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 inherited from class frc.robot.Subsystems.DriveTrain.SwerveModule

acceleration_ff, target_state

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	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()
List<com.ctre.phoenix6.hardware.TalonFX>	getTalons()
protected void	setAngle(edu.wpi.first.math.geometry.Rotation2d angle)
protected void	setSpeed(double speed)

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

Constructor Details

SwerveModuleRealIO

protected 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()

setSpeed

protected void setSpeed(double speed)

Specified by:

setSpeed in class SwerveModule

setAngle

protected void setAngle(edu.wpi.first.math.geometry.Rotation2d angle)

Specified by:

setAngle in class SwerveModule

getTalons

public List<com.ctre.phoenix6.hardware.TalonFX> getTalons()