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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">swervelib.motors</a></div>
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<h2 title="Class SwerveMotor" class="title">Class SwerveMotor</h2>
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<dd><code><a href="SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></code>, <code><a href="TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></code>, <code><a href="TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></code></dd>
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<pre>public abstract class <span class="typeNameLabel">SwerveMotor</span>
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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>
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<div class="block">Swerve motor abstraction which defines a standard interface for motors within a swerve module.</div>
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Field</th>
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<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
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<td class="colFirst"><code>protected boolean</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isDriveMotor">isDriveMotor</a></span></code></th>
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<td class="colLast">
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<div class="block">Whether the swerve motor is a drive motor.</div>
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</td>
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</tr>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveMotor</a></span>()</code></th>
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<td class="colLast"> </td>
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<!-- ========== METHOD SUMMARY =========== -->
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<h3>Method Summary</h3>
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<table class="memberSummary">
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract Methods</a></span><span class="tabEnd"> </span></span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Method</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tr id="i0" class="altColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#burnFlash()">burnFlash</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Save the configurations from flash to EEPROM.</div>
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</td>
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</tr>
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<tr id="i1" class="rowColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Clear the sticky faults on the motor controller.</div>
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</td>
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</tr>
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<tr id="i2" class="altColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configureIntegratedEncoder(double)">configureIntegratedEncoder</a></span>​(double positionConversionFactor)</code></th>
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<td class="colLast">
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<div class="block">Configure the integrated encoder for the swerve module.</div>
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</td>
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<tr id="i3" class="rowColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configurePIDF(swervelib.parser.PIDFConfig)">configurePIDF</a></span>​(<a href="../parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> config)</code></th>
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<td class="colLast">
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<div class="block">Configure the PIDF values for the closed loop controller.</div>
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</td>
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</tr>
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<tr id="i4" class="altColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configurePIDWrapping(double,double)">configurePIDWrapping</a></span>​(double minInput,
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double maxInput)</code></th>
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<td class="colLast">
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<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
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</td>
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</tr>
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<tr id="i5" class="rowColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefaults()">factoryDefaults</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Configure the factory defaults.</div>
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</td>
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</tr>
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<tr id="i6" class="altColor">
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<td class="colFirst"><code>abstract <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></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMotor()">getMotor</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Get the motor object from the module.</div>
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</td>
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</tr>
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<tr id="i7" class="rowColor">
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<td class="colFirst"><code>abstract double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Get the position of the integrated encoder.</div>
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</td>
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</tr>
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<tr id="i8" class="altColor">
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<td class="colFirst"><code>abstract double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Get the velocity of the integrated encoder.</div>
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</td>
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</tr>
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<tr id="i9" class="rowColor">
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<td class="colFirst"><code>abstract boolean</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isAttachedAbsoluteEncoder()">isAttachedAbsoluteEncoder</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
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</td>
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</tr>
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<tr id="i10" class="altColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(double)">set</a></span>​(double percentOutput)</code></th>
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<td class="colLast">
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<div class="block">Set the percentage output.</div>
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</td>
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</tr>
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<tr id="i11" class="rowColor">
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<td class="colFirst"><code>abstract <a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder</a></span>​(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a> encoder)</code></th>
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<td class="colLast">
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<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
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</td>
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</tr>
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<tr id="i12" class="altColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentLimit(int)">setCurrentLimit</a></span>​(int currentLimit)</code></th>
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<td class="colLast">
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<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
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voltage compensation.</div>
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</td>
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</tr>
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<tr id="i13" class="rowColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>​(boolean inverted)</code></th>
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<td class="colLast">
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<div class="block">Set the motor to be inverted.</div>
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</td>
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</tr>
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<tr id="i14" class="altColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setLoopRampRate(double)">setLoopRampRate</a></span>​(double rampRate)</code></th>
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<td class="colLast">
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<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
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</td>
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</tr>
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<tr id="i15" class="rowColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setMotorBrake(boolean)">setMotorBrake</a></span>​(boolean isBrakeMode)</code></th>
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<td class="colLast">
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<div class="block">Set the idle mode.</div>
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</td>
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</tr>
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<tr id="i16" class="altColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPosition(double)">setPosition</a></span>​(double position)</code></th>
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<td class="colLast">
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<div class="block">Set the integrated encoder position.</div>
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</td>
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</tr>
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<tr id="i17" class="rowColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setReference(double,double)">setReference</a></span>​(double setpoint,
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double feedforward)</code></th>
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<td class="colLast">
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<div class="block">Set the closed loop PID controller reference point.</div>
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</td>
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</tr>
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<tr id="i18" class="altColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>​(double nominalVoltage)</code></th>
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<td class="colLast">
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<div class="block">Set the voltage compensation for the swerve module motor.</div>
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</td>
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<h3>Methods inherited from class 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>
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<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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<div class="block">Whether the swerve motor is a drive motor.</div>
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<pre>public SwerveMotor()</pre>
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<div class="block">Clear the sticky faults on the motor controller.</div>
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<pre class="methodSignature">public abstract <a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a> setAbsoluteEncoder​(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a> encoder)</pre>
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<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>encoder</code> - The encoder to use.</dd>
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<pre class="methodSignature">public abstract void configureIntegratedEncoder​(double positionConversionFactor)</pre>
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<div class="block">Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>positionConversionFactor</code> - The conversion factor to apply for position.</dd>
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<pre class="methodSignature">public abstract void configurePIDF​(<a href="../parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> config)</pre>
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<div class="block">Configure the PIDF values for the closed loop controller. 0 is disabled or off.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>config</code> - Configuration class holding the PIDF values.</dd>
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<pre class="methodSignature">public abstract void configurePIDWrapping​(double minInput,
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<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>minInput</code> - Minimum PID input.</dd>
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<dd><code>maxInput</code> - Maximum PID input.</dd>
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<h4>setMotorBrake</h4>
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<pre class="methodSignature">public abstract void setMotorBrake​(boolean isBrakeMode)</pre>
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<div class="block">Set the idle mode.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>isBrakeMode</code> - Set the brake mode.</dd>
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<pre class="methodSignature">public abstract void setInverted​(boolean inverted)</pre>
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<div class="block">Set the motor to be inverted.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>inverted</code> - State of inversion.</dd>
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<pre class="methodSignature">public abstract void burnFlash()</pre>
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<div class="block">Save the configurations from flash to EEPROM.</div>
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<pre class="methodSignature">public abstract void set​(double percentOutput)</pre>
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<div class="block">Set the percentage output.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>percentOutput</code> - percent out for the motor controller.</dd>
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<pre class="methodSignature">public abstract void setReference​(double setpoint,
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double feedforward)</pre>
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<div class="block">Set the closed loop PID controller reference point.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>setpoint</code> - Setpoint in MPS or Angle in degrees.</dd>
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<dd><code>feedforward</code> - Feedforward in volt-meter-per-second or kV.</dd>
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<pre class="methodSignature">public abstract double getVelocity()</pre>
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<div class="block">Get the velocity of the integrated encoder.</div>
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<dl>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>velocity</dd>
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<pre class="methodSignature">public abstract double getPosition()</pre>
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<div class="block">Get the position of the integrated encoder.</div>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>Position</dd>
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<pre class="methodSignature">public abstract void setPosition​(double position)</pre>
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<div class="block">Set the integrated encoder position.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>position</code> - Integrated encoder position. Should be angle in degrees or meters per second.</dd>
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<pre class="methodSignature">public abstract void setVoltageCompensation​(double nominalVoltage)</pre>
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<div class="block">Set the voltage compensation for the swerve module motor.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>nominalVoltage</code> - Nominal voltage for operation to output to.</dd>
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<pre class="methodSignature">public abstract void setCurrentLimit​(int currentLimit)</pre>
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<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
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voltage compensation. This is useful to protect the motor from current spikes.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>currentLimit</code> - Current limit in AMPS at free speed.</dd>
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<pre class="methodSignature">public abstract void setLoopRampRate​(double rampRate)</pre>
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<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>rampRate</code> - Time in seconds to go from 0 to full throttle.</dd>
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<pre class="methodSignature">public abstract <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> getMotor()</pre>
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<div class="block">Get the motor object from the module.</div>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>Motor object.</dd>
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<h4>isAttachedAbsoluteEncoder</h4>
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<pre class="methodSignature">public abstract boolean isAttachedAbsoluteEncoder()</pre>
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<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>connected absolute encoder state.</dd>
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