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YAGSL/SwerveLib/frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html
thenetworkgrinch 95baa4db9d First commit
2023-01-29 21:03:26 -06:00

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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
<h2 title="Class SwerveMotor" class="title">Class SwerveMotor</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive.swerve.SwerveMotor</li>
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</li>
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<dl>
<dt>Direct Known Subclasses:</dt>
<dd><code><a href="motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></code>, <code><a href="motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></code></dd>
</dl>
<hr>
<pre>public abstract class <span class="typeNameLabel">SwerveMotor</span>
extends java.lang.Object</pre>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Class</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>static class&nbsp;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></span></code></th>
<td class="colLast">
<div class="block">Motor type for the swerve drive module</div>
</td>
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</ul>
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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>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kD">kD</a></span></code></th>
<td class="colLast">
<div class="block">PIDF Values.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kF">kF</a></span></code></th>
<td class="colLast">
<div class="block">PIDF Values.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kI">kI</a></span></code></th>
<td class="colLast">
<div class="block">PIDF Values.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kIZ">kIZ</a></span></code></th>
<td class="colLast">
<div class="block">PIDF Values.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kP">kP</a></span></code></th>
<td class="colLast">
<div class="block">PIDF Values.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_motorType">m_motorType</a></span></code></th>
<td class="colLast">
<div class="block">Module motor type.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#target">target</a></span></code></th>
<td class="colLast">
<div class="block">Target value for PID.</div>
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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()">SwerveMotor</a></span>()</code></th>
<td class="colLast">&nbsp;</td>
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<h3>Method Summary</h3>
<table class="memberSummary">
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></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="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract 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>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>static &lt;MotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController&gt;<br><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">fromMotor</a></span>&#8203;(MotorType&nbsp;motor,
<a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;absoluteEncoder,
<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
double&nbsp;gearRatio,
double&nbsp;wheelDiameter,
double&nbsp;freeSpeedRPM,
double&nbsp;powerLimit)</code></th>
<td class="colLast">
<div class="block">Constructor for Swerve Motor, expecting CANSparkMax or TalonFX.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>abstract double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#get()">get</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>abstract double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAmps()">getAmps</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the current output.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>abstract double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the current value of the encoder.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimizeCANFrames()">optimizeCANFrames</a></span>()</code></th>
<td class="colLast">
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>abstract boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
<td class="colLast">
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>abstract boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#remoteIntegratedEncoder()">remoteIntegratedEncoder</a></span>()</code></th>
<td class="colLast">
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#saveConfig()">saveConfig</a></span>()</code></th>
<td class="colLast">
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(double)">set</a></span>&#8203;(double&nbsp;speed)</code></th>
<td class="colLast">
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setConversionFactor(double)">setConversionFactor</a></span>&#8203;(double&nbsp;conversionFactor)</code></th>
<td class="colLast">
<div class="block">Configures the conversion factor based upon which motor.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentLimit(int)">setCurrentLimit</a></span>&#8203;(int&nbsp;currentLimit)</code></th>
<td class="colLast">
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</div>
</td>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setEncoder(double)">setEncoder</a></span>&#8203;(double&nbsp;value)</code></th>
<td class="colLast">
<div class="block">Set the encoder value.</div>
</td>
</tr>
<tr id="i12" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>&#8203;(boolean&nbsp;inverted)</code></th>
<td class="colLast">
<div class="block">Invert the motor.</div>
</td>
</tr>
<tr id="i13" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDF(double,double,double,double,double)">setPIDF</a></span>&#8203;(double&nbsp;P,
double&nbsp;I,
double&nbsp;D,
double&nbsp;F,
double&nbsp;integralZone)</code></th>
<td class="colLast">
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
</td>
</tr>
<tr id="i14" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDOutputRange(double,double)">setPIDOutputRange</a></span>&#8203;(double&nbsp;min,
double&nbsp;max)</code></th>
<td class="colLast">
<div class="block">Configure the maximum power (-1 to 1) the PID can output.</div>
</td>
</tr>
<tr id="i15" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setTarget(double,double)">setTarget</a></span>&#8203;(double&nbsp;target,
double&nbsp;feedforward)</code></th>
<td class="colLast">
<div class="block">Set the target for the PID loop.</div>
</td>
</tr>
<tr id="i16" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>&#8203;(double&nbsp;nominalVoltage)</code></th>
<td class="colLast">
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</td>
</tr>
<tr id="i17" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stop()">stop</a></span>()</code></th>
<td class="colLast">
<div class="block">Stop the motor by sending 0 volts to it.</div>
</td>
</tr>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
</ul>
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</ul>
</section>
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<h3>Field Detail</h3>
<a id="m_motorType">
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<h4>m_motorType</h4>
<pre>public&nbsp;<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> m_motorType</pre>
<div class="block">Module motor type.</div>
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<h4>kP</h4>
<pre>public&nbsp;double kP</pre>
<div class="block">PIDF Values.</div>
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<h4>kI</h4>
<pre>public&nbsp;double kI</pre>
<div class="block">PIDF Values.</div>
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<h4>kD</h4>
<pre>public&nbsp;double kD</pre>
<div class="block">PIDF Values.</div>
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<h4>kF</h4>
<pre>public&nbsp;double kF</pre>
<div class="block">PIDF Values.</div>
</li>
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<h4>kIZ</h4>
<pre>public&nbsp;double kIZ</pre>
<div class="block">PIDF Values.</div>
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<h4>target</h4>
<pre>public&nbsp;double target</pre>
<div class="block">Target value for PID.</div>
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<h4>SwerveMotor</h4>
<pre>public&nbsp;SwerveMotor()</pre>
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<h3>Method Detail</h3>
<a id="fromMotor(edu.wpi.first.wpilibj.motorcontrol.MotorController,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">
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</a><a id="fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">
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<h4>fromMotor</h4>
<pre class="methodSignature">public static&nbsp;&lt;MotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController&gt;&nbsp;<a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a>&nbsp;fromMotor&#8203;(MotorType&nbsp;motor,
<a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;absoluteEncoder,
<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
double&nbsp;gearRatio,
double&nbsp;wheelDiameter,
double&nbsp;freeSpeedRPM,
double&nbsp;powerLimit)</pre>
<div class="block">Constructor for Swerve Motor, expecting CANSparkMax or TalonFX. Clears sticky faults and restores factory
defaults.</div>
<dl>
<dt><span class="paramLabel">Type Parameters:</span></dt>
<dd><code>MotorType</code> - Motor type to use.</dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>motor</code> - Motor controller.</dd>
<dd><code>absoluteEncoder</code> - The absolute encoder used for the module, if the motor is a turning motor and the encoder is
compatible it will set the encoder as the remote integrated encoder and does not need
periodic synchronization.</dd>
<dd><code>type</code> - Swerve module motor type.</dd>
<dd><code>gearRatio</code> - Gear ratio.</dd>
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
<dd><code>freeSpeedRPM</code> - Free speed RPM of the motor.</dd>
<dd><code>powerLimit</code> - Power limit for the motor.</dd>
</dl>
</li>
</ul>
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<h4>setPIDOutputRange</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setPIDOutputRange&#8203;(double&nbsp;min,
double&nbsp;max)</pre>
<div class="block">Configure the maximum power (-1 to 1) the PID can output. This helps manage voltage pull for the drive base.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>min</code> - Minimum output.</dd>
<dd><code>max</code> - Maximum output.</dd>
</dl>
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</ul>
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<h4>setPIDF</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setPIDF&#8203;(double&nbsp;P,
double&nbsp;I,
double&nbsp;D,
double&nbsp;F,
double&nbsp;integralZone)</pre>
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>P</code> - Proportional gain for closed loop. This is multiplied by closed loop error in sensor units.
Default is 1.0</dd>
<dd><code>I</code> - Integral gain for closed loop. This is multiplied by closed loop error in sensor units every
PID Loop.</dd>
<dd><code>D</code> - Derivative gain for closed loop. This is multiplied by derivative error (sensor units per PID
loop). Default is 0.1</dd>
<dd><code>F</code> - Feed Fwd gain for Closed loop.</dd>
<dd><code>integralZone</code> - Integral Zone can be used to auto clear the integral accumulator if the sensor pos is too far
from the target. This prevents unstable oscillation if the kI is too large. Value is in sensor
units.</dd>
</dl>
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</ul>
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<h4>setConversionFactor</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setConversionFactor&#8203;(double&nbsp;conversionFactor)</pre>
<div class="block">Configures the conversion factor based upon which motor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>conversionFactor</code> - Conversion from RPM to MPS for drive motor, and rotations to degrees for the turning
motor.</dd>
</dl>
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</ul>
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<h4>setTarget</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setTarget&#8203;(double&nbsp;target,
double&nbsp;feedforward)</pre>
<div class="block">Set the target for the PID loop.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>target</code> - The PID target to aim for.</dd>
<dd><code>feedforward</code> - The feedforward for this target.</dd>
</dl>
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<h4>stop</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;stop()</pre>
<div class="block">Stop the motor by sending 0 volts to it.</div>
</li>
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<h4>set</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;set&#8203;(double&nbsp;speed)</pre>
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>speed</code> - Speed from -1 to 1.</dd>
</dl>
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<h4>get</h4>
<pre class="methodSignature">public abstract&nbsp;double&nbsp;get()</pre>
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Current value of the encoder either in velocity or position..</dd>
</dl>
</li>
</ul>
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<h4>getAmps</h4>
<pre class="methodSignature">public abstract&nbsp;double&nbsp;getAmps()</pre>
<div class="block">Get the current output.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Output amps.</dd>
</dl>
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<h4>getPosition</h4>
<pre class="methodSignature">public abstract&nbsp;double&nbsp;getPosition()</pre>
<div class="block">Get the current value of the encoder.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Current value of the encoder.</dd>
</dl>
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</ul>
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<h4>setVoltageCompensation</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setVoltageCompensation&#8203;(double&nbsp;nominalVoltage)</pre>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>nominalVoltage</code> - Nominal voltage for operation to output to.</dd>
</dl>
</li>
</ul>
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<h4>setCurrentLimit</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setCurrentLimit&#8203;(int&nbsp;currentLimit)</pre>
<div class="block">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.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>currentLimit</code> - Current limit in AMPS at free speed.</dd>
</dl>
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<h4>setEncoder</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setEncoder&#8203;(double&nbsp;value)</pre>
<div class="block">Set the encoder value.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>value</code> - Value to set the encoder to.</dd>
</dl>
</li>
</ul>
<a id="reachable()">
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<h4>reachable</h4>
<pre class="methodSignature">public abstract&nbsp;boolean&nbsp;reachable()</pre>
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>true on all devices are accessible over CAN.</dd>
</dl>
</li>
</ul>
<a id="remoteIntegratedEncoder()">
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<h4>remoteIntegratedEncoder</h4>
<pre class="methodSignature">public abstract&nbsp;boolean&nbsp;remoteIntegratedEncoder()</pre>
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>true, if the absolute encoder is being used as the integrated controller.</dd>
</dl>
</li>
</ul>
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<h4>optimizeCANFrames</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;optimizeCANFrames()</pre>
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
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</ul>
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<h4>saveConfig</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;saveConfig()</pre>
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
</li>
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<h4>setInverted</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setInverted&#8203;(boolean&nbsp;inverted)</pre>
<div class="block">Invert the motor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>inverted</code> - Set the motor as inverted.</dd>
</dl>
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