SwerveModule.h

#pragma once
 
#include <ctre/phoenix6/CANcoder.hpp>
#include <frc/DutyCycleEncoder.h>
#include <frc/Filesystem.h>
#include <frc/geometry/Rotation2d.h>
#include <frc/geometry/Translation2d.h>
#include <frc/kinematics/SwerveModulePosition.h>
#include <frc/kinematics/SwerveModuleState.h>
#include <frc/simulation/DCMotorSim.h>
#include <units/voltage.h>
 
#include "valkyrie/Loggable.h"
#include "valkyrie/controllers/BaseController.h"
#include "valkyrie/drivetrain/swerve/Requests.h"
 
namespace valor {
namespace swerve {
 
using meters_per_turn_t = units::unit_t<units::compound_unit<units::meters, units::inverse<units::turn>>>;

class SwerveModule : public valor::Loggable {
   public:
    SwerveModule(std::unique_ptr<BaseController> azimuthMotor, std::unique_ptr<BaseController> driveMotor, units::meter_t wheelDiameter,
                 frc::sim::DCMotorSim driveSim, frc::sim::DCMotorSim azimuthSim);
 
    frc::SwerveModuleState GetState() const;
    frc::SwerveModulePosition GetPosition() const;
 
    units::meters_per_second_t GetMaxSpeed() const;
 
    void ApplyRequest(requests::ApplyState);
 
    inline BaseController& GetDriveMotor() const { return *driveMotor; }
 
    inline BaseController& GetAzimuthMotor() const { return *azimuthMotor; }
 
    void Reset();
 
    void LoggablePeriodic() override;
 
    // Doesn't override anything, just for convention - called explicitly from
    // Swerve
    void SimulationPeriodic();
 
   private:
    std::unique_ptr<BaseController> azimuthMotor;
    std::unique_ptr<BaseController> driveMotor;
 
    meters_per_turn_t wheelConversion;
 
    frc::sim::DCMotorSim driveSim;
    frc::sim::DCMotorSim azimuthSim;
};
 
}  // namespace swerve
}  // namespace valor