yams::mechanisms::swerve::SwerveModule Class Reference

#include <SwerveModule.hpp>

Collaboration diagram for yams::mechanisms::swerve::SwerveModule:

Public Member Functions
	SwerveModule (config::SwerveModuleConfig *config)
void	SetupTelemetry (const std::string &mechName)
void	SeedAzimuthEncoder ()
std::string	GetName () const
wpi::units::degree_t	GetRawAbsoluteEncoderAngle () const
const config::SwerveModuleConfig &	GetConfig () const
wpi::math::SwerveModuleVelocity	SetSwerveModuleState (wpi::math::SwerveModuleVelocity state)
wpi::math::SwerveModuleVelocity	SetSwerveModuleState (wpi::math::SwerveModuleVelocity state, wpi::units::newton_t feedforwardForce)
config::SwerveModuleConfig &	GetMutableConfig ()
wpi::math::SwerveModuleVelocity	SetAzimuthAngle (wpi::math::Rotation2d angle)
SwerveModuleVelocityWithAzimuth	GetState () const
wpi::math::SwerveModulePosition	GetPosition () const
void	UpdateTelemetry ()
void	SimIterate ()
motorcontrollers::SmartMotorController *	GetDriveMotorController () const
motorcontrollers::SmartMotorController *	GetAzimuthMotorController () const
wpi::units::meters_per_second_t	GetCouplingVelocity () const

Public Attributes
motorcontrollers::SmartMotorController *	m_driveMotorController
motorcontrollers::SmartMotorController *	m_azimuthMotorController

Detailed Description

A single swerve module comprising a drive motor and an azimuth (steering) motor.

Each module holds references to two SmartMotorControllers (drive and azimuth) and a SwerveModuleConfig that describes its physical properties and absolute encoder. Modules are normally owned by the subsystem and handed to SwerveDrive by pointer.

Example usage (inside a subsystem constructor)

using namespace yams::motorcontrollers;
using namespace yams::motorcontrollers::remote;
using namespace yams::gearing;
using namespace yams::mechanisms::config;
using Cfg = SmartMotorControllerConfig;
 
// Declare as subsystem members:
//   ctre::phoenix6::hardware::TalonFX     m_driveMotor{1};
//   ctre::phoenix6::hardware::TalonFX     m_azimuthMotor{2};
//   ctre::phoenix6::hardware::CANcoder    m_encoder{3};
//   std::optional<TalonFXWrapper>         m_driveSMC;
//   std::optional<TalonFXWrapper>         m_azimuthSMC;
//   std::optional<SwerveModule>           m_module;
 
SmartMotorControllerConfig driveCfg;
driveCfg.WithSubsystem(this)
        .WithMechanismCircumference(wpi::units::meter_t{4.0_in * std::numbers::pi})
        .WithFeedback(0.1, 0.0, 0.0)
        .WithMotorGearing(MechanismGearing{GearBox::FromStages({"6.75:1"})})
        .WithStatorCurrentLimit(40.0_A)
        .WithZeroPower(Cfg::MotorMode::BRAKE)
        .WithTelemetry("FL_Drive", Cfg::TelemetryVerbosity::HIGH);
 
SmartMotorControllerConfig azimuthCfg;
azimuthCfg.WithSubsystem(this)
          .WithFeedback(50.0, 0.0, 0.5)
          .WithMotorGearing(MechanismGearing{GearBox::FromStages({"21.43:1"})})
          .WithStatorCurrentLimit(20.0_A)
          .WithClosedLoopMode()
          .WithTelemetry("FL_Azimuth", Cfg::TelemetryVerbosity::HIGH);
 
m_driveSMC.emplace(m_driveMotor, wpi::math::DCMotor::KrakenX60(1), driveCfg);
m_azimuthSMC.emplace(m_azimuthMotor, wpi::math::DCMotor::KrakenX60(1), azimuthCfg);
 
auto* enc = &m_encoder;
SwerveModuleConfig moduleConfig{&m_driveSMC.value(), &m_azimuthSMC.value()};
moduleConfig
    .WithAbsoluteEncoder([enc]() -> wpi::units::degree_t {
      return wpi::units::degree_t{wpi::units::turn_t{enc->GetAbsolutePosition().GetValue()}};
    })
    .WithAbsoluteEncoderOffset(15.0_deg)
    .WithWheelDiameter(4.0_in)
    .WithLocation(wpi::units::inch_t{12}, wpi::units::inch_t{12})
    .WithOptimization(true)
    .WithCosineCompensation(true)
    .WithTelemetry("FrontLeft", Cfg::TelemetryVerbosity::HIGH);
 
m_module.emplace(&m_moduleConfig);

Constructor & Destructor Documentation

SwerveModule()

yams::mechanisms::swerve::SwerveModule::SwerveModule ( config::SwerveModuleConfig *  config )

explicit

Construct a SwerveModule from a SwerveModuleConfig.

Parameters

config

Module configuration. Must contain a telemetry name and a location.

Exceptions

std::invalid_argument

if telemetry name or location is not set.

Member Function Documentation

GetAzimuthMotorController()

motorcontrollers::SmartMotorController * yams::mechanisms::swerve::SwerveModule::GetAzimuthMotorController

(

)

const

Get the azimuth motor controller.

GetConfig()

const config::SwerveModuleConfig & yams::mechanisms::swerve::SwerveModule::GetConfig

(

)

const

Get the module configuration.

GetCouplingVelocity()

wpi::units::meters_per_second_t yams::mechanisms::swerve::SwerveModule::GetCouplingVelocity

(

)

const

Wheel velocity the drive encoder reads because the azimuth is turning.

GetDriveMotorController()

motorcontrollers::SmartMotorController * yams::mechanisms::swerve::SwerveModule::GetDriveMotorController

(

)

const

Get the drive motor controller.

GetMutableConfig()

config::SwerveModuleConfig & yams::mechanisms::swerve::SwerveModule::GetMutableConfig

(

)

Get the module config for changing it, as WithModuleStateOptimization does.

GetName()

std::string yams::mechanisms::swerve::SwerveModule::GetName

(

)

const

Get the module name (from telemetry config).

GetPosition()

wpi::math::SwerveModulePosition yams::mechanisms::swerve::SwerveModule::GetPosition

(

)

const

Get the current measured module position (distance and heading).

GetRawAbsoluteEncoderAngle()

wpi::units::degree_t yams::mechanisms::swerve::SwerveModule::GetRawAbsoluteEncoderAngle

(

)

const

Get the absolute encoder angle without any offsets applied.

GetState()

SwerveModuleVelocityWithAzimuth yams::mechanisms::swerve::SwerveModule::GetState

(

)

const

Get the current measured module state (speed and heading).

SeedAzimuthEncoder()

void yams::mechanisms::swerve::SwerveModule::SeedAzimuthEncoder

(

)

Seed the azimuth encoder from the absolute encoder reading (real robot only).

SetAzimuthAngle()

wpi::math::SwerveModuleVelocity yams::mechanisms::swerve::SwerveModule::SetAzimuthAngle

(

wpi::math::Rotation2d

angle

)

Turn the wheel to the given angle without driving it, as for locking the drive in place or tuning the azimuth motor. The velocity deadband is skipped, since it would hold the wheel where it is.

Parameters

angle

Angle to turn the wheel to.

Returns

The state the module was commanded to.

SetSwerveModuleState() [1/2]

wpi::math::SwerveModuleVelocity yams::mechanisms::swerve::SwerveModule::SetSwerveModuleState

(

wpi::math::SwerveModuleVelocity

state

)

Command the module to a target state.

Applies optimization (direction flip, velocity deadband, cosine compensation) before setting drive velocity and azimuth position.

Parameters

state

Target module state.

SetSwerveModuleState() [2/2]

wpi::math::SwerveModuleVelocity yams::mechanisms::swerve::SwerveModule::SetSwerveModuleState	(	wpi::math::SwerveModuleVelocity	state,
		wpi::units::newton_t	feedforwardForce
	)

Set the swerve module state with a feedforward force on the drive wheel, for following a trajectory that supplies module forces. The force follows the state: it is reversed when optimization reverses the wheel, and scaled by cosine compensation.

Parameters

state	Desired module state.
feedforwardForce	Force the wheel should apply along the requested direction.

Returns

The state the module was sent, after optimization.

SetupTelemetry()

void yams::mechanisms::swerve::SwerveModule::SetupTelemetry

(

const std::string &

mechName

)

Setup telemetry for the module; the SwerveModuleTelemetry config used is either the one supplied via SwerveModuleConfig::WithTelemetry(name, SwerveModuleTelemetryConfig) or a default built from SwerveModuleConfig::GetTelemetryVerbosity() (defaulting to TelemetryVerbosity::HIGH).

Parameters

mechName

Telemetry name of the parent SwerveDrive.

SimIterate()

void yams::mechanisms::swerve::SwerveModule::SimIterate

(

)

Advance the simulation model for both drive and azimuth motors.

UpdateTelemetry()

void yams::mechanisms::swerve::SwerveModule::UpdateTelemetry

(

)

Publish drive and azimuth motor telemetry to NetworkTables.

Member Data Documentation

m_azimuthMotorController

motorcontrollers::SmartMotorController* yams::mechanisms::swerve::SwerveModule::m_azimuthMotorController

m_driveMotorController

motorcontrollers::SmartMotorController* yams::mechanisms::swerve::SwerveModule::m_driveMotorController

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

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/mechanisms/swerve/SwerveModule.hpp