Package frc.robot.swerve

Class SwerveConfig

java.lang.Object
frc.robot.swerve.SwerveConfig
public class SwerveConfig extends Object

  • Constructor Details

    • SwerveConfig

      public SwerveConfig()

  • Method Details

    • getModules

      public com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>[] getModules()

    • updateConfig

      public SwerveConfig updateConfig()

    • configEncoderOffsets

      public SwerveConfig configEncoderOffsets(double frontLeft, double frontRight, double backLeft, double backRight)

    • getScoreOffsetFromReef

      public double getScoreOffsetFromReef()

    • getSimLoopPeriod

      public double getSimLoopPeriod()

    • getRobotWidth

      public double getRobotWidth()

    • setRobotWidth

      public SwerveConfig setRobotWidth(double robotWidth)
      Returns:
      this.

    • getRobotLength

      public double getRobotLength()

    • setRobotLength

      public SwerveConfig setRobotLength(double robotLength)
      Returns:
      this.

    • getMaxAngularRate

      public double getMaxAngularRate()

    • setMaxAngularRate

      public SwerveConfig setMaxAngularRate(double maxAngularRate)
      Returns:
      this.

    • getDeadband

      public double getDeadband()

    • setDeadband

      public SwerveConfig setDeadband(double deadband)
      Returns:
      this.

    • getDriveGearRatio

      public double getDriveGearRatio()

    • setDriveGearRatio

      public SwerveConfig setDriveGearRatio(double driveGearRatio)
      Returns:
      this.

    • getSteerGearRatio

      public double getSteerGearRatio()

    • setSteerGearRatio

      public SwerveConfig setSteerGearRatio(double steerGearRatio)
      Returns:
      this.

    • getWheelRadius

      public edu.wpi.first.units.measure.Distance getWheelRadius()

    • setWheelRadius

      public SwerveConfig setWheelRadius(edu.wpi.first.units.measure.Distance wheelRadius)
      Returns:
      this.

    • getSpeedAt12Volts

      public edu.wpi.first.units.measure.LinearVelocity getSpeedAt12Volts()

    • setSpeedAt12Volts

      public SwerveConfig setSpeedAt12Volts(edu.wpi.first.units.measure.LinearVelocity speedAt12Volts)
      Returns:
      this.

    • getKSdrive

      public double getKSdrive()

    • getKSsteer

      public double getKSsteer()

    • getMaxAngularVelocity

      public double getMaxAngularVelocity()

    • getMaxAngularAcceleration

      public double getMaxAngularAcceleration()

    • getKPRotationController

      public double getKPRotationController()

    • getKIRotationController

      public double getKIRotationController()

    • getKDRotationController

      public double getKDRotationController()

    • getRotationTolerance

      public double getRotationTolerance()

    • getKPHoldController

      public double getKPHoldController()

    • getKIHoldController

      public double getKIHoldController()

    • getKDHoldController

      public double getKDHoldController()

    • getKPTranslationController

      public double getKPTranslationController()

    • getKITranslationController

      public double getKITranslationController()

    • getKDTranslationController

      public double getKDTranslationController()

    • getTranslationTolerance

      public double getTranslationTolerance()

    • getTranslationConstraints

      public edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints getTranslationConstraints()

    • getKPTagCenterController

      public double getKPTagCenterController()

    • getKITagCenterController

      public double getKITagCenterController()

    • getKDTagCenterController

      public double getKDTagCenterController()

    • getTagCenterTolerance

      public double getTagCenterTolerance()

    • getKPTagDistanceController

      public double getKPTagDistanceController()

    • getKITagDistanceController

      public double getKITagDistanceController()

    • getKDTagDistanceController

      public double getKDTagDistanceController()

    • getTagDistanceTolerance

      public double getTagDistanceTolerance()

    • getBlueAlliancePerspectiveRotation

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

    • getRedAlliancePerspectiveRotation

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

    • getSteerGains

      public com.ctre.phoenix6.configs.Slot0Configs getSteerGains()

    • getDriveGains

      public com.ctre.phoenix6.configs.Slot0Configs getDriveGains()

    • getSteerClosedLoopOutput

      public com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType getSteerClosedLoopOutput()

    • getDriveClosedLoopOutput

      public com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType getDriveClosedLoopOutput()

    • getSlipCurrent

      public edu.wpi.first.units.measure.Current getSlipCurrent()

    • setSlipCurrent

      public SwerveConfig setSlipCurrent(edu.wpi.first.units.measure.Current slipCurrent)
      Returns:
      this.

    • getDriveInitialConfigs

      public com.ctre.phoenix6.configs.TalonFXConfiguration getDriveInitialConfigs()

    • getSteerInitialConfigs

      public com.ctre.phoenix6.configs.TalonFXConfiguration getSteerInitialConfigs()

    • getCanCoderInitialConfigs

      public com.ctre.phoenix6.configs.CANcoderConfiguration getCanCoderInitialConfigs()

    • getPigeonConfigs

      public com.ctre.phoenix6.configs.Pigeon2Configuration getPigeonConfigs()

    • getCoupleRatio

      public double getCoupleRatio()

    • isSteerMotorReversed

      public boolean isSteerMotorReversed()

    • setSteerMotorReversed

      public SwerveConfig setSteerMotorReversed(boolean steerMotorReversed)
      Returns:
      this.

    • isInvertLeftSide

      public boolean isInvertLeftSide()

    • setInvertLeftSide

      public SwerveConfig setInvertLeftSide(boolean invertLeftSide)
      Returns:
      this.

    • isInvertRightSide

      public boolean isInvertRightSide()

    • setInvertRightSide

      public SwerveConfig setInvertRightSide(boolean invertRightSide)
      Returns:
      this.

    • getCanBus

      public com.ctre.phoenix6.CANBus getCanBus()

    • setCanBus

      public SwerveConfig setCanBus(com.ctre.phoenix6.CANBus canBus)
      Returns:
      this.

    • getPigeonId

      public int getPigeonId()

    • getSteerInertia

      public double getSteerInertia()

    • getDriveInertia

      public double getDriveInertia()

    • getSteerFrictionVoltage

      public edu.wpi.first.units.measure.Voltage getSteerFrictionVoltage()

    • getDriveFrictionVoltage

      public edu.wpi.first.units.measure.Voltage getDriveFrictionVoltage()

    • getDrivetrainConstants

      public com.ctre.phoenix6.swerve.SwerveDrivetrainConstants getDrivetrainConstants()

    • getConstantCreator

      public com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getConstantCreator()

    • getFrontLeftDriveMotorId

      public int getFrontLeftDriveMotorId()

    • getFrontLeftSteerMotorId

      public int getFrontLeftSteerMotorId()

    • getFrontLeftEncoderId

      public int getFrontLeftEncoderId()

    • getFrontLeftEncoderOffset

      public edu.wpi.first.units.measure.Angle getFrontLeftEncoderOffset()

    • getFrontLeftXPos

      public edu.wpi.first.units.measure.Distance getFrontLeftXPos()

    • getFrontLeftYPos

      public edu.wpi.first.units.measure.Distance getFrontLeftYPos()

    • getFrontRightDriveMotorId

      public int getFrontRightDriveMotorId()

    • getFrontRightSteerMotorId

      public int getFrontRightSteerMotorId()

    • getFrontRightEncoderId

      public int getFrontRightEncoderId()

    • getFrontRightEncoderOffset

      public edu.wpi.first.units.measure.Angle getFrontRightEncoderOffset()

    • getFrontRightXPos

      public edu.wpi.first.units.measure.Distance getFrontRightXPos()

    • getFrontRightYPos

      public edu.wpi.first.units.measure.Distance getFrontRightYPos()

    • getBackLeftDriveMotorId

      public int getBackLeftDriveMotorId()

    • getBackLeftSteerMotorId

      public int getBackLeftSteerMotorId()

    • getBackLeftEncoderId

      public int getBackLeftEncoderId()

    • getBackLeftEncoderOffset

      public edu.wpi.first.units.measure.Angle getBackLeftEncoderOffset()

    • getBackLeftXPos

      public edu.wpi.first.units.measure.Distance getBackLeftXPos()

    • getBackLeftYPos

      public edu.wpi.first.units.measure.Distance getBackLeftYPos()

    • getBackRightDriveMotorId

      public int getBackRightDriveMotorId()

    • getBackRightSteerMotorId

      public int getBackRightSteerMotorId()

    • getBackRightEncoderId

      public int getBackRightEncoderId()

    • getBackRightEncoderOffset

      public edu.wpi.first.units.measure.Angle getBackRightEncoderOffset()

    • getBackRightXPos

      public edu.wpi.first.units.measure.Distance getBackRightXPos()

    • getBackRightYPos

      public edu.wpi.first.units.measure.Distance getBackRightYPos()

    • getFrontLeft

      public com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getFrontLeft()

    • getFrontRight

      public com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getFrontRight()

    • getBackLeft

      public com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getBackLeft()

    • getBackRight

      public com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration> getBackRight()

    • getTargetHeading

      public double getTargetHeading()

    • setTargetHeading

      public SwerveConfig setTargetHeading(double targetHeading)
      Returns:
      this.