valor::swerve::SwerveModule Class Reference

SwerveModule. More...

#include <valkyrie/drivetrain/swerve/SwerveModule.h>

Inheritance diagram for valor::swerve::SwerveModule:

Public Member Functions
	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)
BaseController &	GetDriveMotor () const
BaseController &	GetAzimuthMotor () const
void	Reset ()
void	LoggablePeriodic () override
	Periodic callback for logging updates.
void	SimulationPeriodic ()
Public Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable (std::shared_ptr< nt::NetworkTable > table)
	Construct a Loggable that uses an existing NetworkTable.
	Loggable ()
	Default construct an uninitialized 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	SetPeriodicLevel (LogLevel level)
	Set the logging level for LoggablePeriodic.
template<typename T>
T	WriteLog (std::string_view field, const T &data, LogLevel level=LogLevel::Normal)
	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.
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)

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()
static constexpr Loggable &	GetRoot ()
Protected Member Functions inherited from valor::Loggable
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.

Detailed Description

SwerveModule.

Usage:

SwerveModule swerve;

Member Function Documentation

LoggablePeriodic()

void valor::swerve::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.

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

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