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thenetworkgrinch
2024-02-28 13:25:59 -06:00
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docs/swervelib/SwerveModule.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 12 18:58:20 CST 2024 -->
<!-- Generated by javadoc (17) on Wed Feb 28 13:21:31 CST 2024 -->
<title>SwerveModule</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-02-12">
<meta name="dc.created" content="2024-02-28">
<meta name="description" content="declaration: package: swervelib, class: SwerveModule">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -121,16 +121,26 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Angle offset from the absolute encoder.</div>
</div>
<div class="col-first even-row-color"><code>final <a href="parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second even-row-color"><code><a href="#configuration" class="member-name-link">configuration</a></code></div>
<div class="col-first even-row-color"><code>private boolean</code></div>
<div class="col-second even-row-color"><code><a href="#antiJitterEnabled" class="member-name-link">antiJitterEnabled</a></code></div>
<div class="col-last even-row-color">
<div class="block">Anti-Jitter AKA auto-centering disabled.</div>
</div>
<div class="col-first odd-row-color"><code>final <a href="parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second odd-row-color"><code><a href="#configuration" class="member-name-link">configuration</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve module configuration options.</div>
</div>
<div class="col-first odd-row-color"><code>private final <a href="motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color"><code><a href="#driveMotor" class="member-name-link">driveMotor</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private final <a href="motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second even-row-color"><code><a href="#driveMotor" class="member-name-link">driveMotor</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve Motors.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.controller.SimpleMotorFeedforward</code></div>
<div class="col-second odd-row-color"><code><a href="#driveMotorFeedforward" class="member-name-link">driveMotorFeedforward</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Feedforward for the drive motor during closed loop control.</div>
</div>
<div class="col-first even-row-color"><code>final <a href="parser/Cache.html" title="class in swervelib.parser">Cache</a>&lt;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Double.html" title="class or interface in java.lang" class="external-link">Double</a>&gt;</code></div>
<div class="col-second even-row-color"><code><a href="#drivePositionCache" class="member-name-link">drivePositionCache</a></code></div>
<div class="col-last even-row-color">
@@ -146,54 +156,49 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">An <a href="telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if pushing the Absolute Encoder offset to the encoder fails.</div>
</div>
<div class="col-first odd-row-color"><code>edu.wpi.first.math.controller.SimpleMotorFeedforward</code></div>
<div class="col-second odd-row-color"><code><a href="#feedforward" class="member-name-link">feedforward</a></code></div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-second odd-row-color"><code><a href="#lastState" class="member-name-link">lastState</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Feedforward for drive motor during closed loop control.</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-second even-row-color"><code><a href="#lastState" class="member-name-link">lastState</a></code></div>
<div class="col-last even-row-color">
<div class="block">Last swerve module state applied.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-last even-row-color">
<div class="block">Maximum speed of the drive motors in meters per second.</div>
</div>
<div class="col-first even-row-color"><code>int</code></div>
<div class="col-second even-row-color"><code><a href="#moduleNumber" class="member-name-link">moduleNumber</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>int</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleNumber" class="member-name-link">moduleNumber</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Module number for kinematics, usually 0 to 3.</div>
</div>
<div class="col-first odd-row-color"><code>private final <a href="telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
<div class="col-second odd-row-color"><code><a href="#noEncoderWarning" class="member-name-link">noEncoderWarning</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private final <a href="telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
<div class="col-second even-row-color"><code><a href="#noEncoderWarning" class="member-name-link">noEncoderWarning</a></code></div>
<div class="col-last even-row-color">
<div class="block">An <a href="telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if there is no Absolute Encoder on the module.</div>
</div>
<div class="col-first even-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second even-row-color"><code><a href="#rawAbsoluteAngleName" class="member-name-link">rawAbsoluteAngleName</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second odd-row-color"><code><a href="#rawAbsoluteAngleName" class="member-name-link">rawAbsoluteAngleName</a></code></div>
<div class="col-last odd-row-color">
<div class="block">NT3 Raw Absolute Angle publisher for the absolute encoder.</div>
</div>
<div class="col-first odd-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second odd-row-color"><code><a href="#rawAngleName" class="member-name-link">rawAngleName</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second even-row-color"><code><a href="#rawAngleName" class="member-name-link">rawAngleName</a></code></div>
<div class="col-last even-row-color">
<div class="block">NT3 raw angle motor.</div>
</div>
<div class="col-first even-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second even-row-color"><code><a href="#rawDriveName" class="member-name-link">rawDriveName</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second odd-row-color"><code><a href="#rawDriveName" class="member-name-link">rawDriveName</a></code></div>
<div class="col-last odd-row-color">
<div class="block">NT3 Raw drive motor.</div>
</div>
<div class="col-first odd-row-color"><code>private <a href="simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></code></div>
<div class="col-second odd-row-color"><code><a href="#simModule" class="member-name-link">simModule</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private <a href="simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></code></div>
<div class="col-second even-row-color"><code><a href="#simModule" class="member-name-link">simModule</a></code></div>
<div class="col-last even-row-color">
<div class="block">Simulated swerve module.</div>
</div>
<div class="col-first even-row-color"><code>private boolean</code></div>
<div class="col-second even-row-color"><code><a href="#synchronizeEncoderQueued" class="member-name-link">synchronizeEncoderQueued</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#synchronizeEncoderQueued" class="member-name-link">synchronizeEncoderQueued</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Encoder synchronization queued.</div>
</div>
</div>
@@ -247,21 +252,31 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the angle <a href="motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a> for the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getConfiguration()" class="member-name-link">getConfiguration</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAnglePIDF()" class="member-name-link">getAnglePIDF</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the current angle/azimuth/steering motor PIDF values.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getConfiguration()" class="member-name-link">getConfiguration</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the <a href="parser/SwerveModuleConfiguration.html" title="class in swervelib.parser"><code>SwerveModuleConfiguration</code></a> for the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a> with the parsed configurations.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getCosineCompensatedVelocity(edu.wpi.first.math.kinematics.SwerveModuleState)" class="member-name-link">getCosineCompensatedVelocity</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;desiredState)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getCosineCompensatedVelocity(edu.wpi.first.math.kinematics.SwerveModuleState)" class="member-name-link">getCosineCompensatedVelocity</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;desiredState)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the cosine compensated velocity to set the swerve module to.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getDriveMotor()" class="member-name-link">getDriveMotor</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getDriveMotor()" class="member-name-link">getDriveMotor</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the drive <a href="motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a> for the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getDrivePIDF()" class="member-name-link">getDrivePIDF</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the current drive motor PIDF values.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPosition()" class="member-name-link">getPosition</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -313,6 +328,16 @@ loadScripts(document, 'script');</script>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAnglePIDF(swervelib.parser.PIDFConfig)" class="member-name-link">setAnglePIDF</a><wbr>(<a href="parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the angle/azimuth/steering motor PID</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAntiJitter(boolean)" class="member-name-link">setAntiJitter</a><wbr>(boolean&nbsp;antiJitter)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the antiJitter functionality, if true the modules will NOT auto center.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState,boolean,boolean)" class="member-name-link">setDesiredState</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;desiredState,
boolean&nbsp;isOpenLoop,
boolean&nbsp;force)</code></div>
@@ -330,6 +355,16 @@ loadScripts(document, 'script');</script>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDrivePIDF(swervelib.parser.PIDFConfig)" class="member-name-link">setDrivePIDF</a><wbr>(<a href="parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the drive PIDF values.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">setFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;drive)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the feedforward attributes to the given parameters.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;brake)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the brake mode.</div>
@@ -462,10 +497,10 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="feedforward">
<h3>feedforward</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.controller.SimpleMotorFeedforward</span>&nbsp;<span class="element-name">feedforward</span></div>
<div class="block">Feedforward for drive motor during closed loop control.</div>
<section class="detail" id="driveMotorFeedforward">
<h3>driveMotorFeedforward</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.controller.SimpleMotorFeedforward</span>&nbsp;<span class="element-name">driveMotorFeedforward</span></div>
<div class="block">Feedforward for the drive motor during closed loop control.</div>
</section>
</li>
<li>
@@ -476,6 +511,13 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="antiJitterEnabled">
<h3>antiJitterEnabled</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">antiJitterEnabled</span></div>
<div class="block">Anti-Jitter AKA auto-centering disabled.</div>
</section>
</li>
<li>
<section class="detail" id="lastState">
<h3>lastState</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState</span>&nbsp;<span class="element-name">lastState</span></div>
@@ -565,6 +607,73 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setAntiJitter(boolean)">
<h3>setAntiJitter</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setAntiJitter</span><wbr><span class="parameters">(boolean&nbsp;antiJitter)</span></div>
<div class="block">Set the antiJitter functionality, if true the modules will NOT auto center. Pushes the offsets to the angle motor
controllers as well.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>antiJitter</code> - Anti-Jitter state desired.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)">
<h3>setFeedforward</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setFeedforward</span><wbr><span class="parameters">(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;drive)</span></div>
<div class="block">Set the feedforward attributes to the given parameters.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>drive</code> - Drive motor feedforward for the module.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setDrivePIDF(swervelib.parser.PIDFConfig)">
<h3>setDrivePIDF</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setDrivePIDF</span><wbr><span class="parameters">(<a href="parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</span></div>
<div class="block">Set the drive PIDF values.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>config</code> - <a href="parser/PIDFConfig.html" title="class in swervelib.parser"><code>PIDFConfig</code></a> of that should be set.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getDrivePIDF()">
<h3>getDrivePIDF</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></span>&nbsp;<span class="element-name">getDrivePIDF</span>()</div>
<div class="block">Get the current drive motor PIDF values.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><a href="parser/PIDFConfig.html" title="class in swervelib.parser"><code>PIDFConfig</code></a> of the drive motor.</dd>
</dl>
</section>
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<li>
<section class="detail" id="setAnglePIDF(swervelib.parser.PIDFConfig)">
<h3>setAnglePIDF</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setAnglePIDF</span><wbr><span class="parameters">(<a href="parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</span></div>
<div class="block">Set the angle/azimuth/steering motor PID</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>config</code> - <a href="parser/PIDFConfig.html" title="class in swervelib.parser"><code>PIDFConfig</code></a> of that should be set.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAnglePIDF()">
<h3>getAnglePIDF</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></span>&nbsp;<span class="element-name">getAnglePIDF</span>()</div>
<div class="block">Get the current angle/azimuth/steering motor PIDF values.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><a href="parser/PIDFConfig.html" title="class in swervelib.parser"><code>PIDFConfig</code></a> of the angle motor.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState,boolean,boolean)">
<h3>setDesiredState</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setDesiredState</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;desiredState,