org.titaniumtitans.frc2022.subsystems.SwerveModule Class Reference

Inheritance diagram for org.titaniumtitans.frc2022.subsystems.SwerveModule:

Public Member Functions
	SwerveModule (int driveMotorChannel, int turningMotorChannel, int turningEncoderChannels, double encoderOffset, String name)
SwerveModuleState	getState ()
Rotation2d	getCancoderCurrentAngle ()
Rotation2d	getTurningMotorAngle ()
SwerveModuleState	getDesiredState ()
void	setDesiredState (SwerveModuleState desiredState)
double	getDriveMotorPercentage ()
double	getTurningMotorPercentage ()
void	resetEncoders ()
String	getName ()
void	setAbsoluteValue ()
void	setModuleAngle (double degrees)
void	initSendable (SendableBuilder builder)

Constructor & Destructor Documentation

SwerveModule()

org.titaniumtitans.frc2022.subsystems.SwerveModule.SwerveModule	(	int	driveMotorChannel,
		int	turningMotorChannel,
		int	turningEncoderChannels,
		double	encoderOffset,
		String	name
	)

Constructs a SwerveModule.

Parameters

driveMotorChannel	The channel of the drive motor.
turningMotorChannel	The channel of the turning motor.
driveEncoderChannels	The channels of the drive encoder.
turningEncoderChannels	The channels of the turning encoder.
driveEncoderReversed	Whether the drive encoder is reversed.
turningEncoderReversed	Whether the turning encoder is reversed.

Member Function Documentation

getState()

SwerveModuleState org.titaniumtitans.frc2022.subsystems.SwerveModule.getState

(

)

Returns the current state of the module.

Returns

The current state of the module.

resetEncoders()

void org.titaniumtitans.frc2022.subsystems.SwerveModule.resetEncoders

(

)

Zeroes all the SwerveModule encoders.

setDesiredState()

void org.titaniumtitans.frc2022.subsystems.SwerveModule.setDesiredState

(

SwerveModuleState

desiredState

)

Sets the desired state for the module.

Parameters

desiredState

Desired state with speed and angle.

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The documentation for this class was generated from the following file:

• src/main/java/org/titaniumtitans/frc2022/subsystems/SwerveModule.java