valor::SwerveModule Class Reference

SwerveModule. More...

#include <SwerveModule.h>

Inheritance diagram for valor::SwerveModule:

Public Member Functions
	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)
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
	Periodic callback for logging updates.
void	SimulationPeriodic ()
Public Member Functions inherited from valor::Loggable
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.
void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.
void	setLoggingPeriod (units::millisecond_t period)
	Set the minimum period between LoggablePeriodic() invocations.
template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)
template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)
template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Public Attributes
BaseController *	azimuthMotor
BaseController *	driveMotor

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()
Protected Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable ()
	Default construct an uninitialized Loggable.
virtual	~Loggable ()=default
	Virtual destructor.
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.
template<typename T >
T	WriteLog (std::string_view field, const T &data)
	Publish a value to NetworkTables under the given field.
template<typename T >
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.

Detailed Description

SwerveModule.

Usage:

SwerveModule swerve;

Member Function Documentation

getState()

frc::SwerveModuleState valor::SwerveModule::getState

(

)

Get the current state of the swerve module

Returns

current state of the swerve module

loadAndSetAzimuthZeroReference()

bool valor::SwerveModule::loadAndSetAzimuthZeroReference

(

std::vector< units::turn_t >

offsets

)

Save the current azimuth absolute encoder reference position in NetworkTables preferences. Call this method following physical alignment of the module wheel in its zeroed position. Used during module instantiation to initialize the relative encoder. Loads the current azimuth absolute encoder reference position and sets selected sensor encoder

Returns

if the mag encoder was successfully

LoggablePeriodic()

void valor::SwerveModule::LoggablePeriodic ( )

overridevirtual

Periodic callback for logging updates.

If a derived class needs to perform periodic updates to published values, override this method. It is intended to be called by the logging framework; this base class provides an empty implementation.

Reimplemented from valor::Loggable.

resetDriveEncoder()

void valor::SwerveModule::resetDriveEncoder

(

)

Resets the drive encoders to currently read a position of 0

setDesiredState() [1/2]

void valor::SwerveModule::setDesiredState ( frc::SwerveModuleState desiredState )

inline

Command the swerve module motors to the desired state using closed-loop drive speed control

Parameters

desiredState

the desired swerve module speed and angle

setDesiredState() [2/2]

void valor::SwerveModule::setDesiredState	(	frc::SwerveModuleState	desiredState,
		bool	isDriveOpenLoop )

Command the swerve module motors to the desired state

Parameters

desiredState	the desired swerve module speed and angle
isDriveOpen	true if drive should set speed using closed-loop velocity control

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The documentation for this class was generated from the following file:

• src/main/include/valkyrie/drivetrain/SwerveModule.h