Package xbot.common.subsystems.drive.swerve

Class SwerveModuleSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

xbot.common.command.BaseSubsystem

xbot.common.subsystems.drive.swerve.SwerveModuleSubsystem

All Implemented Interfaces:

Sendable, Subsystem, DataFrameRefreshable, IPropertySupport

public class SwerveModuleSubsystem
extends BaseSubsystem

Field Summary

Fields inherited from class xbot.common.command.BaseSubsystem

aKitLog, dataFrameRefreshables

Constructor Summary

Constructors

Constructor	Description
SwerveModuleSubsystem(SwerveInstance swerveInstance, SwerveDriveSubsystem driveSubsystem, SwerveSteeringSubsystem steeringSubsystem, XSwerveDriveElectricalContract contract, PropertyFactory pf)

Method Summary

Modifier and Type	Method	Description
SwerveModulePosition	getCurrentPosition()
SwerveModuleState	getCurrentState()	Gets the current state of the module, in METRIC UNITS.
SwerveDriveSubsystem	getDriveSubsystem()
Translation2d	getModuleTranslation()
String	getPrefix()
SwerveSteeringSubsystem	getSteeringSubsystem()
SwerveModuleState	getTargetState()
void	periodic()	This method is called on each CommandScheduler loop.
void	refreshDataFrame()	Consumes and processes inputs from the device or subsystem.
void	setDriveCurrentLimits(SwerveDriveSubsystem.CurrentLimitMode mode)
void	setNoviceMode(boolean enabled)
void	setPowers(double drivePower, double steeringPower)	Very basic drive method - bypasses all PID to directly control the motors.
void	setTargetState(SwerveModuleState swerveModuleState)	Sets the target steering angle and drive power for this module, in METRIC UNITS.
void	setTargetState(SwerveModuleState swerveModuleState, boolean optimize)

Methods inherited from class xbot.common.command.BaseSubsystem

registerDataFrameRefreshable

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

SwerveModuleSubsystem

@Inject
public SwerveModuleSubsystem(SwerveInstance swerveInstance,
 SwerveDriveSubsystem driveSubsystem,
 SwerveSteeringSubsystem steeringSubsystem,
 XSwerveDriveElectricalContract contract,
 PropertyFactory pf)

Method Details

setTargetState

public void setTargetState(SwerveModuleState swerveModuleState)

Sets the target steering angle and drive power for this module, in METRIC UNITS.

Parameters:

swerveModuleState - Metric swerve module state

setTargetState

public void setTargetState(SwerveModuleState swerveModuleState,
 boolean optimize)

getCurrentState

public SwerveModuleState getCurrentState()

Gets the current state of the module, in METRIC UNITS.

Returns:

Metric swerve module state

getCurrentPosition

public SwerveModulePosition getCurrentPosition()

getTargetState

public SwerveModuleState getTargetState()

getPrefix

public String getPrefix()

Specified by:

getPrefix in interface IPropertySupport

Overrides:

getPrefix in class BaseSubsystem

getModuleTranslation

public Translation2d getModuleTranslation()

getDriveSubsystem

public SwerveDriveSubsystem getDriveSubsystem()

getSteeringSubsystem

public SwerveSteeringSubsystem getSteeringSubsystem()

setNoviceMode

public void setNoviceMode(boolean enabled)

setPowers

public void setPowers(double drivePower,
 double steeringPower)

Very basic drive method - bypasses all PID to directly control the motors. Ensure that your command has required control of all relevant subsystems before doing this, or you will be fighting the maintainers.

Parameters:

drivePower - -1 to 1 value for nodule wheel power

steeringPower - -1 to 1 value for module rotation power

setDriveCurrentLimits

public void setDriveCurrentLimits(SwerveDriveSubsystem.CurrentLimitMode mode)

periodic

public void periodic()

Description copied from class: BaseSubsystem

This method is called on each CommandScheduler loop.

Specified by:

periodic in interface Subsystem

Overrides:

periodic in class BaseSubsystem

refreshDataFrame

public void refreshDataFrame()

Description copied from interface: DataFrameRefreshable

Consumes and processes inputs from the device or subsystem.

Specified by:

refreshDataFrame in interface DataFrameRefreshable

Overrides:

refreshDataFrame in class BaseSubsystem