Package frc.team88.swerve.module

Class SwerveModule

java.lang.Object

frc.team88.swerve.module.SwerveModule

public class SwerveModule
extends java.lang.Object

Represents a single swerve module that is composed of a PIDMotor for wheel control, a PIDMotor for azimuth control, and a PositionVelocitySensor for absolute azimuth sensing.

Constructor Summary

Constructors

Constructor	Description
SwerveModule(SwerveMotor[] motors, PositionSensor azimuthSensor, SwerveModuleConfiguration config)	Constructor.

Method Summary

Modifier and Type	Method	Description
WrappedAngle	getAzimuthPosition()	Gets the current azimuth position.
WrappedAngle	getAzimuthPositionFlipped()	Gets the current azimuth position, accounting for wheel reversal.
double	getAzimuthVelocity()	Gets the current azimuth velocity.
WrappedAngle	getCommandedAzimuthPosition()	Gets the current commanded azimuth position from the trapezoidal profile.
double	getCommandedAzimuthVelocity()	Gets the current commanded azimuth velocity from the trapezoidal controller.
double	getCommandedWheelVelocity()	Gets the current commanded wheel velocity output by the PID controller.
SwerveModuleConfiguration	getConfig()	Gets the config for this module.
Vector2D	getLocation()	Gets the location of this module.
double	getMaxWheelSpeed()	Gets the maximum speed that can be commanded to the wheel within the limits of the motor.
SwerveMotor[]	getMotors()	Gets the motors used by this module.
WrappedAngle	getTargetAzimuthPosition()	Gets the azimuth position set as the target for the azimuth controller.
double	getTargetAzimuthVelocity()	Gets the azimuth velocity set as the target for the azimuth controller.
double	getTargetWheelVelocity()	Gets the wheel velocity set as the target for the wheel controller.
double	getWheelVelocity()	Gets the current velocity of the wheel.
void	set(double wheelSpeed, WrappedAngle azimuthPosition)	Sets the wheel speed and azimuth position.
void	set(double wheelSpeed, WrappedAngle azimuthPosition, double azimuthVelocity)	Sets the wheel speed and azimuth position/velocity.
void	setBrake()	Sets both motors on this module to brake mode.
void	setCoast()	Sets both motors on this module to coast mode.
void	setRawWheelVelocities(double wheelVelocity, double azimuthVelocity)	Sets the raw velocity values for the wheel and azimuth.

Methods inherited from class java.lang.Object

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

Constructor Detail

SwerveModule

public SwerveModule(SwerveMotor[] motors,
                    PositionSensor azimuthSensor,
                    SwerveModuleConfiguration config)

Constructor.

Parameters:

motors - The 2 motors on this module, with units of rotations per second.

azimuthSensor - The sensor for absolute azimuth angle, in degrees.

config - The configuration data for this module.

Method Detail

set

public void set(double wheelSpeed,
                WrappedAngle azimuthPosition)

Sets the wheel speed and azimuth position. The azimuth velocity is assumed to be 0.

Parameters:

wheelSpeed - The wheel speed to set, in feet per second.

azimuthPosition - The azimuth position to set, in degrees.

set

public void set(double wheelSpeed,
                WrappedAngle azimuthPosition,
                double azimuthVelocity)

Sets the wheel speed and azimuth position/velocity.

Parameters:

wheelSpeed - The wheel speed to set, in feet per second.

azimuthPosition - The azimuth position to set, ignoring potential wheel reversal, in degrees.

azimuthVelocity - The azimuth velocity to target when the position is reached, in degrees per second.

setRawWheelVelocities

public void setRawWheelVelocities(double wheelVelocity,
                                  double azimuthVelocity)

Sets the raw velocity values for the wheel and azimuth.

Parameters:

wheelVelocity - The wheel velocity to set, in feet per second.

azimuthVelocity - The azimuth velocity to set, in degrees per second.

setCoast

public void setCoast()

Sets both motors on this module to coast mode.

setBrake

public void setBrake()

Sets both motors on this module to brake mode.

getWheelVelocity

public double getWheelVelocity()

Gets the current velocity of the wheel.

Returns:

The velocity of the wheel, in feet per second.

getAzimuthPosition

public WrappedAngle getAzimuthPosition()

Gets the current azimuth position.

Returns:

The current azimuth position, in degrees.

getAzimuthPositionFlipped

public WrappedAngle getAzimuthPositionFlipped()

Gets the current azimuth position, accounting for wheel reversal.

Returns:

The current azimuth position, in degrees.

getAzimuthVelocity

public double getAzimuthVelocity()

Gets the current azimuth velocity.

Returns:

The current azimuth velocity, in degrees per second.

getCommandedWheelVelocity

public double getCommandedWheelVelocity()

Gets the current commanded wheel velocity output by the PID controller.

Returns:

The commanded wheel velocity, in feet per second.

getCommandedAzimuthPosition

public WrappedAngle getCommandedAzimuthPosition()

Gets the current commanded azimuth position from the trapezoidal profile.

Returns:

The current commanded azimuth position, in degrees.

getCommandedAzimuthVelocity

public double getCommandedAzimuthVelocity()

Gets the current commanded azimuth velocity from the trapezoidal controller.

Returns:

The commanded azimuth velocity, in degrees per second.

getTargetWheelVelocity

public double getTargetWheelVelocity()

Gets the wheel velocity set as the target for the wheel controller.

Returns:

The target wheel velocity, in feet per second.

getTargetAzimuthPosition

public WrappedAngle getTargetAzimuthPosition()

Gets the azimuth position set as the target for the azimuth controller.

Returns:

The target azimuth position, in degrees.

getTargetAzimuthVelocity

public double getTargetAzimuthVelocity()

Gets the azimuth velocity set as the target for the azimuth controller.

Returns:

The target azimuth velocity, in degrees per second.

getLocation

public Vector2D getLocation()

Gets the location of this module.

Returns:

A position vector from the robot's origin to the location of this module, in feet. The positive x-axis points forwards, and the positive y-axis points left.

getMotors

public SwerveMotor[] getMotors()

Gets the motors used by this module.

Returns:

The motors used by this module.

getConfig

public SwerveModuleConfiguration getConfig()

Gets the config for this module.

Returns:

This module's config.

getMaxWheelSpeed

public double getMaxWheelSpeed()

Gets the maximum speed that can be commanded to the wheel within the limits of the motor.

Returns:

The max speed, in feet per second.