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 final 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.

    • angleKV

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

    • 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.

  • 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)
      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.

    • SwerveModuleConfiguration

      public SwerveModuleConfiguration(SwerveMotor driveMotor, SwerveMotor angleMotor, SwerveAbsoluteEncoder absoluteEncoder, double angleOffset, double xMeters, double yMeters, PIDFConfig anglePIDF, PIDFConfig velocityPIDF, double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics)
      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.

  • 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.