Package com.marswars.swerve_lib.module

Class ModuleTalonFX

java.lang.Object

com.marswars.mechanisms.MechBase

com.marswars.swerve_lib.module.Module

com.marswars.swerve_lib.module.ModuleTalonFX

All Implemented Interfaces:

SubsystemIoBase

public class ModuleTalonFX
extends Module

TalonFX-based swerve module implementation with optional simulation support.

Nested Class Summary

Nested classes/interfaces inherited from class com.marswars.swerve_lib.module.Module

Module.DriveControlMode, Module.SteerControlMode

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

MechBase.ConstructedMotors

Field Summary

Fields

Modifier and Type	Field	Description
protected final CANcoder	cancoder
protected final StatusSignal<Voltage>	drive_applied_volts_sig_
protected final StatusSignal<Angle>	drive_position_sig_
protected final StatusSignal<Current>	drive_stator_current_sig_
protected final StatusSignal<Current>	drive_supply_current_sig_
protected final TalonFX	drive_talonfx_
protected final StatusSignal<AngularVelocity>	drive_velocity_sig_
protected final AnalogEncoder	encoder
protected final PositionTorqueCurrentFOC	position_torque_current_req_
protected final PositionVoltage	position_voltage_req_
protected final StatusSignal<Angle>	steer_absolute_position_sig_
protected final StatusSignal<Voltage>	steer_applied_volts_sig_
protected final StatusSignal<Current>	steer_stator_current_sig_
protected final StatusSignal<Current>	steer_supply_current_sig_
protected final TalonFX	steer_talonfx_
protected final StatusSignal<AngularVelocity>	steer_velocity_sig_
protected final TorqueCurrentFOC	torque_current_req_
protected final VelocityTorqueCurrentFOC	velocity_torque_current_req_
protected final VelocityVoltage	velocity_voltage_req_
protected final VoltageOut	voltage_req_

Fields inherited from class com.marswars.swerve_lib.module.Module

config_, drive_conn_deb_, drive_disconnected_alert_, inputs_, module_encoder_alert_, module_index_, neutral_mode_, setpoint_, steer_conn_deb_, steer_disconnected_alert_

Constructor Summary

Constructors

Constructor	Description
ModuleTalonFX(String logging_prefix, int index, SwerveModuleConfig config)	Creates a new TalonFX swerve module.

Method Summary

Modifier and Type	Method	Description
void	logData()	Log data to NetworkTables or other logging systems
void	readInputs(double timestamp)	Read inputs from hardware or simulation
void	setDriveGains(int slot, SlotConfigs gains)	Set the gains for the module drive motors to the given slot
void	setDriveOpenLoop(double output)	Run the drive motor at the specified open loop value.
void	setDriveVelocity(double wheelVelocityRadPerSec)	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
void	setSteerGains(SlotConfigs gains)	Set the gains for the module steer motors to the given slot
void	setSteerOpenLoop(double output)	Run the turn motor at the specified open loop value.
void	setSteerPosition(Rotation2d rotation)	Run the turn motor to the specified rotation.
void	writeOutputs(double timestamp)	Write outputs to hardware or simulation

Methods inherited from class com.marswars.swerve_lib.module.Module

getAngle, getCurrentState, getFFCharacterizationVelocity, getPosition, getPositionMeters, getSetpointState, getTranslation, getVelocityMetersPerSec, getWheelRadiusCharacterizationPosition, runCharacterization, runSetpoint, stop

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

Field Details

drive_talonfx_

protected final TalonFX drive_talonfx_

steer_talonfx_

protected final TalonFX steer_talonfx_

cancoder

protected final CANcoder cancoder

encoder

protected final AnalogEncoder encoder

voltage_req_

protected final VoltageOut voltage_req_

position_voltage_req_

protected final PositionVoltage position_voltage_req_

velocity_voltage_req_

protected final VelocityVoltage velocity_voltage_req_

torque_current_req_

protected final TorqueCurrentFOC torque_current_req_

position_torque_current_req_

protected final PositionTorqueCurrentFOC position_torque_current_req_

velocity_torque_current_req_

protected final VelocityTorqueCurrentFOC velocity_torque_current_req_

drive_position_sig_

protected final StatusSignal<Angle> drive_position_sig_

drive_velocity_sig_

protected final StatusSignal<AngularVelocity> drive_velocity_sig_

drive_applied_volts_sig_

protected final StatusSignal<Voltage> drive_applied_volts_sig_

drive_stator_current_sig_

protected final StatusSignal<Current> drive_stator_current_sig_

drive_supply_current_sig_

protected final StatusSignal<Current> drive_supply_current_sig_

steer_absolute_position_sig_

protected final StatusSignal<Angle> steer_absolute_position_sig_

steer_velocity_sig_

protected final StatusSignal<AngularVelocity> steer_velocity_sig_

steer_applied_volts_sig_

protected final StatusSignal<Voltage> steer_applied_volts_sig_

steer_stator_current_sig_

protected final StatusSignal<Current> steer_stator_current_sig_

steer_supply_current_sig_

protected final StatusSignal<Current> steer_supply_current_sig_

Constructor Details

ModuleTalonFX

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

Creates a new TalonFX swerve module.

Parameters:

logging_prefix - Logging prefix for telemetry

index - Module index (0-3)

config - Module configuration

Method Details

readInputs

public void readInputs(double timestamp)

Read inputs from hardware or simulation

Parameters:

timestamp - the current timestamp

setDriveOpenLoop

public void setDriveOpenLoop(double output)

Run the drive motor at the specified open loop value.

Specified by:

setDriveOpenLoop in class Module

setSteerOpenLoop

public void setSteerOpenLoop(double output)

Run the turn motor at the specified open loop value.

Specified by:

setSteerOpenLoop in class Module

setDriveVelocity

public void setDriveVelocity(double wheelVelocityRadPerSec)

Run the drive motor at the specified velocity.

Specified by:

setDriveVelocity in class Module

setSteerPosition

public void setSteerPosition(Rotation2d rotation)

Run the turn motor to the specified rotation.

Specified by:

setSteerPosition in class Module

setDriveGains

public void setDriveGains(int slot,
 SlotConfigs gains)

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

Specified by:

setDriveGains in class Module

setSteerGains

public void setSteerGains(SlotConfigs gains)

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

Specified by:

setSteerGains in class Module

setModuleOffset

public void setModuleOffset()

Stores the current encoder reading as an offset

Overrides:

setModuleOffset in class Module

setNeutralMode

public void setNeutralMode(NeutralModeValue mode)

Sets the neutral mode for both motors

Overrides:

setNeutralMode in class Module

writeOutputs

public void writeOutputs(double timestamp)

Write outputs to hardware or simulation

Parameters:

timestamp - the current timestamp

logData

public void logData()

Log data to NetworkTables or other logging systems