Package frc.robot.Subsystems.DriveTrain

Class SwerveModuleSimIO

java.lang.Object
frc.robot.Subsystems.DriveTrain.SwerveModule
frc.robot.Subsystems.DriveTrain.SwerveModuleSimIO
public class SwerveModuleSimIO extends SwerveModule

  • Field Details

    • angle

      public edu.wpi.first.math.geometry.Rotation2d angle

    • speed

      public double speed

    • position

      public double position

    • sim_angle_pid

      public edu.wpi.first.math.controller.PIDController sim_angle_pid

    • sim_velocity_pid

      public edu.wpi.first.math.controller.PIDController sim_velocity_pid

  • Constructor Details

    • SwerveModuleSimIO

      protected SwerveModuleSimIO()

  • Method Details

    • setAngle

      public void setAngle(edu.wpi.first.math.geometry.Rotation2d angle)
      Specified by:
      setAngle in class SwerveModule

    • setSpeed

      public void setSpeed(double speed)
      Specified by:
      setSpeed in class SwerveModule

    • update

      public void update()
      Description copied from class: SwerveModule
      Resends input to the motors.
      Overrides:
      update in class SwerveModule

    • getAngle

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

    • getSpeed

      public double getSpeed()

    • getPosition

      public double getPosition()

    • getModuleState

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

    • getModulePosition

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