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YAGSL/docs/frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html
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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 SwerveDrive.SwerveModuleConfig" class="title">Class SwerveDrive.SwerveModuleConfig&lt;DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder&gt;</h2>
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<li>java.lang.Object</li>
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<li>frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig&lt;DriveMotorType,&#8203;SteeringMotorType,&#8203;AbsoluteEncoder&gt;</li>
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<dl>
<dt><span class="paramLabel">Type Parameters:</span></dt>
<dd><code>DriveMotorType</code> - The motor type for the drive motor on the swerve moduule.</dd>
<dd><code>SteeringMotorType</code> - The motor type for the steering motor on the module.</dd>
<dd><code>AbsoluteEncoder</code> - The absolute encoder type.</dd>
</dl>
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<dt>Enclosing class:</dt>
<dd><a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dd>
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<pre>public static class <span class="typeNameLabel">SwerveDrive.SwerveModuleConfig&lt;DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder&gt;</span>
extends java.lang.Object</pre>
<div class="block">Helper class for easier swerve module creation</div>
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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>
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<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleOffset">angleOffset</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<td class="colFirst"><code><a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<td class="colFirst"><code><a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoder">encoder</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#loc">loc</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<td class="colFirst"><code><a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#steering">steering</a></span></code></th>
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<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(DriveMotorType,SteeringMotorType,AbsoluteEncoder,double,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">SwerveModuleConfig</a></span>&#8203;(<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>&nbsp;driveMotor,
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>&nbsp;steerMotor,
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>&nbsp;encoderSteering,
double&nbsp;offset,
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;location)</code></th>
<td class="colLast">
<div class="block">Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.</div>
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<td class="colFirst"><code><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>,&#8203;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>,&#8203;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>&gt;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createModule(double,double,double,double,double,double,double,double,boolean,boolean)">createModule</a></span>&#8203;(double&nbsp;driveGearRatio,
double&nbsp;steerGearRatio,
double&nbsp;wheelDiameterMeters,
double&nbsp;wheelBaseMeters,
double&nbsp;driveTrainWidthMeters,
double&nbsp;steeringMotorFreeSpeedRPM,
double&nbsp;maxSpeedMPS,
double&nbsp;maxDriveAcceleration,
boolean&nbsp;steeringInverted,
boolean&nbsp;drivingInverted)</code></th>
<td class="colLast">
<div class="block">Create the swerve module from the configuration.</div>
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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>
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<a id="drive">
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<h4>drive</h4>
<pre>public&nbsp;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController drive</pre>
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<h4>steering</h4>
<pre>public&nbsp;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController steering</pre>
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<a id="encoder">
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<h4>encoder</h4>
<pre>public&nbsp;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a> extends com.ctre.phoenix.sensors.CANCoder encoder</pre>
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<h4>angleOffset</h4>
<pre>public&nbsp;double angleOffset</pre>
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<h4>loc</h4>
<pre>public&nbsp;<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> loc</pre>
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<a id="&lt;init&gt;(edu.wpi.first.wpilibj.motorcontrol.MotorController,edu.wpi.first.wpilibj.motorcontrol.MotorController,com.ctre.phoenix.sensors.CANCoder,double,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">
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<h4>SwerveModuleConfig</h4>
<pre>public&nbsp;SwerveModuleConfig&#8203;(<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>&nbsp;driveMotor,
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>&nbsp;steerMotor,
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>&nbsp;encoderSteering,
double&nbsp;offset,
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;location)</pre>
<div class="block">Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>driveMotor</code> - Drive motor for the swerve module.</dd>
<dd><code>steerMotor</code> - Steer motor for the swerve module.</dd>
<dd><code>encoderSteering</code> - CANCoder for the steering motor on the swerve module.</dd>
<dd><code>offset</code> - Absolute encoder offset.</dd>
<dd><code>location</code> - Swerve Moduule location on the chassis.</dd>
</dl>
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<h3>Method Detail</h3>
<a id="createModule(double,double,double,double,double,double,double,double,boolean,boolean)">
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<h4>createModule</h4>
<pre class="methodSignature">public&nbsp;<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>,&#8203;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>,&#8203;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>&gt;&nbsp;createModule&#8203;(double&nbsp;driveGearRatio,
double&nbsp;steerGearRatio,
double&nbsp;wheelDiameterMeters,
double&nbsp;wheelBaseMeters,
double&nbsp;driveTrainWidthMeters,
double&nbsp;steeringMotorFreeSpeedRPM,
double&nbsp;maxSpeedMPS,
double&nbsp;maxDriveAcceleration,
boolean&nbsp;steeringInverted,
boolean&nbsp;drivingInverted)</pre>
<div class="block">Create the swerve module from the configuration.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>driveGearRatio</code> - Drive gear ratio in form of (rotation:1 AKA rotations/1) to get the encoder
ticks per rotation.</dd>
<dd><code>steerGearRatio</code> - Steering motor gear ratio (usually 12.8:1 for MK4 in form of rotations:1 or
rotations/1), only applied if using Neo's.</dd>
<dd><code>wheelDiameterMeters</code> - The wheel diameter of the swerve drive module in meters.</dd>
<dd><code>wheelBaseMeters</code> - The Distance between front and back wheels of the robot in meters.</dd>
<dd><code>driveTrainWidthMeters</code> - The Distance between centers of right and left wheels in meters.</dd>
<dd><code>steeringMotorFreeSpeedRPM</code> - The RPM free speed of the steering motor.</dd>
<dd><code>maxSpeedMPS</code> - The maximum drive speed in meters per second.</dd>
<dd><code>maxDriveAcceleration</code> - The maximum drive acceleration in meters^2 per second.</dd>
<dd><code>steeringInverted</code> - The steering motor is inverted.</dd>
<dd><code>drivingInverted</code> - The driving motor is inverted.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The Swerve Module.</dd>
</dl>
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