Package org.texastorque.torquelib.modules

Class TorqueSwerveModule2022

java.lang.Object

org.texastorque.torquelib.modules.base.TorqueSwerveModule

org.texastorque.torquelib.modules.TorqueSwerveModule2022

public final class TorqueSwerveModule2022
extends TorqueSwerveModule

Super cool flipped swerve module built in 2023 by Abishek. https://drive.google.com/file/d/1bvgo75gqLzoerBIEtEObXep_6gpac6mZ/view?usp=sharing https://drive.google.com/file/d/1q4cmx3Ntscfynn_1Tc8W9VAqR9Tgn0NT/view?usp=sharing The module uses a Rev NEO for drive and rotation control. It uses a CTRE Cancoder positioned 1:1 with the wheel rotation. The code is kinda based off the FRC 1706 swerve module. Cancoder docs: https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/sensors/CANCoder.html The rotation of the modules is [0, 2π) radians, with 0 being straight ahead (I think). 0 or 2π ↑ π/2 ← * → 3π/2 ↓ π

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	TorqueSwerveModule2022.SwerveConfig	A structure to define the constants for the swerve module.
static final class	TorqueSwerveModule2022.SwervePorts

Field Summary

Fields

Modifier and Type	Field	Description
final String	name
final double	staticOffset
boolean	useCancoder
boolean	useSmartDrive

Fields inherited from class org.texastorque.torquelib.modules.base.TorqueSwerveModule

id

Constructor Summary

Constructors

Constructor	Description
TorqueSwerveModule2022(String name, int driveID, int turnID, int encoderID, double staticOffset, TorqueSwerveModule2022.SwerveConfig config)
TorqueSwerveModule2022(String name, TorqueSwerveModule2022.SwervePorts ports, double staticOffset, TorqueSwerveModule2022.SwerveConfig config)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.kinematics.SwerveModulePosition	getPosition()
edu.wpi.first.math.geometry.Rotation2d	getRotation()
edu.wpi.first.math.kinematics.SwerveModuleState	getState()
static void	normalize(edu.wpi.first.math.kinematics.SwerveModuleState[] states, double max)	Normalizes drive speeds to never exceed a specified max.
void	setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState state)
void	stop()
void	zero()

Methods inherited from class org.texastorque.torquelib.modules.base.TorqueSwerveModule

getPort

Methods inherited from class java.lang.Object

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

Field Details

staticOffset

public final double staticOffset

name

public final String name

useSmartDrive

public boolean useSmartDrive

useCancoder

public boolean useCancoder

Constructor Details

TorqueSwerveModule2022

public TorqueSwerveModule2022(String name,
 TorqueSwerveModule2022.SwervePorts ports,
 double staticOffset,
 TorqueSwerveModule2022.SwerveConfig config)

TorqueSwerveModule2022

public TorqueSwerveModule2022(String name,
 int driveID,
 int turnID,
 int encoderID,
 double staticOffset,
 TorqueSwerveModule2022.SwerveConfig config)

Method Details

setDesiredState

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

Specified by:

setDesiredState in class TorqueSwerveModule

getState

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

Specified by:

getState in class TorqueSwerveModule

getPosition

public edu.wpi.first.math.kinematics.SwerveModulePosition getPosition()

getRotation

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

Specified by:

getRotation in class TorqueSwerveModule

stop

public void stop()

zero

public void zero()

normalize

public static void normalize(edu.wpi.first.math.kinematics.SwerveModuleState[] states,
 double max)

Normalizes drive speeds to never exceed a specified max.

Parameters:

states - The swerve module states, this is mutated!

max - Maximum translational speed.