Package org.texastorque.torquelib.modules.base

Class TorqueSwerveModule

java.lang.Object

org.texastorque.torquelib.modules.base.TorqueSwerveModule

Direct Known Subclasses:

TorqueSwerveModule2021, TorqueSwerveModule2022

public abstract class TorqueSwerveModule
extends Object

Swerve module base class

Field Summary

Fields

Modifier and Type	Field	Description
protected final int	id

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	TorqueSwerveModule(int id)

Method Summary

Modifier and Type	Method	Description
int	getPort()
abstract edu.wpi.first.math.geometry.Rotation2d	getRotation()
abstract edu.wpi.first.math.kinematics.SwerveModuleState	getState()
abstract void	setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState state)

Methods inherited from class java.lang.Object

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

Field Details

id

protected final int id

Constructor Details

TorqueSwerveModule

protected TorqueSwerveModule(int id)

Method Details

getPort

public int getPort()

setDesiredState

public abstract void setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState state)

getState

public abstract edu.wpi.first.math.kinematics.SwerveModuleState getState()

getRotation

public abstract edu.wpi.first.math.geometry.Rotation2d getRotation()