Package swervelib.parser

Class SwerveModuleConfiguration

java.lang.Object
swervelib.parser.SwerveModuleConfiguration
public class SwerveModuleConfiguration extends Object
Swerve Module configuration class which is used to configure SwerveModule.

  • Field Details

    • angleOffset

      public final double angleOffset
      Angle offset in degrees for the Swerve Module.

    • absoluteEncoderInverted

      public final boolean absoluteEncoderInverted
      Whether the absolute encoder is inverted.

    • driveMotorInverted

      public final boolean driveMotorInverted
      State of inversion of the drive motor.

    • angleMotorInverted

      public final boolean angleMotorInverted
      State of inversion of the angle motor.

    • maxSpeed

      public double maxSpeed
      Maximum robot speed in meters per second.

    • anglePIDF

      public PIDFConfig anglePIDF
      PIDF configuration options for the angle motor closed-loop PID controller.

    • velocityPIDF

      public PIDFConfig velocityPIDF
      PIDF configuration options for the drive motor closed-loop PID controller.

    • moduleSteerFFCL

      public double moduleSteerFFCL
      Angle volt-meter-per-second.

    • angleMotorEncoderPulsePerRevolution

      public double angleMotorEncoderPulsePerRevolution
      The integrated encoder pulse per revolution.

    • moduleLocation

      public edu.wpi.first.math.geometry.Translation2d moduleLocation
      Swerve module location relative to the robot.

    • physicalCharacteristics

      public SwerveModulePhysicalCharacteristics physicalCharacteristics
      Physical characteristics of the swerve module.

    • driveMotor

      public SwerveMotor driveMotor
      The drive motor and angle motor of this swerve module.

    • angleMotor

      public SwerveMotor angleMotor
      The drive motor and angle motor of this swerve module.

    • absoluteEncoder

      public SwerveAbsoluteEncoder absoluteEncoder
      The Absolute Encoder for the swerve module.

    • name

      public String name
      Name for the swerve module for telemetry.

  • Constructor Details

    • SwerveModuleConfiguration

      public SwerveModuleConfiguration(SwerveMotor driveMotor, SwerveMotor angleMotor, SwerveAbsoluteEncoder absoluteEncoder, double angleOffset, double xMeters, double yMeters, PIDFConfig anglePIDF, PIDFConfig velocityPIDF, double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics, boolean absoluteEncoderInverted, boolean driveMotorInverted, boolean angleMotorInverted, double angleMotorEncoderPulsePerRevolution, String name)
      Construct a configuration object for swerve modules.
      Parameters:
      driveMotor - Drive SwerveMotor.
      angleMotor - Angle SwerveMotor
      absoluteEncoder - Absolute encoder SwerveAbsoluteEncoder.
      angleOffset - Absolute angle offset to 0.
      absoluteEncoderInverted - Absolute encoder inverted.
      angleMotorInverted - State of inversion of the angle motor.
      driveMotorInverted - Drive motor inverted.
      xMeters - Module location in meters from the center horizontally.
      yMeters - Module location in meters from center vertically.
      anglePIDF - Angle PIDF configuration.
      velocityPIDF - Velocity PIDF configuration.
      maxSpeed - Maximum speed in meters per second.
      physicalCharacteristics - Physical characteristics of the swerve module.
      angleMotorEncoderPulsePerRevolution - The encoder pulse per revolution for the angle motor encoder.
      name - The name for the swerve module.

    • SwerveModuleConfiguration

      public SwerveModuleConfiguration(SwerveMotor driveMotor, SwerveMotor angleMotor, SwerveAbsoluteEncoder absoluteEncoder, double angleOffset, double xMeters, double yMeters, PIDFConfig anglePIDF, PIDFConfig velocityPIDF, double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics, String name)
      Construct a configuration object for swerve modules. Assumes the absolute encoder and drive motor are not inverted.
      Parameters:
      driveMotor - Drive SwerveMotor.
      angleMotor - Angle SwerveMotor
      absoluteEncoder - Absolute encoder SwerveAbsoluteEncoder.
      angleOffset - Absolute angle offset to 0.
      xMeters - Module location in meters from the center horizontally.
      yMeters - Module location in meters from center vertically.
      anglePIDF - Angle PIDF configuration.
      velocityPIDF - Velocity PIDF configuration.
      maxSpeed - Maximum robot speed in meters per second.
      physicalCharacteristics - Physical characteristics of the swerve module.
      name - Name for the module.

  • Method Details

    • createDriveFeedforward

      public edu.wpi.first.math.controller.SimpleMotorFeedforward createDriveFeedforward()
      Create the drive feedforward for swerve modules.
      Returns:
      Drive feedforward for drive motor on a swerve module.

    • getPositionEncoderConversion

      public double getPositionEncoderConversion(boolean isDriveMotor)
      Get the encoder conversion for position encoders.
      Parameters:
      isDriveMotor - For the drive motor.
      Returns:
      Position encoder conversion factor.