Package swervelib.motors

Class ThriftyNovaSwerve

java.lang.Object
swervelib.motors.SwerveMotor
swervelib.motors.ThriftyNovaSwerve
All Implemented Interfaces:
AutoCloseable
public class ThriftyNovaSwerve extends SwerveMotor
An implementation of ThriftyNova as a SwerveMotor.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    PIDController
    pid
    Closed-loop PID controller.

    Fields inherited from class swervelib.motors.SwerveMotor

    isDriveMotor, maximumRetries

  • Constructor Summary

    Constructors
    Constructor
    Description
    ThriftyNovaSwerve(int id, boolean isDriveMotor, DCMotor motor)
    Initialize the SwerveMotor as a ThriftyNova connected to a Brushless Motor.
    ThriftyNovaSwerve(com.thethriftybot.ThriftyNova motor, boolean isDriveMotor, DCMotor motorType)
    Initialize the swerve motor.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    burnFlash()
    Save the configurations from flash to EEPROM.
    void
    clearStickyFaults()
    Clear the sticky faults on the motor controller.
    void
    close()
    Close the motor controller and release any resources it may have acquired.
    void
    configureCANStatusFrames(double fault, double sensor, double quadSensor, double control, double current)
    Set the CAN status frames.
    void
    configureIntegratedEncoder(double positionConversionFactor)
    Configure the integrated encoder for the ThriftyNova swerve module.
    void
    configurePIDF(PIDFConfig config)
    Configure the PIDF values for the closed loop controller.
    void
    configurePIDWrapping(double minInput, double maxInput)
    Configure the PID wrapping for the position closed loop controller.
    void
    disablePIDWrapping()
    Disable PID Wrapping on the motor.
    void
    factoryDefaults()
    Set factory defaults on the motor controller.
    double
    getAppliedOutput()
    Get the voltage output of the motor controller.
    Object
    getMotor()
    Get the motor object from the module.
    double
    getPosition()
    Get the position of the integrated encoder.
    DCMotor
    getSimMotor()
    Get the simulated DCMotor associated with this motor controller.
    double
    getVelocity()
    Get the velocity of the integrated encoder.
    double
    getVoltage()
    Get the voltage output of the motor controller.
    void
    set(double percentOutput)
    Set the percentage output.
    SwerveMotor
    setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
    Set the absolute encoder to be a compatible absolute encoder.
    void
    setCurrentLimit(int currentLimit)
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
    void
    setInverted(boolean inverted)
    Set the motor to be inverted.
    void
    setLoopRampRate(double rampRate)
    Set the maximum rate the open/closed loop output can change by.
    void
    setMotorBrake(boolean isBrakeMode)
    Set the idle mode.
    void
    setPosition(double position)
    Set the integrated encoder position.
    void
    setReference(double setpoint, double feedforward)
    Set the closed loop PID controller reference point.
    void
    setReference(double setpoint, double feedforward, double position)
    Set the closed loop PID controller reference point.
    void
    setVoltage(double voltage)
    Set the voltage of the motor.
    void
    setVoltageCompensation(double nominalVoltage)
    Set the voltage compensation for the swerve module motor.
    boolean
    usingExternalFeedbackSensor()
    Queries whether the absolute encoder is directly attached to the motor controller.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

  • Constructor Details

    • ThriftyNovaSwerve

      public ThriftyNovaSwerve(com.thethriftybot.ThriftyNova motor, boolean isDriveMotor, DCMotor motorType)
      Initialize the swerve motor.
      Parameters:
      motor - The SwerveMotor as a ThriftyNova object.
      isDriveMotor - Is the motor being initialized a drive motor?
      motorType - DCMotor controlled by the ThriftyNova

    • ThriftyNovaSwerve

      public ThriftyNovaSwerve(int id, boolean isDriveMotor, DCMotor motor)
      Initialize the SwerveMotor as a ThriftyNova connected to a Brushless Motor.
      Parameters:
      id - CAN ID of the ThriftyNova.
      isDriveMotor - Is the motor being initialized a drive motor?
      motor - DCMotor controlled by the ThriftyNova

  • Method Details

    • close

      public void close()
      Close the motor controller and release any resources it may have acquired.
      Specified by:
      close in interface AutoCloseable
      Specified by:
      close in class SwerveMotor
      Throws:
      RuntimeException - If an exception is thrown while closing the motor.

    • factoryDefaults

      public void factoryDefaults()
      Set factory defaults on the motor controller.
      Specified by:
      factoryDefaults in class SwerveMotor

    • clearStickyFaults

      public void clearStickyFaults()
      Clear the sticky faults on the motor controller.
      Specified by:
      clearStickyFaults in class SwerveMotor

    • setAbsoluteEncoder

      public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
      Set the absolute encoder to be a compatible absolute encoder.
      Specified by:
      setAbsoluteEncoder in class SwerveMotor
      Parameters:
      encoder - The encoder to use.
      Returns:
      The SwerveMotor for easy instantiation.

    • configureIntegratedEncoder

      public void configureIntegratedEncoder(double positionConversionFactor)
      Configure the integrated encoder for the ThriftyNova swerve module. Sets the conversion factors for position and velocity, and configures the CAN status frames.
      Specified by:
      configureIntegratedEncoder in class SwerveMotor
      Parameters:
      positionConversionFactor - The conversion factor to apply for position.

    • configureCANStatusFrames

      public void configureCANStatusFrames(double fault, double sensor, double quadSensor, double control, double current)
      Set the CAN status frames.
      Parameters:
      fault - Fault transmission rate
      sensor - Sensor transmission rate
      quadSensor - External quad encoder transmission rate
      control - Control frame transmission rate
      current - Current feedback transmission rate

    • configurePIDF

      public void configurePIDF(PIDFConfig config)
      Configure the PIDF values for the closed loop controller. 0 is disabled or off.
      Specified by:
      configurePIDF in class SwerveMotor
      Parameters:
      config - Configuration class holding the PIDF values.

    • configurePIDWrapping

      public void configurePIDWrapping(double minInput, double maxInput)
      Configure the PID wrapping for the position closed loop controller.
      Specified by:
      configurePIDWrapping in class SwerveMotor
      Parameters:
      minInput - Minimum PID input.
      maxInput - Maximum PID input.

    • disablePIDWrapping

      public void disablePIDWrapping()
      Disable PID Wrapping on the motor.
      Specified by:
      disablePIDWrapping in class SwerveMotor

    • setMotorBrake

      public void setMotorBrake(boolean isBrakeMode)
      Set the idle mode.
      Specified by:
      setMotorBrake in class SwerveMotor
      Parameters:
      isBrakeMode - Set the brake mode.

    • setInverted

      public void setInverted(boolean inverted)
      Set the motor to be inverted.
      Specified by:
      setInverted in class SwerveMotor
      Parameters:
      inverted - State of inversion.

    • burnFlash

      public void burnFlash()
      Save the configurations from flash to EEPROM.
      Specified by:
      burnFlash in class SwerveMotor

    • set

      public void set(double percentOutput)
      Set the percentage output.
      Specified by:
      set in class SwerveMotor
      Parameters:
      percentOutput - percent out for the motor controller.

    • setReference

      public void setReference(double setpoint, double feedforward)
      Set the closed loop PID controller reference point.
      Specified by:
      setReference in class SwerveMotor
      Parameters:
      setpoint - Setpoint in MPS or Angle in degrees.
      feedforward - Feedforward in volt-meter-per-second or kV.

    • setReference

      public void setReference(double setpoint, double feedforward, double position)
      Set the closed loop PID controller reference point.
      Specified by:
      setReference in class SwerveMotor
      Parameters:
      setpoint - Setpoint in meters per second or angle in degrees.
      feedforward - Feedforward in volt-meter-per-second or kV.
      position - Only used on the angle motor, the position of the motor in degrees.

    • getVoltage

      public double getVoltage()
      Get the voltage output of the motor controller.
      Specified by:
      getVoltage in class SwerveMotor
      Returns:
      Voltage output.

    • setVoltage

      public void setVoltage(double voltage)
      Set the voltage of the motor.
      Specified by:
      setVoltage in class SwerveMotor
      Parameters:
      voltage - Voltage to set.

    • getAppliedOutput

      public double getAppliedOutput()
      Get the voltage output of the motor controller.
      Specified by:
      getAppliedOutput in class SwerveMotor
      Returns:
      Voltage output.

    • getVelocity

      public double getVelocity()
      Get the velocity of the integrated encoder.
      Specified by:
      getVelocity in class SwerveMotor
      Returns:
      velocity in Meters Per Second, or Degrees per Second.

    • getPosition

      public double getPosition()
      Get the position of the integrated encoder.
      Specified by:
      getPosition in class SwerveMotor
      Returns:
      Position in Meters or Degrees.

    • setPosition

      public void setPosition(double position)
      Set the integrated encoder position.
      Specified by:
      setPosition in class SwerveMotor
      Parameters:
      position - Integrated encoder position. Should be angle in degrees or meters.

    • setVoltageCompensation

      public void setVoltageCompensation(double nominalVoltage)
      Set the voltage compensation for the swerve module motor.
      Specified by:
      setVoltageCompensation in class SwerveMotor
      Parameters:
      nominalVoltage - Nominal voltage for operation to output to.

    • setCurrentLimit

      public void setCurrentLimit(int currentLimit)
      Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation. This is useful to protect the motor from current spikes.
      Specified by:
      setCurrentLimit in class SwerveMotor
      Parameters:
      currentLimit - Current limit in AMPS at free speed.

    • setLoopRampRate

      public void setLoopRampRate(double rampRate)
      Set the maximum rate the open/closed loop output can change by.
      Specified by:
      setLoopRampRate in class SwerveMotor
      Parameters:
      rampRate - Time in seconds to go from 0 to full throttle.

    • getMotor

      public Object getMotor()
      Get the motor object from the module.
      Specified by:
      getMotor in class SwerveMotor
      Returns:
      Motor object.

    • usingExternalFeedbackSensor

      public boolean usingExternalFeedbackSensor()
      Queries whether the absolute encoder is directly attached to the motor controller.
      Specified by:
      usingExternalFeedbackSensor in class SwerveMotor
      Returns:
      connected absolute encoder state.

    • getSimMotor

      public DCMotor getSimMotor()
      Get the simulated DCMotor associated with this motor controller.
      Specified by:
      getSimMotor in class SwerveMotor
      Returns:
      Simulated DCMotor instance.