#include <SwerveModuleConfig.hpp>

Public Types
using	TelemetryVerbosity = motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity

Public Member Functions
	SwerveModuleConfig ()=default

	SwerveModuleConfig (motorcontrollers::SmartMotorController drive, motorcontrollers::SmartMotorController azimuth)

SwerveModuleConfig &	WithSmartMotorController (motorcontrollers::SmartMotorController driveMotor, motorcontrollers::SmartMotorController azimuthMotor)

SwerveModuleConfig &	WithCosineCompensation (bool compensate)

SwerveModuleConfig &	WithAbsoluteEncoder (std::function< wpi::units::degree_t()> supplier)

SwerveModuleConfig &	WithExternalAbsoluteEncoder (std::any absoluteEncoder)

SwerveModuleConfig &	WithCouplingRatio (std::optional< gearing::GearBox > couplingRatio)

SwerveModuleConfig &	WithCouplingRatio (double driveMotorRotationsPerAzimuthRotation)

SwerveModuleConfig &	WithDistanceFromCenterOfRotation (wpi::units::meter_t front, wpi::units::meter_t left)

SwerveModuleConfig &	WithAbsoluteEncoderGearing (const gearing::GearBox &gearing)

SwerveModuleConfig &	WithAbsoluteEncoderOffset (wpi::units::degree_t offset)

SwerveModuleConfig &	WithLocation (wpi::math::Translation2d location)

SwerveModuleConfig &	WithLocation (wpi::units::meter_t front, wpi::units::meter_t left)

SwerveModuleConfig &	WithLocation (wpi::units::meter_t distance, wpi::units::degree_t angle)

SwerveModuleConfig &	WithWheelRadius (wpi::units::meter_t radius)

SwerveModuleConfig &	WithWheelDiameter (wpi::units::meter_t diameter)

SwerveModuleConfig &	WithVelocityDeadband (std::optional< wpi::units::meters_per_second_t > speed)

SwerveModuleConfig &	WithOptimization (bool enable)

SwerveModuleConfig &	WithTelemetry (const std::string &name, TelemetryVerbosity verbosity)

SwerveModuleConfig &	WithTelemetry (const std::string &name, telemetry::SwerveModuleTelemetryConfig telemetryConfig)

motorcontrollers::SmartMotorController *	GetDriveMotor () const

motorcontrollers::SmartMotorController *	GetAzimuthMotor () const

std::optional< std::string >	GetTelemetryName () const

std::optional< TelemetryVerbosity >	GetTelemetryVerbosity () const

std::optional< wpi::math::Translation2d >	GetLocation () const

bool	GetStateOptimization () const

wpi::units::degree_t	GetAbsoluteEncoderAngle () const

std::function< wpi::units::degree_t()>	GetRawAbsoluteEncoderAngle () const

std::optional< std::function< wpi::units::degree_t()> >	GetAbsoluteEncoderSupplier () const

std::optional< telemetry::SwerveModuleTelemetryConfig >	GetSwerveModuleTelemetryConfig ()

wpi::math::SwerveModuleVelocity	GetOptimizedState (wpi::math::SwerveModuleVelocity state) const

wpi::math::SwerveModuleVelocity	GetOptimizedState (wpi::math::SwerveModuleVelocity state, const swerve::SwerveModuleVelocityWithAzimuth &measured) const

double	GetCosineCompensationScalar (wpi::math::Rotation2d desiredAngle) const

std::optional< gearing::GearBox >	GetCouplingRatio () const

wpi::math::SwerveModuleVelocity	GetLockedState (wpi::math::Rotation2d angle) const

wpi::math::SwerveModuleVelocity	GetLockedState (wpi::math::Rotation2d angle, const swerve::SwerveModuleVelocityWithAzimuth &measured) const

Detailed Description

Configuration for a single SwerveModule.

Uses a fluent builder pattern; all With* methods return *this for chaining.

Member Typedef Documentation

◆ TelemetryVerbosity

using yams::mechanisms::config::SwerveModuleConfig::TelemetryVerbosity = motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity

Constructor & Destructor Documentation

◆ SwerveModuleConfig() [1/2]

yams::mechanisms::config::SwerveModuleConfig::SwerveModuleConfig ( )

default

◆ SwerveModuleConfig() [2/2]

yams::mechanisms::config::SwerveModuleConfig::SwerveModuleConfig	(	motorcontrollers::SmartMotorController *	drive,
		motorcontrollers::SmartMotorController *	azimuth
	)

Construct with drive and azimuth motor controllers.

Parameters

drive	Drive motor controller (must outlive this config).
azimuth	Azimuth motor controller (must outlive this config).

Member Function Documentation

◆ GetAbsoluteEncoderAngle()

wpi::units::degree_t yams::mechanisms::config::SwerveModuleConfig::GetAbsoluteEncoderAngle ( ) const

Get the current absolute encoder angle with gearing and offset applied.

Falls back to the azimuth motor's mechanism position if no encoder supplier is set.

Returns: Absolute angle in degrees.

◆ GetAbsoluteEncoderSupplier()

std::optional< std::function< wpi::units::degree_t()> > yams::mechanisms::config::SwerveModuleConfig::GetAbsoluteEncoderSupplier ( ) const

Get the absolute encoder supplier, if configured via WithAbsoluteEncoder().

◆ GetAzimuthMotor()

motorcontrollers::SmartMotorController * yams::mechanisms::config::SwerveModuleConfig::GetAzimuthMotor ( ) const

Get the azimuth motor controller pointer.

◆ GetCosineCompensationScalar()

double yams::mechanisms::config::SwerveModuleConfig::GetCosineCompensationScalar ( wpi::math::Rotation2d desiredAngle ) const

The scale cosine compensation applies to a wheel aimed at the desired angle: the cosine of the azimuth error, and never below zero. It is 1 when cosine compensation is off.

Parameters

desiredAngle Angle the wheel is being sent to.

Returns: Scale from 0 to 1.

◆ GetCouplingRatio()

std::optional< gearing::GearBox > yams::mechanisms::config::SwerveModuleConfig::GetCouplingRatio ( ) const

Get the coupling ratio, if configured via WithCouplingRatio().

◆ GetDriveMotor()

motorcontrollers::SmartMotorController * yams::mechanisms::config::SwerveModuleConfig::GetDriveMotor ( ) const

Get the drive motor controller pointer.

◆ GetLocation()

std::optional< wpi::math::Translation2d > yams::mechanisms::config::SwerveModuleConfig::GetLocation ( ) const

Get the optional module location (Translation2d from centre of rotation).

◆ GetLockedState() [1/2]

wpi::math::SwerveModuleVelocity yams::mechanisms::config::SwerveModuleConfig::GetLockedState ( wpi::math::Rotation2d angle ) const

Get the state that turns the wheel to the given angle without driving it, as for locking the drive in place. Unlike GetOptimizedState(), the velocity deadband does not hold the wheel where it is, since the wheel is meant to turn without driving. With optimization enabled the wheel turns to whichever of the angle and its opposite is nearer, as either holds the drive the same way.

Parameters

angle Angle to turn the wheel to.

Returns: Zero speed state at the angle to turn the wheel to.

◆ GetLockedState() [2/2]

wpi::math::SwerveModuleVelocity yams::mechanisms::config::SwerveModuleConfig::GetLockedState	(	wpi::math::Rotation2d	angle,
		const swerve::SwerveModuleVelocityWithAzimuth &	measured
	)		const

Get the state that turns the wheel to the given angle without driving it, against a measured state.

Parameters

angle	Angle to turn the wheel to.
measured	The module's measured state.

Returns: Zero speed state at the angle to turn the wheel to.

◆ GetOptimizedState() [1/2]

wpi::math::SwerveModuleVelocity yams::mechanisms::config::SwerveModuleConfig::GetOptimizedState ( wpi::math::SwerveModuleVelocity state ) const

Apply all enabled optimizations (velocity deadband, state optimization, cosine compensation) and return the resulting state.

Parameters

state Input state.

Returns: Optimized state.

◆ GetOptimizedState() [2/2]

wpi::math::SwerveModuleVelocity yams::mechanisms::config::SwerveModuleConfig::GetOptimizedState	(	wpi::math::SwerveModuleVelocity	state,
		const swerve::SwerveModuleVelocityWithAzimuth &	measured
	)		const

Apply all enabled optimizations against a measured state.

Parameters

state	Input state.
measured	The module's measured state.

Returns: Optimized state.

◆ GetRawAbsoluteEncoderAngle()

std::function< wpi::units::degree_t()> yams::mechanisms::config::SwerveModuleConfig::GetRawAbsoluteEncoderAngle ( ) const

Get the absolute encoder angle as a supplier without offsets applied.

Falls back to the azimuth motor's mechanism position (plus its external encoder zero offset, on a real robot) if no encoder supplier is set.

Returns: Callable returning the absolute encoder angle without offsets.

◆ GetStateOptimization()

bool yams::mechanisms::config::SwerveModuleConfig::GetStateOptimization ( ) const

Returns true if state optimization is enabled.

◆ GetSwerveModuleTelemetryConfig()

std::optional< telemetry::SwerveModuleTelemetryConfig > yams::mechanisms::config::SwerveModuleConfig::GetSwerveModuleTelemetryConfig ( )

Get the user-specified SwerveModuleTelemetryConfig, if configured via WithTelemetry(name, SwerveModuleTelemetryConfig). Moves the config out of this SwerveModuleConfig; intended to be called exactly once, when the owning SwerveModule sets up its telemetry.

Returns: SwerveModuleTelemetryConfig if configured.

◆ GetTelemetryName()

std::optional< std::string > yams::mechanisms::config::SwerveModuleConfig::GetTelemetryName ( ) const

Get the optional telemetry name.

◆ GetTelemetryVerbosity()

std::optional< TelemetryVerbosity > yams::mechanisms::config::SwerveModuleConfig::GetTelemetryVerbosity ( ) const

Get the optional telemetry verbosity.

◆ WithAbsoluteEncoder()

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithAbsoluteEncoder ( std::function< wpi::units::degree_t()> supplier )

Supply an external (cross-vendor) absolute encoder angle in degrees.

Parameters

supplier Callable that returns the current encoder angle.

Returns: *this for chaining.

◆ WithAbsoluteEncoderGearing()

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithAbsoluteEncoderGearing ( const gearing::GearBox & gearing )

Set the gearing between the absolute encoder shaft and the azimuth mechanism.

Parameters

gearing GearBox representing the encoder-to-mechanism ratio.

Returns: *this for chaining.

◆ WithAbsoluteEncoderOffset()

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithAbsoluteEncoderOffset ( wpi::units::degree_t offset )

Set the absolute encoder offset so that zero corresponds to the wheel pointing forward with the bevel gear facing left.

Parameters

offset Offset angle to subtract from the raw encoder reading.

Returns: *this for chaining.

◆ WithCosineCompensation()

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithCosineCompensation ( bool compensate )

Enable or disable cosine compensation of the drive velocity.

Scales drive speed by cos(angle_error) to reduce skew during steering.

Parameters

compensate true to enable.

Returns: *this for chaining.

◆ WithCouplingRatio() [1/2]

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithCouplingRatio ( double driveMotorRotationsPerAzimuthRotation )

Set the coupling ratio as a number. Zero turns it off.

Parameters

driveMotorRotationsPerAzimuthRotation Drive motor rotations per azimuth rotation.

Returns: *this for chaining.

◆ WithCouplingRatio() [2/2]

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithCouplingRatio ( std::optional< gearing::GearBox > couplingRatio )

Set the coupling ratio: how far the drive motor turns when the azimuth turns once with the wheel held still. On most modules turning the azimuth also turns the wheel a little, which shows up as wheel travel that did not happen. With this set, the module takes it out of the wheel's position and velocity, and adds it to the velocity it commands.

Parameters

couplingRatio Drive motor rotations per azimuth rotation, as a gearbox.

Returns: *this for chaining.

◆ WithDistanceFromCenterOfRotation()

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithDistanceFromCenterOfRotation	(	wpi::units::meter_t	front,
		wpi::units::meter_t	left
	)

Set where the module is, measured from the center of rotation. The same as WithLocation.

Parameters

front	Distance toward the front of the robot.
left	Distance toward the left of the robot.

Returns: *this for chaining.

◆ WithExternalAbsoluteEncoder()

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithExternalAbsoluteEncoder ( std::any absoluteEncoder )

Use an absolute encoder object from the azimuth motor controller's own vendor as the azimuth's external encoder, as SmartMotorControllerConfig::WithExternalEncoder does. It replaces a supplier given with WithAbsoluteEncoder, and is applied when the motor controllers are given if they have not been yet.

Parameters

absoluteEncoder The encoder, such as a pointer to a CANcoder.

Returns: *this for chaining.

◆ WithLocation() [1/3]

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithLocation ( wpi::math::Translation2d location )

Set the module location from the robot center as a Cartesian Translation2d (X = forward, Y = left) in metres.

Parameters

location Location of the module.

Returns: *this for chaining.

◆ WithLocation() [2/3]

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithLocation	(	wpi::units::meter_t	distance,
		wpi::units::degree_t	angle
	)

Set the module location via polar coordinates.

Parameters

distance	Radial distance from the centre of rotation.
angle	Angular position around the centre of rotation.

Returns: *this for chaining.

◆ WithLocation() [3/3]

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithLocation	(	wpi::units::meter_t	front,
		wpi::units::meter_t	left
	)

Set the module location via separate forward (X) and left (Y) distances.

Parameters

front	Distance forward from the centre of rotation.
left	Distance left from the centre of rotation.

Returns: *this for chaining.

◆ WithOptimization()

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithOptimization ( bool enable )

Enable or disable WPILib SwerveModuleState optimization (flip by 180° to minimise rotation).

Parameters

enable true to enable (default is true).

Returns: *this for chaining.

◆ WithSmartMotorController()

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithSmartMotorController	(	motorcontrollers::SmartMotorController *	driveMotor,
		motorcontrollers::SmartMotorController *	azimuthMotor
	)

Set both motor controllers (use when constructed with the default constructor).

Parameters

driveMotor	Drive motor controller.
azimuthMotor	Azimuth motor controller.

Returns: *this for chaining.

◆ WithTelemetry() [1/2]

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithTelemetry	(	const std::string &	name,
		telemetry::SwerveModuleTelemetryConfig	telemetryConfig
	)

Set the telemetry name for this module and configure telemetry with an explicit SwerveModuleTelemetryConfig, taking precedence over WithTelemetry(name, TelemetryVerbosity).

Parameters

name	NetworkTable key for this module's data.
telemetryConfig	Config that specifies what to log.

Returns: *this for chaining.

◆ WithTelemetry() [2/2]

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithTelemetry	(	const std::string &	name,
		TelemetryVerbosity	verbosity
	)

Set the telemetry name and verbosity for this module.

Parameters

name	NetworkTable key for this module's data.
verbosity	Amount of data to publish.

Returns: *this for chaining.

◆ WithVelocityDeadband()

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithVelocityDeadband ( std::optional< wpi::units::meters_per_second_t > speed )

Velocity deadband: a requested wheel speed at or below it stops the module and holds its current azimuth instead of tracking.

The default is 0.1 m/s. Pass std::nullopt to turn it off.

Parameters

speed Velocity deadband.

Returns: *this for chaining.

◆ WithWheelDiameter()

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithWheelDiameter ( wpi::units::meter_t diameter )

Set the wheel diameter (derives the circumference used for linear-distance conversion).

Parameters

diameter Wheel diameter.

Returns: *this for chaining.

◆ WithWheelRadius()

SwerveModuleConfig & yams::mechanisms::config::SwerveModuleConfig::WithWheelRadius ( wpi::units::meter_t radius )

Set the wheel radius (derives the circumference used for linear-distance conversion).

Parameters

radius Wheel radius.

Returns: *this for chaining.

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

/home/runner/work/YAMS/YAMS/yams/cpp/include/yams/mechanisms/config/SwerveModuleConfig.hpp

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ TelemetryVerbosity

Constructor & Destructor Documentation

◆ SwerveModuleConfig() [1/2]

◆ SwerveModuleConfig() [2/2]

Member Function Documentation

◆ GetAbsoluteEncoderAngle()

◆ GetAbsoluteEncoderSupplier()

◆ GetAzimuthMotor()

◆ GetCosineCompensationScalar()

◆ GetCouplingRatio()

◆ GetDriveMotor()

◆ GetLocation()

◆ GetLockedState() [1/2]

◆ GetLockedState() [2/2]

◆ GetOptimizedState() [1/2]

◆ GetOptimizedState() [2/2]

◆ GetRawAbsoluteEncoderAngle()

◆ GetStateOptimization()

◆ GetSwerveModuleTelemetryConfig()

◆ GetTelemetryName()

◆ GetTelemetryVerbosity()

◆ WithAbsoluteEncoder()

◆ WithAbsoluteEncoderGearing()

◆ WithAbsoluteEncoderOffset()

◆ WithCosineCompensation()

◆ WithCouplingRatio() [1/2]

◆ WithCouplingRatio() [2/2]

◆ WithDistanceFromCenterOfRotation()

◆ WithExternalAbsoluteEncoder()

◆ WithLocation() [1/3]

◆ WithLocation() [2/3]

◆ WithLocation() [3/3]

◆ WithOptimization()

◆ WithSmartMotorController()

◆ WithTelemetry() [1/2]

◆ WithTelemetry() [2/2]

◆ WithVelocityDeadband()

◆ WithWheelDiameter()

◆ WithWheelRadius()