Package swervelib.simulation.ironmaple.simulation.opponentsim

Class SmartOpponentConfig.ModuleConfig

java.lang.Object

swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig

Enclosing class:

SmartOpponentConfig

public static class SmartOpponentConfig.ModuleConfig
extends Object

The SmartOpponent's Module Config, this is an inner config that is only the module configuration.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SmartOpponentConfig.ModuleConfig.ModuleOptions	Module Options that MUST be set for the SmartOpponentConfig to be valid.
static enum	SmartOpponentConfig.ModuleConfig.Presets	A few module presets to simplify configs that don't need to be specific.

Field Summary

Fields

Modifier and Type	Field	Description
Current	driveCurrentLimit
Voltage	driveFrictionVoltage
double	driveGearRatio
DCMotor	driveMotor
LinearVelocity	maxDriveVelocity
SwerveModuleSimulation	moduleSim
com.pathplanner.lib.config.ModuleConfig	pathplannerModuleConfig
Set<SmartOpponentConfig.ModuleConfig.ModuleOptions>	requiredModuleOptions
MomentOfInertia	steerAngularInertia
Voltage	steerFrictionVoltage
double	steerGearRatio
DCMotor	steerMotor
double	wheelCOF
Distance	wheelRadius

Method Summary

Modifier and Type	Method	Description
static SmartOpponentConfig.ModuleConfig	clone(SmartOpponentConfig.ModuleConfig other)	Constructs a new SmartOpponentConfig.ModuleConfig from a SmartOpponentConfig.ModuleConfig.
SmartOpponentConfig.ModuleConfig	copy(SmartOpponentConfig.ModuleConfig other)	Copies the ModuleConfig from another ModuleConfig.
SwerveModuleSimulationConfig	createModuleSimConfig()	Creates a new SwerveModuleSimulation from a ModuleConfig.
com.pathplanner.lib.config.ModuleConfig	updatePathplannerModuleConfig()	Creates a new ModuleConfig from a ModuleConfig.
boolean	validConfig()	Checks if the config is valid.
SmartOpponentConfig.ModuleConfig	withDriveCurrentLimit(Current driveCurrentLimit)	Sets the drive Current limit.
SmartOpponentConfig.ModuleConfig	withDriveFrictionVoltage(Voltage driveFrictionVoltage)	Sets the friction voltage for the drive motor.
SmartOpponentConfig.ModuleConfig	withDriveGearRatio(double driveGearRatio)	Sets the gear ratios for the drive motor.
SmartOpponentConfig.ModuleConfig	withDriveMotor(DCMotor driveMotor)	Sets the drive DCMotor.
SmartOpponentConfig.ModuleConfig	withMaxDriveVelocity(LinearVelocity maxDriveVelocity)	Sets the max drive velocity.
SmartOpponentConfig.ModuleConfig	withSteerAngularInertia(MomentOfInertia steerAngularInertia)	Sets the steer angular inertia.
SmartOpponentConfig.ModuleConfig	withSteerFrictionVoltage(Voltage steerFrictionVoltage)	Sets the friction voltage for the steer motor.
SmartOpponentConfig.ModuleConfig	withSteerGearRatio(double steerGearRatio)	Sets the gear ratio for the steer motor.
SmartOpponentConfig.ModuleConfig	withSteerMotor(DCMotor dcMotor)	Sets the steer DCMotor.
SmartOpponentConfig.ModuleConfig	withWheelCOF(double wheelCOF)	Sets the wheel Coefficient of Friction.
SmartOpponentConfig.ModuleConfig	withWheelRadius(Distance wheelRadius)	Sets the wheel radius.

Methods inherited from class java.lang.Object

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

Field Details

wheelRadius

public Distance wheelRadius

wheelCOF

public double wheelCOF

driveMotor

public DCMotor driveMotor

steerMotor

public DCMotor steerMotor

driveGearRatio

public double driveGearRatio

steerGearRatio

public double steerGearRatio

driveFrictionVoltage

public Voltage driveFrictionVoltage

steerFrictionVoltage

public Voltage steerFrictionVoltage

steerAngularInertia

public MomentOfInertia steerAngularInertia

maxDriveVelocity

public LinearVelocity maxDriveVelocity

driveCurrentLimit

public Current driveCurrentLimit

requiredModuleOptions

public Set<SmartOpponentConfig.ModuleConfig.ModuleOptions> requiredModuleOptions

moduleSim

public SwerveModuleSimulation moduleSim

pathplannerModuleConfig

public com.pathplanner.lib.config.ModuleConfig pathplannerModuleConfig

Method Details

createModuleSimConfig

public SwerveModuleSimulationConfig createModuleSimConfig()

Creates a new SwerveModuleSimulation from a ModuleConfig. Gets saved for later use.

Returns:

the new SwerveModuleSimulation.

updatePathplannerModuleConfig

public com.pathplanner.lib.config.ModuleConfig updatePathplannerModuleConfig()

Creates a new ModuleConfig from a ModuleConfig.

Returns:

the new ModuleConfig.

validConfig

public boolean validConfig()

Checks if the config is valid.

Returns:

true if the config is valid, false otherwise.

withWheelRadius

public SmartOpponentConfig.ModuleConfig withWheelRadius(Distance wheelRadius)

Sets the wheel radius.

Parameters:

wheelRadius - The wheel radius.

Returns:

this, for chaining.

withWheelCOF

public SmartOpponentConfig.ModuleConfig withWheelCOF(double wheelCOF)

Sets the wheel Coefficient of Friction.

Parameters:

wheelCOF - The wheel Coefficient of Friction.

Returns:

this, for chaining.

withDriveMotor

public SmartOpponentConfig.ModuleConfig withDriveMotor(DCMotor driveMotor)

Sets the drive DCMotor.

Parameters:

driveMotor - The drive DCMotor.

Returns:

this, for chaining.

withSteerMotor

public SmartOpponentConfig.ModuleConfig withSteerMotor(DCMotor dcMotor)

Sets the steer DCMotor.

Parameters:

dcMotor - The steer DCMotor.

Returns:

this, for chaining.

withDriveGearRatio

public SmartOpponentConfig.ModuleConfig withDriveGearRatio(double driveGearRatio)

Sets the gear ratios for the drive motor.

Parameters:

driveGearRatio - The gear ratio for the drive motor.

Returns:

this, for chaining.

withSteerGearRatio

public SmartOpponentConfig.ModuleConfig withSteerGearRatio(double steerGearRatio)

Sets the gear ratio for the steer motor.

Parameters:

steerGearRatio - The gear ratio for the steer motor.

Returns:

this, for chaining.

withDriveFrictionVoltage

public SmartOpponentConfig.ModuleConfig withDriveFrictionVoltage(Voltage driveFrictionVoltage)

Sets the friction voltage for the drive motor.

Parameters:

driveFrictionVoltage - The friction voltage for the drive motor.

Returns:

this, for chaining.

withSteerFrictionVoltage

public SmartOpponentConfig.ModuleConfig withSteerFrictionVoltage(Voltage steerFrictionVoltage)

Sets the friction voltage for the steer motor.

Parameters:

steerFrictionVoltage - The friction voltage for the steer motor.

Returns:

this, for chaining.

withSteerAngularInertia

public SmartOpponentConfig.ModuleConfig withSteerAngularInertia(MomentOfInertia steerAngularInertia)

Sets the steer angular inertia.

Parameters:

steerAngularInertia - The steer angular inertia.

Returns:

this, for chaining.

withMaxDriveVelocity

public SmartOpponentConfig.ModuleConfig withMaxDriveVelocity(LinearVelocity maxDriveVelocity)

Sets the max drive velocity.

Parameters:

maxDriveVelocity - The max drive velocity.

Returns:

this, for chaining.

withDriveCurrentLimit

public SmartOpponentConfig.ModuleConfig withDriveCurrentLimit(Current driveCurrentLimit)

Sets the drive Current limit.

Parameters:

driveCurrentLimit - The drive Current limit.

Returns:

this, for chaining.

copy

public SmartOpponentConfig.ModuleConfig copy(SmartOpponentConfig.ModuleConfig other)

Copies the ModuleConfig from another ModuleConfig.

Parameters:

other - the other ModuleConfig to copy from.

Returns:

this, for chaining.

clone

public static SmartOpponentConfig.ModuleConfig clone(SmartOpponentConfig.ModuleConfig other)

Constructs a new SmartOpponentConfig.ModuleConfig from a SmartOpponentConfig.ModuleConfig.

Parameters:

other - the other ModuleConfig to copy from.

Returns:

the new ModuleConfig.