Reefscape2025/frc.robot.subsystems/SwerveModule

SwerveModule

public class SwerveModule

Represents a swerve module used in a swerve drive system.

Constructors

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public void SwerveModule(int driveId, int steerId, int canCoderID, double canCoderDriveStraightSteerSetPoint)
Constructs a new SwerveModule.

Properties

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public SwerveModuleState state

Functions

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public void applyTelePIDValues()
Applies the PID configuration values for teleoperation mode.
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public SwerveModulePosition getPosition()
Gets the current position of the swerve module.
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public SwerveModuleState getState()
Gets the current state of the swerve module.
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public void initializeAlarms(int driveId, int steerId, int canCoderId)
Initializes alerts for disconnected components.
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public void initializeLoggedNetworkPID()
Initializes the logged network PID values for the drive and steer motors.
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public void resetDrivePosition()
Resets the drive motor position to zero.
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public void setAutoPID()
Sets the PID values for autonomous mode.
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public void setDrivePingu(Pingu pingu)
Sets the PID configuration values for the drive motor using a Pingu configuration object.
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public void setState(SwerveModuleState desiredState)
Sets the state of the swerve module.
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public void setSteerPingu(Pingu pingu)
Sets the PID configuration values for the steer motor using a Pingu configuration object.
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public void setTelePID()
Sets the PID values for teleoperation mode.
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public void stop()
Stops the swerve module motors.
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public void updateTelePID()
Updates the PID values for teleoperation mode.