Package frc.robot.subsystems.DriveTrain

Class SwerveModuleRealIO

java.lang.Object

frc.robot.subsystems.DriveTrain.SwerveModule

frc.robot.subsystems.DriveTrain.SwerveModuleRealIO

public class SwerveModuleRealIO
extends SwerveModule

Field Summary

Fields

Modifier and Type	Field	Description
com.ctre.phoenix6.hardware.TalonFX	drive_motor
com.ctre.phoenix6.hardware.TalonFX	steer_motor
com.ctre.phoenix6.hardware.CANcoder	steer_sensor

Fields inherited from class frc.robot.subsystems.DriveTrain.SwerveModule

angle_pid, target_state

Constructor Summary

Constructors

Constructor	Description
SwerveModuleRealIO(int drive_port, int steer_port, int sensor_port)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.geometry.Rotation2d	getAngle()
edu.wpi.first.math.kinematics.SwerveModulePosition	getModulePosition()
edu.wpi.first.math.kinematics.SwerveModuleState	getModuleState()
double	getPosition()
double	getSpeed()
void	setDrive(double speedMetersPerSecond)
void	setSteer(double volts)

Methods inherited from class frc.robot.subsystems.DriveTrain.SwerveModule

setState, update

Methods inherited from class java.lang.Object

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

Field Details

steer_motor

public com.ctre.phoenix6.hardware.TalonFX steer_motor

drive_motor

public com.ctre.phoenix6.hardware.TalonFX drive_motor

steer_sensor

public com.ctre.phoenix6.hardware.CANcoder steer_sensor

Constructor Details

SwerveModuleRealIO

public SwerveModuleRealIO(int drive_port,
 int steer_port,
 int sensor_port)

Method Details

getSpeed

public double getSpeed()

getPosition

public double getPosition()

getAngle

public edu.wpi.first.math.geometry.Rotation2d getAngle()

getModuleState

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

getModulePosition

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

setDrive

public void setDrive(double speedMetersPerSecond)

setSteer

public void setSteer(double volts)