Package com.marswars.swerve_lib.module

Class Module

java.lang.Object

com.marswars.mechanisms.MechBase

com.marswars.swerve_lib.module.Module

All Implemented Interfaces:

SubsystemIoBase

Direct Known Subclasses:

ModuleTalonFX

public abstract class Module
extends MechBase

Base class for swerve modules with drive and steer control.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Module.DriveControlMode	Drive motor control mode selection.
static enum	Module.SteerControlMode	Steer motor control mode selection.

Nested classes/interfaces inherited from class com.marswars.mechanisms.MechBase

MechBase.ConstructedMotors

Field Summary

Fields

Modifier and Type	Field	Description
protected final SwerveModuleConfig	config_
protected final Debouncer	drive_conn_deb_
protected final Alert	drive_disconnected_alert_
protected final com.marswars.swerve_lib.module.ModuleInputsAutoLogged	inputs_
protected final Alert	module_encoder_alert_
protected final int	module_index_
protected NeutralModeValue	neutral_mode_
protected SwerveModuleState	setpoint_
protected final Debouncer	steer_conn_deb_
protected final Alert	steer_disconnected_alert_

Fields inherited from class com.marswars.mechanisms.MechBase

IS_SIM

Constructor Summary

Constructors

Constructor	Description
Module(String logging_prefix, int index, SwerveModuleConfig config)

Method Summary

Modifier and Type	Method	Description
Rotation2d	getAngle()	Returns the current turn angle of the module.
SwerveModuleState	getCurrentState()	Returns the module state (turn angle and drive velocity).
double	getFFCharacterizationVelocity()	Returns the module velocity in rotations/sec (Phoenix native units).
SwerveModulePosition	getPosition()	Returns the module position (turn angle and drive position).
double	getPositionMeters()	Returns the current drive position of the module in meters.
SwerveModuleState	getSetpointState()	Returns the module setpoint state (turn angle and drive velocity).
Translation2d	getTranslation()	Returns the translation of the module in the robot's coordinate system.
double	getVelocityMetersPerSec()	Returns the current drive velocity of the module in meters per second.
double	getWheelRadiusCharacterizationPosition()	Returns the module position in radians.
void	runCharacterization(double output)	Runs the module with the specified output while controlling to zero degrees.
void	runSetpoint(SwerveModuleState state, Module.DriveControlMode DriveMode, Module.SteerControlMode SteerMode)	Runs the module with the specified setpoint state.
abstract void	setDriveGains(int slot, SlotConfigs gains)	Set the gains for the module drive motors to the given slot
abstract void	setDriveOpenLoop(double output)	Run the drive motor at the specified open loop value.
abstract void	setDriveVelocity(double velocityRadPerSec)	Run the drive motor at the specified velocity.
void	setModuleOffset()	Stores the current encoder reading as an offset
void	setNeutralMode(NeutralModeValue mode)	Sets the neutral mode for both motors
abstract void	setSteerGains(SlotConfigs gains)	Set the gains for the module steer motors to the given slot
abstract void	setSteerOpenLoop(double output)	Run the turn motor at the specified open loop value.
abstract void	setSteerPosition(Rotation2d rotation)	Run the turn motor to the specified rotation.
void	stop()	Disables all outputs to motors.

Methods inherited from class com.marswars.mechanisms.MechBase

configMotors, configMotors, getLoggingKey, getMechName, setMotorCurrentLimit

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.marswars.subsystem.SubsystemIoBase

logData, readInputs, writeOutputs

Field Details

config_

protected final SwerveModuleConfig config_

module_index_

protected final int module_index_

neutral_mode_

protected NeutralModeValue neutral_mode_

setpoint_

protected SwerveModuleState setpoint_

inputs_

protected final com.marswars.swerve_lib.module.ModuleInputsAutoLogged inputs_

drive_conn_deb_

protected final Debouncer drive_conn_deb_

steer_conn_deb_

protected final Debouncer steer_conn_deb_

drive_disconnected_alert_

protected final Alert drive_disconnected_alert_

steer_disconnected_alert_

protected final Alert steer_disconnected_alert_

module_encoder_alert_

protected final Alert module_encoder_alert_

Constructor Details

Module

public Module(String logging_prefix,
 int index,
 SwerveModuleConfig config)

Method Details

runSetpoint

public void runSetpoint(SwerveModuleState state,
 Module.DriveControlMode DriveMode,
 Module.SteerControlMode SteerMode)

Runs the module with the specified setpoint state. Mutates the state to optimize it.

runCharacterization

public void runCharacterization(double output)

Runs the module with the specified output while controlling to zero degrees.

stop

public void stop()

Disables all outputs to motors.

getAngle

public Rotation2d getAngle()

Returns the current turn angle of the module.

getPositionMeters

public double getPositionMeters()

Returns the current drive position of the module in meters.

getVelocityMetersPerSec

public double getVelocityMetersPerSec()

Returns the current drive velocity of the module in meters per second.

getPosition

public SwerveModulePosition getPosition()

Returns the module position (turn angle and drive position).

getCurrentState

public SwerveModuleState getCurrentState()

Returns the module state (turn angle and drive velocity).

getSetpointState

public SwerveModuleState getSetpointState()

Returns the module setpoint state (turn angle and drive velocity).

getWheelRadiusCharacterizationPosition

public double getWheelRadiusCharacterizationPosition()

Returns the module position in radians.

getFFCharacterizationVelocity

public double getFFCharacterizationVelocity()

Returns the module velocity in rotations/sec (Phoenix native units).

getTranslation

public Translation2d getTranslation()

Returns the translation of the module in the robot's coordinate system.

Returns:

Translation2d representing the module's position in meters

setDriveOpenLoop

public abstract void setDriveOpenLoop(double output)

Run the drive motor at the specified open loop value.

setSteerOpenLoop

public abstract void setSteerOpenLoop(double output)

Run the turn motor at the specified open loop value.

setDriveVelocity

public abstract void setDriveVelocity(double velocityRadPerSec)

Run the drive motor at the specified velocity.

setSteerPosition

public abstract void setSteerPosition(Rotation2d rotation)

Run the turn motor to the specified rotation.

setDriveGains

public abstract void setDriveGains(int slot,
 SlotConfigs gains)

Set the gains for the module drive motors to the given slot

setSteerGains

public abstract void setSteerGains(SlotConfigs gains)

Set the gains for the module steer motors to the given slot

setModuleOffset

public void setModuleOffset()

Stores the current encoder reading as an offset

setNeutralMode

public void setNeutralMode(NeutralModeValue mode)

Sets the neutral mode for both motors