SwerveModule

public final class SwerveModule

Represents a swerve module used in a swerve drive system.

Constructors

public SwerveModule SwerveModule(Integer driveId, Integer steerId, Integer canCoderID, Double canCoderDriveStraightSteerSetPoint)

private final SwerveModulePosition position

Gets the current position of the swerve module.

private SwerveModuleState state

public final SwerveModulePosition getPosition()

public final SwerveModuleState getState()

public final Unit initializeAlarms(Integer driveID, Integer steerID, Integer canCoderID)

Resets the drive motor position to zero.

public final Unit setAutoPID()

Sets the PID values for autonomous mode.

public final Unit setDrivePID(ERROR CLASS: Symbol not found for Pingu pid, Double velocity)

Sets the drive PID values.

public final Unit setState(SwerveModuleState value)

public final Unit setSteerPID(ERROR CLASS: Symbol not found for Pingu pid, Double velocity)

Sets the steer PID values.

public final Unit setTelePID()

Sets the PID values for teleoperation mode.

public final Unit stop()

Stops the swerve module motors.