Package com.frcteam3255.components.swerve

Class SN_SwerveModule

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
com.frcteam3255.components.swerve.SN_SwerveModule
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
public class SN_SwerveModule extends edu.wpi.first.wpilibj2.command.SubsystemBase

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static com.ctre.phoenix6.configs.CANcoderConfiguration
    cancoderConfiguration
     
    static com.ctre.phoenix6.configs.TalonFXConfiguration
    driveConfiguration
     
    com.ctre.phoenix6.hardware.TalonFX
    driveMotor
     
    static boolean
    isSimulation
     
    static double
    maxModuleSpeedMeters
     
    static double
    minimumSteerSpeedPercent
     
    int
    moduleNumber
     
    static com.ctre.phoenix6.configs.TalonFXConfiguration
    steerConfiguration
     
    com.ctre.phoenix6.hardware.TalonFX
    steerMotor
     
    static double
    wheelCircumference
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    SN_SwerveModule(int moduleNumber, int driveMotorID, int steerMotorID, int absoluteEncoderID, double absoluteEncoderOffset, String CANBusName)
    This subsystem represents 1 Swerve Module.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    configure()
     
    double
    getAbsoluteEncoder()
    Get the current position, with the offset applied, of the module's absolute encoder.
    edu.wpi.first.math.kinematics.SwerveModuleState
    getActualModuleState()
    Get the current state (velocity, angle) of the module.
    edu.wpi.first.math.kinematics.SwerveModuleState
    getDesiredModuleState()
    Get the last desired state (velocity, angle) of the module.
    edu.wpi.first.math.kinematics.SwerveModulePosition
    getModulePosition()
    Get the current position (distance traveled, angle) of the module.
    double
    getRawAbsoluteEncoder()
    Get the current raw position (no offset applied) of the module's absolute encoder.
    void
    neutralDriveOutput()
    Neutral the drive motor output.
    void
    resetDriveMotorEncoder()
    Reset the drive motor's encoder to 0.
    void
    resetSteerMotorToAbsolute()
    Resets the steer motor's encoder to the absolute encoder's offset value.
    void
    setModuleState(edu.wpi.first.math.kinematics.SwerveModuleState desiredState, boolean isOpenLoop, boolean steerInPlace)
    Sets the current state (velocity and position) of the module.

    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, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

  • Field Details

    • driveMotor

      public com.ctre.phoenix6.hardware.TalonFX driveMotor

    • steerMotor

      public com.ctre.phoenix6.hardware.TalonFX steerMotor

    • moduleNumber

      public int moduleNumber

    • driveConfiguration

      public static com.ctre.phoenix6.configs.TalonFXConfiguration driveConfiguration

    • steerConfiguration

      public static com.ctre.phoenix6.configs.TalonFXConfiguration steerConfiguration

    • cancoderConfiguration

      public static com.ctre.phoenix6.configs.CANcoderConfiguration cancoderConfiguration

    • minimumSteerSpeedPercent

      public static double minimumSteerSpeedPercent

    • wheelCircumference

      public static double wheelCircumference

    • maxModuleSpeedMeters

      public static double maxModuleSpeedMeters

    • isSimulation

      public static boolean isSimulation

  • Constructor Details

    • SN_SwerveModule

      public SN_SwerveModule(int moduleNumber, int driveMotorID, int steerMotorID, int absoluteEncoderID, double absoluteEncoderOffset, String CANBusName)
      This subsystem represents 1 Swerve Module. In order to use SN_SuperSwerve, you must create an array of 4 of these.
      Parameters:
      moduleNumber - The number of the module. Typically, these are 0 to 3. 0 = Front Left, 1 = Front Right, 2 = Back Left, 3 = Back Right
      driveMotorID - The CAN id of the drive motor
      steerMotorID - The CAN id of the steer motor
      absoluteEncoderID - The CAN id of the CANcoder
      absoluteEncoderOffset - The offset of the CANcoder in rotations. This is typically obtained by aligning all of the wheels in the appropriate direction and then copying the Raw Absolute encoder value.
      CANBusName - The name of the CANBus that the module is connected to.

  • Method Details

    • configure

      public void configure()

    • getRawAbsoluteEncoder

      public double getRawAbsoluteEncoder()
      Get the current raw position (no offset applied) of the module's absolute encoder. This value will NOT match the physical angle of the wheel.
      Returns:
      Position in rotations

    • getAbsoluteEncoder

      public double getAbsoluteEncoder()
      Get the current position, with the offset applied, of the module's absolute encoder. This value should match the physical angle of the module's wheel.
      Returns:
      Position in rotations, with the module's offset

    • resetSteerMotorToAbsolute

      public void resetSteerMotorToAbsolute()
      Resets the steer motor's encoder to the absolute encoder's offset value. The drive motor is not reset here because the absolute encoder does not record it's rotation.

    • resetDriveMotorEncoder

      public void resetDriveMotorEncoder()
      Reset the drive motor's encoder to 0.

    • getActualModuleState

      public edu.wpi.first.math.kinematics.SwerveModuleState getActualModuleState()
      Get the current state (velocity, angle) of the module.
      Returns:
      Module's SwerveModuleState (velocity, angle)

    • getDesiredModuleState

      public edu.wpi.first.math.kinematics.SwerveModuleState getDesiredModuleState()
      Get the last desired state (velocity, angle) of the module.
      Returns:
      Module's Desired SwerveModuleState (velocity, angle)

    • getModulePosition

      public edu.wpi.first.math.kinematics.SwerveModulePosition getModulePosition()
      Get the current position (distance traveled, angle) of the module. In simulation, this will return a simulated value.
      Returns:
      Module's SwerveModulePosition (distance, angle)

    • neutralDriveOutput

      public void neutralDriveOutput()
      Neutral the drive motor output.

    • setModuleState

      public void setModuleState(edu.wpi.first.math.kinematics.SwerveModuleState desiredState, boolean isOpenLoop, boolean steerInPlace)
      Sets the current state (velocity and position) of the module. Given values are optimized so that the module can travel the least distance to achieve the desired value.
      Parameters:
      desiredState - Desired velocity and angle of the module
      isOpenLoop - Is the module being set based on open loop or closed loop control
      steerInPlace - If the module can be rotated in place