Package com.marswars.swerve_lib

Class SwerveDriveConfig

java.lang.Object

com.marswars.swerve_lib.SwerveDriveConfig

public class SwerveDriveConfig
extends Object

Immutable configuration container for a full swerve drivetrain.

Field Summary

Fields

Modifier and Type	Field	Description
final SwerveModuleConfig	BL_MODULE_CONSTANTS
final SwerveModuleConfig	BR_MODULE_CONSTANTS
static final double	DEFAULT_SKID_DETECTION_RANGE	Default skid-detection threshold (max allowed spread of per-module velocities) used when a configuration does not specify one.
final SwerveModuleConfig	FL_MODULE_CONSTANTS
final SwerveModuleConfig	FR_MODULE_CONSTANTS
final String	PIGEON2_CANBUS_NAME
final int	PIGEON2_ID
final double	SKID_DETECTION_RANGE	Skid-detection threshold (max allowed spread of per-module velocities).

Constructor Summary

Constructors

Constructor	Description
SwerveDriveConfig(SwerveModuleConfig fl_module_constants, SwerveModuleConfig fr_module_constants, SwerveModuleConfig bl_module_constants, SwerveModuleConfig br_module_constants, int pigeon2_id, String pigeon2_canbus_name)	Creates a new swerve drive configuration with the default skid-detection threshold.
SwerveDriveConfig(SwerveModuleConfig fl_module_constants, SwerveModuleConfig fr_module_constants, SwerveModuleConfig bl_module_constants, SwerveModuleConfig br_module_constants, int pigeon2_id, String pigeon2_canbus_name, double skid_detection_range)	Creates a new swerve drive configuration.

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

FL_MODULE_CONSTANTS

public final SwerveModuleConfig FL_MODULE_CONSTANTS

FR_MODULE_CONSTANTS

public final SwerveModuleConfig FR_MODULE_CONSTANTS

BL_MODULE_CONSTANTS

public final SwerveModuleConfig BL_MODULE_CONSTANTS

BR_MODULE_CONSTANTS

public final SwerveModuleConfig BR_MODULE_CONSTANTS

PIGEON2_ID

public final int PIGEON2_ID

PIGEON2_CANBUS_NAME

public final String PIGEON2_CANBUS_NAME

DEFAULT_SKID_DETECTION_RANGE

public static final double DEFAULT_SKID_DETECTION_RANGE

Default skid-detection threshold (max allowed spread of per-module velocities) used when a configuration does not specify one.

See Also:

• Constant Field Values

SKID_DETECTION_RANGE

public final double SKID_DETECTION_RANGE

Skid-detection threshold (max allowed spread of per-module velocities).

Constructor Details

SwerveDriveConfig

public SwerveDriveConfig(SwerveModuleConfig fl_module_constants,
 SwerveModuleConfig fr_module_constants,
 SwerveModuleConfig bl_module_constants,
 SwerveModuleConfig br_module_constants,
 int pigeon2_id,
 String pigeon2_canbus_name)

Creates a new swerve drive configuration with the default skid-detection threshold.

Parameters:

fl_module_constants - Front-left module configuration

fr_module_constants - Front-right module configuration

bl_module_constants - Back-left module configuration

br_module_constants - Back-right module configuration

pigeon2_id - Pigeon2 CAN device ID

pigeon2_canbus_name - Pigeon2 CAN bus name

SwerveDriveConfig

public SwerveDriveConfig(SwerveModuleConfig fl_module_constants,
 SwerveModuleConfig fr_module_constants,
 SwerveModuleConfig bl_module_constants,
 SwerveModuleConfig br_module_constants,
 int pigeon2_id,
 String pigeon2_canbus_name,
 double skid_detection_range)

Creates a new swerve drive configuration.

Parameters:

fl_module_constants - Front-left module configuration

fr_module_constants - Front-right module configuration

bl_module_constants - Back-left module configuration

br_module_constants - Back-right module configuration

pigeon2_id - Pigeon2 CAN device ID

pigeon2_canbus_name - Pigeon2 CAN bus name

skid_detection_range - Skid-detection threshold (max allowed spread of per-module velocities)