Package frc.robot.subsystems.Swerve

Class SwerveModule

java.lang.Object

frc.robot.subsystems.Swerve.SwerveModule

public class SwerveModule
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
final DoubleSupplier	totalCurrentDraw

Constructor Summary

Constructors

Constructor	Description
SwerveModule(SwerveModuleConfig config)

Method Summary

Modifier and Type	Method	Description
com.ctre.phoenix6.StatusCode	configureAll()
String	getName()
edu.wpi.first.math.kinematics.SwerveModulePosition	getPosition()
edu.wpi.first.math.kinematics.SwerveModuleState	getState()
void	resetEncoders()
com.ctre.phoenix6.StatusCode	setTargetState(edu.wpi.first.math.kinematics.SwerveModuleState state)
com.ctre.phoenix6.StatusCode	setTargetState(edu.wpi.first.math.kinematics.SwerveModuleState state, edu.wpi.first.units.measure.LinearAcceleration feedForward)
void	updateTelemetry()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

totalCurrentDraw

public final DoubleSupplier totalCurrentDraw

Constructor Details

SwerveModule

public SwerveModule(SwerveModuleConfig config)

Method Details

configureAll

public com.ctre.phoenix6.StatusCode configureAll()

setTargetState

public com.ctre.phoenix6.StatusCode setTargetState(edu.wpi.first.math.kinematics.SwerveModuleState state)

setTargetState

public com.ctre.phoenix6.StatusCode setTargetState(edu.wpi.first.math.kinematics.SwerveModuleState state,
 edu.wpi.first.units.measure.LinearAcceleration feedForward)

getState

public edu.wpi.first.math.kinematics.SwerveModuleState getState()

getPosition

public edu.wpi.first.math.kinematics.SwerveModulePosition getPosition()

resetEncoders

public void resetEncoders()

getName

public String getName()

updateTelemetry

public void updateTelemetry()