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YAGSL/docs/frc/robot/subsystems/swervedrive2/swervelib/SwerveModule.html
thenetworkgrinch 6a40ec018e Updated swervelib
2023-02-13 14:37:05 -06:00

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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib</a></div>
<h2 title="Class SwerveModule" class="title">Class SwerveModule</h2>
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<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>frc.robot.subsystems.swervedrive2.swervelib.SwerveModule</li>
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<pre>public class <span class="typeNameLabel">SwerveModule</span>
extends <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></pre>
<div class="block">The Swerve Module class which represents and controls Swerve Modules for the swerve drive.</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>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private <a href="encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></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">Absolute encoder for swerve drive.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
<td class="colLast">
<div class="block">Current state.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private <a href="motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotor">angleMotor</a></span></code></th>
<td class="colLast">
<div class="block">Swerve Motors.</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="#angleOffset">angleOffset</a></span></code></th>
<td class="colLast">
<div class="block">Angle offset from the absolute encoder.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="parser/SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configuration">configuration</a></span></code></th>
<td class="colLast">
<div class="block">Swerve module configuration options.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private <a href="motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotor">driveMotor</a></span></code></th>
<td class="colLast">
<div class="block">Swerve Motors.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#dt">dt</a></span></code></th>
<td class="colLast">
<div class="block">Current state.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fakePos">fakePos</a></span></code></th>
<td class="colLast">
<div class="block">Current state.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>edu.wpi.first.math.controller.SimpleMotorFeedforward</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#feedforward">feedforward</a></span></code></th>
<td class="colLast">
<div class="block">Feedforward for drive motor during closed loop control.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#lastAngle">lastAngle</a></span></code></th>
<td class="colLast">
<div class="block">Last angle set for the swerve module.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#lastTime">lastTime</a></span></code></th>
<td class="colLast">
<div class="block">Current state.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleNumber">moduleNumber</a></span></code></th>
<td class="colLast">
<div class="block">Module number for kinematics, usually 0 to 3.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#omega">omega</a></span></code></th>
<td class="colLast">
<div class="block">Current state.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#speed">speed</a></span></code></th>
<td class="colLast">
<div class="block">Current state.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private edu.wpi.first.wpilibj.Timer</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#time">time</a></span></code></th>
<td class="colLast">
<div class="block">Timer for simulation.</div>
</td>
</tr>
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<h3>Constructor Summary</h3>
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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,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration)">SwerveModule</a></span>&#8203;(int&nbsp;moduleNumber,
<a href="parser/SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a>&nbsp;moduleConfiguration)</code></th>
<td class="colLast">
<div class="block">Construct the swerve module and initialize the swerve module motors and absolute encoder.</div>
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<h3>Method Summary</h3>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
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<tr id="i0" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getCANCoder()">getCANCoder</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the CANCoder absolute position.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>edu.wpi.first.math.kinematics.SwerveModulePosition</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getRelativeEncoder()">getRelativeEncoder</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the relative encoder angle in degrees.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code><a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getState()">getState</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the Swerve Module state.</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="#setAngle(double)">setAngle</a></span>&#8203;(double&nbsp;angle)</code></th>
<td class="colLast">
<div class="block">Set the angle for the module.</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="#setDesiredState(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2,boolean)">setDesiredState</a></span>&#8203;(<a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
boolean&nbsp;isOpenLoop)</code></th>
<td class="colLast">
<div class="block">Set the desired state of the swerve module.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<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;brake)</code></th>
<td class="colLast">
<div class="block">Set the brake mode.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#synchronizeEncoders()">synchronizeEncoders</a></span>()</code></th>
<td class="colLast">
<div class="block">Synchronize the integrated angle encoder with the absolute encoder.</div>
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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>configuration</h4>
<pre>public final&nbsp;<a href="parser/SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a> configuration</pre>
<div class="block">Swerve module configuration options.</div>
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<h4>angleOffset</h4>
<pre>private final&nbsp;double angleOffset</pre>
<div class="block">Angle offset from the absolute encoder.</div>
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<h4>angleMotor</h4>
<pre>private final&nbsp;<a href="motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> angleMotor</pre>
<div class="block">Swerve Motors.</div>
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<h4>driveMotor</h4>
<pre>private final&nbsp;<a href="motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> driveMotor</pre>
<div class="block">Swerve Motors.</div>
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<h4>absoluteEncoder</h4>
<pre>private final&nbsp;<a href="encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> absoluteEncoder</pre>
<div class="block">Absolute encoder for swerve drive.</div>
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<a id="moduleNumber">
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<h4>moduleNumber</h4>
<pre>public&nbsp;int moduleNumber</pre>
<div class="block">Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.</div>
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<h4>feedforward</h4>
<pre>public&nbsp;edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward</pre>
<div class="block">Feedforward for drive motor during closed loop control.</div>
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<h4>lastAngle</h4>
<pre>public&nbsp;double lastAngle</pre>
<div class="block">Last angle set for the swerve module.</div>
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<h4>angle</h4>
<pre>public&nbsp;double angle</pre>
<div class="block">Current state.</div>
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<h4>omega</h4>
<pre>public&nbsp;double omega</pre>
<div class="block">Current state.</div>
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<h4>speed</h4>
<pre>public&nbsp;double speed</pre>
<div class="block">Current state.</div>
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<h4>fakePos</h4>
<pre>public&nbsp;double fakePos</pre>
<div class="block">Current state.</div>
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<h4>lastTime</h4>
<pre>public&nbsp;double lastTime</pre>
<div class="block">Current state.</div>
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<h4>dt</h4>
<pre>public&nbsp;double dt</pre>
<div class="block">Current state.</div>
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<h4>time</h4>
<pre>private&nbsp;edu.wpi.first.wpilibj.Timer time</pre>
<div class="block">Timer for simulation.</div>
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<h3>Constructor Detail</h3>
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<h4>SwerveModule</h4>
<pre>public&nbsp;SwerveModule&#8203;(int&nbsp;moduleNumber,
<a href="parser/SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a>&nbsp;moduleConfiguration)</pre>
<div class="block">Construct the swerve module and initialize the swerve module motors and absolute encoder.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>moduleNumber</code> - Module number for kinematics.</dd>
<dd><code>moduleConfiguration</code> - Module constants containing CAN ID's and offsets.</dd>
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<h4>synchronizeEncoders</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;synchronizeEncoders()</pre>
<div class="block">Synchronize the integrated angle encoder with the absolute encoder.</div>
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<h4>setDesiredState</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setDesiredState&#8203;(<a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
boolean&nbsp;isOpenLoop)</pre>
<div class="block">Set the desired state of the swerve module.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>desiredState</code> - Desired swerve module state.</dd>
<dd><code>isOpenLoop</code> - Whether to use open loop (direct percent) or direct velocity control.</dd>
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<h4>setAngle</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setAngle&#8203;(double&nbsp;angle)</pre>
<div class="block">Set the angle for the module.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>angle</code> - Angle in degrees.</dd>
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<pre class="methodSignature">public&nbsp;<a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>&nbsp;getState()</pre>
<div class="block">Get the Swerve Module state.</div>
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<dt><span class="returnLabel">Returns:</span></dt>
<dd>Current SwerveModule state.</dd>
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<pre class="methodSignature">public&nbsp;edu.wpi.first.math.kinematics.SwerveModulePosition&nbsp;getPosition()</pre>
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<h4>getCANCoder</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getCANCoder()</pre>
<div class="block">Get the CANCoder absolute position.</div>
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<dt><span class="returnLabel">Returns:</span></dt>
<dd>Absolute encoder angle in degrees.</dd>
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<h4>getRelativeEncoder</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getRelativeEncoder()</pre>
<div class="block">Get the relative encoder angle in degrees.</div>
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<dt><span class="returnLabel">Returns:</span></dt>
<dd>Angle in degrees.</dd>
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<h4>setMotorBrake</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setMotorBrake&#8203;(boolean&nbsp;brake)</pre>
<div class="block">Set the brake mode.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>brake</code> - Set the brake mode.</dd>
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