Package swervelib.motors

Class TalonFXSwerve

java.lang.Object

swervelib.motors.SwerveMotor

swervelib.motors.TalonFXSwerve

public class TalonFXSwerve
extends SwerveMotor

TalonFX Swerve Motor.

Field Summary

Fields

Modifier and Type	Field	Description
private boolean	absoluteEncoder	Whether the absolute encoder is integrated.
private boolean	factoryDefaultOccurred	Factory default already occurred.
(package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonFX	motor	TalonFX motor controller.
private double	positionConversionFactor	The position conversion factor.

Fields inherited from class swervelib.motors.SwerveMotor

isDriveMotor

Constructor Summary

Constructors

Constructor	Description
TalonFXSwerve(int id, boolean isDriveMotor)	Construct the TalonFX swerve motor given the ID.
TalonFXSwerve(int id, String canbus, boolean isDriveMotor)	Construct the TalonFX swerve motor given the ID and CANBus.
TalonFXSwerve(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor, boolean isDriveMotor)	Constructor for TalonFX swerve motor.

Method Summary

Modifier and Type	Method	Description
void	burnFlash()	Save the configurations from flash to EEPROM.
void	clearStickyFaults()	Clear the sticky faults on the motor controller.
void	configureIntegratedEncoder(double positionConversionFactor)	Configure the integrated encoder for the swerve module.
void	configurePIDF(PIDFConfig config)	Configure the PIDF values for the closed loop controller.
void	configurePIDWrapping(double minInput, double maxInput)	Configure the PID wrapping for the position closed loop controller.
void	factoryDefaults()	Configure the factory defaults.
Object	getMotor()	Get the motor object from the module.
double	getPosition()	Get the position of the integrated encoder.
double	getVelocity()	Get the velocity of the integrated encoder.
boolean	isAttachedAbsoluteEncoder()	Queries whether the absolute encoder is directly attached to the motor controller.
void	set(double percentOutput)	Set the percentage output.
SwerveMotor	setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)	Set the absolute encoder to be a compatible absolute encoder.
void	setCurrentLimit(int currentLimit)	Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
void	setInverted(boolean inverted)	Set the motor to be inverted.
void	setLoopRampRate(double rampRate)	Set the maximum rate the open/closed loop output can change by.
void	setMotorBrake(boolean isBrakeMode)	Set the idle mode.
void	setPosition(double position)	Set the integrated encoder position.
void	setReference(double setpoint, double feedforward)	Set the closed loop PID controller reference point.
void	setVoltageCompensation(double nominalVoltage)	Set the voltage compensation for the swerve module motor.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

motor

com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor

TalonFX motor controller.

factoryDefaultOccurred

private final boolean factoryDefaultOccurred

Factory default already occurred.

See Also:

Constant Field Values

absoluteEncoder

private boolean absoluteEncoder

Whether the absolute encoder is integrated.

positionConversionFactor

private double positionConversionFactor

The position conversion factor.

Constructor Detail

TalonFXSwerve

public TalonFXSwerve(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor,
                     boolean isDriveMotor)

Constructor for TalonFX swerve motor.

Parameters:

motor - Motor to use.

isDriveMotor - Whether this motor is a drive motor.

TalonFXSwerve

public TalonFXSwerve(int id,
                     String canbus,
                     boolean isDriveMotor)

Construct the TalonFX swerve motor given the ID and CANBus.

Parameters:

id - ID of the TalonFX on the CANBus.

canbus - CANBus on which the TalonFX is on.

isDriveMotor - Whether the motor is a drive or steering motor.

TalonFXSwerve

public TalonFXSwerve(int id,
                     boolean isDriveMotor)

Construct the TalonFX swerve motor given the ID.

Parameters:

id - ID of the TalonFX on the canbus.

isDriveMotor - Whether the motor is a drive or steering motor.

Method Detail

factoryDefaults

public void factoryDefaults()

Configure the factory defaults.

Specified by:

factoryDefaults in class SwerveMotor

clearStickyFaults

public void clearStickyFaults()

Clear the sticky faults on the motor controller.

Specified by:

clearStickyFaults in class SwerveMotor

setAbsoluteEncoder

public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)

Set the absolute encoder to be a compatible absolute encoder.

Specified by:

setAbsoluteEncoder in class SwerveMotor

Parameters:

encoder - The encoder to use.

configureIntegratedEncoder

public void configureIntegratedEncoder(double positionConversionFactor)

Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.

Specified by:

configureIntegratedEncoder in class SwerveMotor

Parameters:

positionConversionFactor - The conversion factor to apply for position.

configurePIDF

public void configurePIDF(PIDFConfig config)

Configure the PIDF values for the closed loop controller. 0 is disabled or off.

Specified by:

configurePIDF in class SwerveMotor

Parameters:

config - Configuration class holding the PIDF values.

configurePIDWrapping

public void configurePIDWrapping(double minInput,
                                 double maxInput)

Configure the PID wrapping for the position closed loop controller.

Specified by:

configurePIDWrapping in class SwerveMotor

Parameters:

minInput - Minimum PID input.

maxInput - Maximum PID input.

setMotorBrake

public void setMotorBrake(boolean isBrakeMode)

Set the idle mode.

Specified by:

setMotorBrake in class SwerveMotor

Parameters:

isBrakeMode - Set the brake mode.

setInverted

public void setInverted(boolean inverted)

Set the motor to be inverted.

Specified by:

setInverted in class SwerveMotor

Parameters:

inverted - State of inversion.

burnFlash

public void burnFlash()

Save the configurations from flash to EEPROM.

Specified by:

burnFlash in class SwerveMotor

set

public void set(double percentOutput)

Set the percentage output.

Specified by:

set in class SwerveMotor

Parameters:

percentOutput - percent out for the motor controller.

setReference

public void setReference(double setpoint,
                         double feedforward)

Set the closed loop PID controller reference point.

Specified by:

setReference in class SwerveMotor

Parameters:

setpoint - Setpoint in MPS or Angle in degrees.

feedforward - Feedforward in volt-meter-per-second or kV.

getVelocity

public double getVelocity()

Get the velocity of the integrated encoder.

Specified by:

getVelocity in class SwerveMotor

Returns:

velocity

getPosition

public double getPosition()

Get the position of the integrated encoder.

Specified by:

getPosition in class SwerveMotor

Returns:

Position

setPosition

public void setPosition(double position)

Set the integrated encoder position.

Specified by:

setPosition in class SwerveMotor

Parameters:

position - Integrated encoder position. Should be angle in degrees or meters per second.

setVoltageCompensation

public void setVoltageCompensation(double nominalVoltage)

Set the voltage compensation for the swerve module motor.

Specified by:

setVoltageCompensation in class SwerveMotor

Parameters:

nominalVoltage - Nominal voltage for operation to output to.

setCurrentLimit

public void setCurrentLimit(int currentLimit)

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.

Specified by:

setCurrentLimit in class SwerveMotor

Parameters:

currentLimit - Current limit in AMPS at free speed.

setLoopRampRate

public void setLoopRampRate(double rampRate)

Set the maximum rate the open/closed loop output can change by.

Specified by:

setLoopRampRate in class SwerveMotor

Parameters:

rampRate - Time in seconds to go from 0 to full throttle.

getMotor

public Object getMotor()

Get the motor object from the module.

Specified by:

getMotor in class SwerveMotor

Returns:

Motor object.

isAttachedAbsoluteEncoder

public boolean isAttachedAbsoluteEncoder()

Queries whether the absolute encoder is directly attached to the motor controller.

Specified by:

isAttachedAbsoluteEncoder in class SwerveMotor

Returns:

connected absolute encoder state.