burnFlash</h4>
<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 swervelib.motors">SwerveMotor</a></code></dd>
</dl>
</li>
</ul>
<a id="set(double)">
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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 swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>percentOutput</code> - percent out for the motor controller.</dd>
</dl>
</li>
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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 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>
</dl>
</li>
</ul>
<a id="getVelocity()">
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<ul class="blockList">
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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 swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>velocity</dd>
</dl>
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</ul>
<a id="getPosition()">
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</a>
<ul class="blockList">
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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 swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Position</dd>
</dl>
</li>
</ul>
<a id="setPosition(double)">
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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 swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>position</code> - Integrated encoder position. Should be angle in degrees or meters per second.</dd>
</dl>
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</ul>
<a id="setVoltageCompensation(double)">
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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 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>
</dl>
</li>
</ul>
<a id="setCurrentLimit(int)">
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<ul class="blockList">
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<h4>setCurrentLimit</h4>
<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 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>
</dl>
</li>
</ul>
<a id="setLoopRampRate(double)">
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<ul class="blockList">
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<h4>setLoopRampRate</h4>
<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 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>
</dl>
</li>
</ul>
<a id="getMotor()">
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</a>
<ul class="blockList">
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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 swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Motor object.</dd>
</dl>
</li>
</ul>
<a id="isAttachedAbsoluteEncoder()">
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<ul class="blockListLast">
<li class="blockList">
<h4>isAttachedAbsoluteEncoder</h4>
<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 swervelib.motors">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>connected absolute encoder state.</dd>
</dl>
</li>
</ul>
</li>
</ul>
</section>
</li>
</ul>
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32
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@@ -2,7 +2,7 @@
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<html lang="en">
<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 17:20:01 CST 2023 -->
<title>swervelib.motors</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">
@@ -118,6 +118,18 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<div class="block">Swerve motor abstraction which defines a standard interface for motors within a swerve module.</div>
</td>
</tr>
<tr class="altColor">
<th class="colFirst" scope="row"><a href="TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></th>
<td class="colLast">
<div class="block"><code>TalonFX</code> Swerve Motor.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><a href="TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></th>
<td class="colLast">
<div class="block"><code>WPI_TalonSRX</code> Swerve Motor.</div>
</td>
</tr>
</tbody>
</table>
</li>
@@ -135,6 +147,24 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<div class="block">REV Slots for PID configuration.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></th>
<td class="colLast">
<div class="block">The Talon PID to use onboard.</div>
</td>
</tr>
<tr class="altColor">
<th class="colFirst" scope="row"><a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></th>
<td class="colLast">
<div class="block">The remote sensor.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></th>
<td class="colLast">
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
</td>
</tr>
</tbody>
</table>
</li>

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<html lang="en">
<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 17:20:01 CST 2023 -->
<title>swervelib.motors Class Hierarchy</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">
@@ -109,6 +109,8 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<li class="circle">swervelib.motors.<a href="SwerveMotor.html" title="class in swervelib.motors"><span class="typeNameLink">SwerveMotor</span></a>
<ul>
<li class="circle">swervelib.motors.<a href="SparkMaxSwerve.html" title="class in swervelib.motors"><span class="typeNameLink">SparkMaxSwerve</span></a></li>
<li class="circle">swervelib.motors.<a href="TalonFXSwerve.html" title="class in swervelib.motors"><span class="typeNameLink">TalonFXSwerve</span></a></li>
<li class="circle">swervelib.motors.<a href="TalonSRXSwerve.html" title="class in swervelib.motors"><span class="typeNameLink">TalonSRXSwerve</span></a></li>
</ul>
</li>
</ul>
@@ -123,6 +125,9 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Enum</span></a>&lt;E&gt; (implements java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a>&lt;T&gt;, java.io.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/Serializable.html?is-external=true" title="class or interface in java.io" class="externalLink">Serializable</a>)
<ul>
<li class="circle">swervelib.motors.<a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors"><span class="typeNameLink">SparkMaxSwerve.SparkMAX_slotIdx</span></a></li>
<li class="circle">swervelib.motors.<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors"><span class="typeNameLink">TalonSRXSwerve.CTRE_pidIdx</span></a></li>
<li class="circle">swervelib.motors.<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors"><span class="typeNameLink">TalonSRXSwerve.CTRE_remoteSensor</span></a></li>
<li class="circle">swervelib.motors.<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors"><span class="typeNameLink">TalonSRXSwerve.CTRE_slotIdx</span></a></li>
</ul>
</li>
</ul>

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<html lang="en">
<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
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<title>swervelib</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

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<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
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<title>swervelib Class Hierarchy</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

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<title>PIDFConfig</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

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<title>SwerveControllerConfiguration</title>
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<title>SwerveDriveConfiguration</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

2
docs/swervelib/parser/SwerveModuleConfiguration.html
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@@ -2,7 +2,7 @@
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<html lang="en">
<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 17:20:01 CST 2023 -->
<title>SwerveModuleConfiguration</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

2
docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
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@@ -2,7 +2,7 @@
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<html lang="en">
<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
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<title>SwerveModulePhysicalCharacteristics</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

2
docs/swervelib/parser/SwerveParser.html
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<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
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<title>SwerveParser</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

2
docs/swervelib/parser/deserializer/PIDFRange.html
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<title>PIDFRange</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

2
docs/swervelib/parser/deserializer/package-summary.html
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<title>swervelib.parser.deserializer</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

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docs/swervelib/parser/deserializer/package-tree.html
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<title>swervelib.parser.deserializer Class Hierarchy</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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2
docs/swervelib/parser/json/ControllerPropertiesJson.html
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<title>ControllerPropertiesJson</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

2
docs/swervelib/parser/json/DeviceJson.html
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@@ -2,7 +2,7 @@
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<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
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<title>DeviceJson</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

2
docs/swervelib/parser/json/ModuleJson.html
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<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
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<title>ModuleJson</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

2
docs/swervelib/parser/json/MotorConfigDouble.html
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@@ -2,7 +2,7 @@
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<title>MotorConfigDouble</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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docs/swervelib/parser/json/MotorConfigInt.html
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<title>MotorConfigInt</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">

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docs/swervelib/parser/json/PIDFPropertiesJson.html
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<!-- Generated by javadoc (11.0.17) on Mon Feb 13 15:03:24 CST 2023 -->
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<title>PIDFPropertiesJson</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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docs/swervelib/parser/json/PhysicalPropertiesJson.html
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<title>PhysicalPropertiesJson</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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2
docs/swervelib/parser/json/SwerveDriveJson.html
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<title>SwerveDriveJson</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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2
docs/swervelib/parser/json/modules/BoolMotorJson.html
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<title>BoolMotorJson</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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docs/swervelib/parser/json/modules/LocationJson.html
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<title>LocationJson</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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2
docs/swervelib/parser/json/modules/package-summary.html
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<title>swervelib.parser.json.modules</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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docs/swervelib/parser/json/modules/package-tree.html
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<title>swervelib.parser.json.modules Class Hierarchy</title>
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docs/swervelib/parser/json/package-summary.html
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<title>swervelib.parser.json</title>
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docs/swervelib/parser/json/package-tree.html
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<title>swervelib.parser.json Class Hierarchy</title>
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docs/swervelib/parser/package-summary.html
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<title>swervelib.parser</title>
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docs/swervelib/parser/package-tree.html
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<title>swervelib.parser Class Hierarchy</title>
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2
docs/type-search-index.js
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@@ -1 +1 @@
typeSearchIndex = [{"l":"All Classes","url":"allclasses-index.html"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.math","l":"SwerveKinematics2"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.math","l":"SwerveModuleState2"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"}]
typeSearchIndex = [{"l":"All Classes","url":"allclasses-index.html"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.motors","l":"TalonSRXSwerve.CTRE_pidIdx"},{"p":"swervelib.motors","l":"TalonSRXSwerve.CTRE_remoteSensor"},{"p":"swervelib.motors","l":"TalonSRXSwerve.CTRE_slotIdx"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.math","l":"SwerveKinematics2"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.math","l":"SwerveModuleState2"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.motors","l":"TalonSRXSwerve"}]

4
swervelib/SwerveController.java
View File

@@ -1,9 +1,9 @@
package frc.robot.subsystems.swervedrive2.swervelib;
package swervelib;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveControllerConfiguration;
import swervelib.parser.SwerveControllerConfiguration;
/**
* Controller class used to convert raw inputs into robot speeds.

12
swervelib/SwerveDrive.java
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@@ -1,4 +1,4 @@
package frc.robot.subsystems.swervedrive2.swervelib;
package swervelib;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
@@ -13,13 +13,13 @@ import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.Robot;
import frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU;
import frc.robot.subsystems.swervedrive2.swervelib.math.SwerveKinematics2;
import frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2;
import frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveControllerConfiguration;
import frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration;
import java.util.ArrayList;
import java.util.List;
import swervelib.imu.SwerveIMU;
import swervelib.math.SwerveKinematics2;
import swervelib.math.SwerveModuleState2;
import swervelib.parser.SwerveControllerConfiguration;
import swervelib.parser.SwerveDriveConfiguration;
/**
* Swerve Drive class representing and controlling the swerve drive.

10
swervelib/SwerveModule.java
View File

@@ -1,4 +1,4 @@
package frc.robot.subsystems.swervedrive2.swervelib;
package swervelib;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -7,10 +7,10 @@ import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.Robot;
import frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder;
import frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2;
import frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor;
import frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.math.SwerveModuleState2;
import swervelib.motors.SwerveMotor;
import swervelib.parser.SwerveModuleConfiguration;
/**
* The Swerve Module class which represents and controls Swerve Modules for the swerve drive.

2
swervelib/encoders/CANCoderSwerve.java
View File

@@ -1,4 +1,4 @@
package frc.robot.subsystems.swervedrive2.swervelib.encoders;
package swervelib.encoders;
import com.ctre.phoenix.sensors.AbsoluteSensorRange;
import com.ctre.phoenix.sensors.CANCoderConfiguration;

4
swervelib/encoders/SparkMaxEncoderSwerve.java
View File

@@ -1,9 +1,9 @@
package frc.robot.subsystems.swervedrive2.swervelib.encoders;
package swervelib.encoders;
import com.revrobotics.AbsoluteEncoder;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
import frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor;
import swervelib.motors.SwerveMotor;
/**
* SparkMax absolute encoder, attached through the data port.

2
swervelib/encoders/SwerveAbsoluteEncoder.java
View File

@@ -1,4 +1,4 @@
package frc.robot.subsystems.swervedrive2.swervelib.encoders;
package swervelib.encoders;
/**
* Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..

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