Package frc.robot.subsystems.Swerve

Class SwerveModuleConfig

java.lang.Object

frc.robot.subsystems.Swerve.SwerveModuleConfig

public class SwerveModuleConfig
extends Object

Constructor Summary

Constructors

Constructor	Description
SwerveModuleConfig(String name, com.ctre.phoenix6.CANBus canbus, int driveMotorID, int steerMotorID, int steerEncoderID, double steerEncoderOffset)

Method Summary

Modifier and Type	Method	Description
com.ctre.phoenix6.hardware.TalonFX	createDriveMotor()
com.ctre.phoenix6.hardware.CANcoder	createSteerEncoder()
com.ctre.phoenix6.hardware.TalonFX	createSteerMotor()
com.ctre.phoenix6.configs.TalonFXConfiguration	getDriveMotorConfig()
int	getDriveMotorID()
String	getName()
com.ctre.phoenix6.configs.CANcoderConfiguration	getSteerEncoderConfig()
int	getSteerEncoderID()
double	getSteerEncoderOffset()
com.ctre.phoenix6.configs.TalonFXConfiguration	getSteerMotorConfig()
int	getSteerMotorID()

Methods inherited from class java.lang.Object

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

Constructor Details

SwerveModuleConfig

public SwerveModuleConfig(String name,
 com.ctre.phoenix6.CANBus canbus,
 int driveMotorID,
 int steerMotorID,
 int steerEncoderID,
 double steerEncoderOffset)

Method Details

getName

public String getName()

getDriveMotorID

public int getDriveMotorID()

getSteerMotorID

public int getSteerMotorID()

getSteerEncoderID

public int getSteerEncoderID()

getSteerEncoderOffset

public double getSteerEncoderOffset()

createDriveMotor

public com.ctre.phoenix6.hardware.TalonFX createDriveMotor()

createSteerMotor

public com.ctre.phoenix6.hardware.TalonFX createSteerMotor()

createSteerEncoder

public com.ctre.phoenix6.hardware.CANcoder createSteerEncoder()

getDriveMotorConfig

public com.ctre.phoenix6.configs.TalonFXConfiguration getDriveMotorConfig()

getSteerMotorConfig

public com.ctre.phoenix6.configs.TalonFXConfiguration getSteerMotorConfig()

getSteerEncoderConfig

public com.ctre.phoenix6.configs.CANcoderConfiguration getSteerEncoderConfig()