com.arcrobotics.ftclib.drivebase.swerve

Class DiffySwerveModuleEx

java.lang.Object

com.arcrobotics.ftclib.drivebase.swerve.DiffySwerveModule

com.arcrobotics.ftclib.drivebase.swerve.DiffySwerveModuleEx

public class DiffySwerveModuleEx
extends DiffySwerveModule

Field Summary

Fields

Modifier and Type	Field and Description
double	kRevConstant This is the constant that corresponds to the revolutions of the module; this value must be tuned; this is in degrees per tick
double	kWheelConstant This is the constant that corresponds to the revolution of the wheel rather than the rotation of the module; this value must be tuned; this is in centimeters per tick
java.util.function.DoubleSupplier	moduleHeading This is the heading of the module.

Fields inherited from class com.arcrobotics.ftclib.drivebase.swerve.DiffySwerveModule

m_motorOne, m_motorTwo, MOTOR_1_POWER, MOTOR_2_POWER

Constructor Summary

Constructors

Constructor and Description
DiffySwerveModuleEx(MotorEx one, MotorEx two) Make sure the motors are already reversed if needed
DiffySwerveModuleEx(MotorEx one, MotorEx two, double kAngle, double kWheel, PIDFController cont) Make sure the motors are already reversed if needed

Method Summary

Modifier and Type	Method and Description
void	driveModule(Vector2d powerVec) Once the difference between the desired angle and the current angle reaches 0, the vector becomes (magnitude, 0), which means it will strictly move forward.
double	getDistanceTravelled()
double[]	getLastEncoderCounts()
double[]	getRawEncoderCounts() Returns the encoder counts of the motors in the module
double	getRawHeading() Returns the raw heading of the module in degrees
void	resetEncoders() Resets the encoder values of the motors
void	setCmsPerTick(double val)
void	setDegreesPerTick(double val)
void	setHeadingInterpol(java.util.function.DoubleSupplier headingReader) You can set this to use the value returned by getRawHeading() or from an external sensor.
void	setThreshold(double kThreshold) Allows you to set the threshold value of the PController
void	turnToAngle(double angle) Turns the module to a desired angle.
void	updateTracking() Updates the distance travelled

Methods inherited from class com.arcrobotics.ftclib.drivebase.swerve.DiffySwerveModule

disable, driveModule, normalize, setInverted, stopMotor

Methods inherited from class java.lang.Object

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

Field Detail

kRevConstant

public double kRevConstant

This is the constant that corresponds to the revolutions of the module; this value must be tuned; this is in degrees per tick

kWheelConstant

public double kWheelConstant

This is the constant that corresponds to the revolution of the wheel rather than the rotation of the module; this value must be tuned; this is in centimeters per tick

moduleHeading

public java.util.function.DoubleSupplier moduleHeading

This is the heading of the module. You can use it to determine the heading.

Constructor Detail

DiffySwerveModuleEx

public DiffySwerveModuleEx(MotorEx one,
                           MotorEx two)

Make sure the motors are already reversed if needed

Parameters:

one - the first motor

two - the second motor

DiffySwerveModuleEx

public DiffySwerveModuleEx(MotorEx one,
                           MotorEx two,
                           double kAngle,
                           double kWheel,
                           PIDFController cont)

Make sure the motors are already reversed if needed

Parameters:

one - the first motor

two - the second motor

kAngle - the module constant that is used for heading; this is a value that needs to be tuned; it takes into consideration the gear ratios and counts per revolution of the motors

kWheel - the module constant that is used for distance; this is a value that needs to be tuned; it takes into consideration the gear ratios and counts per revolution of the motors

cont - the pidf controller that controls the rotation of the module

Method Detail

resetEncoders

public void resetEncoders()

Resets the encoder values of the motors

setDegreesPerTick

public void setDegreesPerTick(double val)

setCmsPerTick

public void setCmsPerTick(double val)

getRawEncoderCounts

public double[] getRawEncoderCounts()

Returns the encoder counts of the motors in the module

Returns:

the encoder counts as an array

setThreshold

public void setThreshold(double kThreshold)

Allows you to set the threshold value of the PController

Parameters:

kThreshold - the desired threshold for the controller

getLastEncoderCounts

public double[] getLastEncoderCounts()

getRawHeading

public double getRawHeading()

Returns the raw heading of the module in degrees

Returns:

the heading of the module

updateTracking

public void updateTracking()

Updates the distance travelled

setHeadingInterpol

public void setHeadingInterpol(java.util.function.DoubleSupplier headingReader)

You can set this to use the value returned by getRawHeading() or from an external sensor.

Parameters:

headingReader - the heading pointer

getDistanceTravelled

public double getDistanceTravelled()

Returns:

the distance travelled by the module wheel

driveModule

public void driveModule(Vector2d powerVec)

Once the difference between the desired angle and the current angle reaches 0, the vector becomes (magnitude, 0), which means it will strictly move forward. Note that it reads the value from the heading interpolator as a value in degrees, so it is switched to radians in the code.

Overrides:

driveModule in class DiffySwerveModule

turnToAngle

public void turnToAngle(double angle)

Turns the module to a desired angle. Use this method in a control loop.

Parameters:

angle - The desired set angle in radians