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58 lines
1.8 KiB
C++
58 lines
1.8 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <numbers>
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#include <frc/Encoder.h>
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#include <frc/controller/PIDController.h>
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#include <frc/controller/ProfiledPIDController.h>
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#include <frc/geometry/Rotation2d.h>
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#include <frc/kinematics/SwerveModulePosition.h>
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#include <frc/kinematics/SwerveModuleState.h>
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#include <frc/motorcontrol/Spark.h>
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#include <frc/trajectory/TrapezoidProfile.h>
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#include "Constants.h"
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class SwerveModule {
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public:
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SwerveModule(int driveMotorChannel, int turningMotorChannel,
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const int driveEncoderPorts[2], const int turningEncoderPorts[2],
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bool driveEncoderReversed, bool turningEncoderReversed);
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frc::SwerveModuleState GetState();
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frc::SwerveModulePosition GetPosition();
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void SetDesiredState(frc::SwerveModuleState& state);
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void ResetEncoders();
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private:
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// We have to use meters here instead of radians due to the fact that
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// ProfiledPIDController's constraints only take in meters per second and
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// meters per second squared.
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static constexpr auto kModuleMaxAngularVelocity =
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units::radians_per_second_t{std::numbers::pi};
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static constexpr auto kModuleMaxAngularAcceleration =
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units::radians_per_second_squared_t{std::numbers::pi * 2.0};
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frc::Spark m_driveMotor;
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frc::Spark m_turningMotor;
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frc::Encoder m_driveEncoder;
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frc::Encoder m_turningEncoder;
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frc::PIDController m_drivePIDController{
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ModuleConstants::kPModuleDriveController, 0, 0};
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frc::ProfiledPIDController<units::radians> m_turningPIDController{
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ModuleConstants::kPModuleTurningController,
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0.0,
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0.0,
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{kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration}};
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};
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