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"
 
namespace valor {
 
using meters_per_turn_t = units::unit_t<units::compound_unit<units::meters, units::inverse<units::turn>>>;
 
class SwerveModule : public valor::Loggable {
   public:
    SwerveModule(BaseController* _azimuthMotor, BaseController* _driveMotor, frc::Translation2d _wheelLocation,
                 units::meter_t wheelDiameter, frc::sim::DCMotorSim driveSim, frc::sim::DCMotorSim azimuthSim);
 
    frc::Rotation2d getAzimuthPosition();
 
    units::meter_t getDrivePosition();
 
    units::meters_per_second_t getDriveSpeed();
    units::meters_per_second_t getMaxDriveSpeed();
 
    frc::SwerveModulePosition getModulePosition();
 
    frc::SwerveModuleState getState();
 
    void setDesiredState(frc::SwerveModuleState desiredState, bool isDriveOpenLoop);
 
    void setDesiredState(frc::SwerveModuleState desiredState) { setDesiredState(desiredState, false); }
 
    void resetDriveEncoder();
 
    void resetAzimuthEncoder();
 
    bool loadAndSetAzimuthZeroReference(std::vector<units::turn_t> offsets);
 
    void setAzimuthPosition(frc::Rotation2d angle);
 
    void setAzimuthPower(units::volt_t voltage);
    void setDrivePower(units::volt_t voltage);
 
    frc::Translation2d convertSwerveStateToVelocityVector(frc::SwerveModuleState state);
 
    void LoggablePeriodic() override;
 
    // Doesn't override anything, just for convention - called explicitly from
    // Swerve
    void SimulationPeriodic();
 
    BaseController* azimuthMotor;
    BaseController* driveMotor;
 
   private:
    units::turn_t getMagEncoderCount();
 
    void setDriveOpenLoop(units::meters_per_second_t mps);
    void setDriveClosedLoop(units::meters_per_second_t mps);
 
    frc::SwerveModuleState desiredState;
 
    int wheelIdx;
    units::turn_t initialMagEncoderValue;
    meters_per_turn_t wheelConversion;
 
    frc::sim::DCMotorSim driveSim;
    frc::sim::DCMotorSim azimuthSim;
};
}  // namespace valor