Package yams.mechanisms.config

Class SwerveModuleConfig

java.lang.Object

yams.mechanisms.config.SwerveModuleConfig

public class SwerveModuleConfig
extends Object

Swerve Module

Constructor Summary

Constructors

Constructor	Description
SwerveModuleConfig()	Create the SwerveModuleConfig for the SwerveModule
SwerveModuleConfig(SmartMotorController drive, SmartMotorController azimuth)	Create the SwerveModuleConfig for the SwerveModule

Method Summary

Modifier and Type	Method	Description
SwerveModuleConfig	clone()
Angle	getAbsoluteEncoderAngle()	Get the absolute encoder angle for the azimuth SmartMotorController.
SmartMotorController	getAzimuthMotor()	Get the azimuth SmartMotorController for the SwerveModule.
SmartMotorController	getDriveMotor()	Get the drive SmartMotorController for the SwerveModule.
Optional<Translation2d>	getLocation()	Get the location of the SwerveModule in meters from the center of rotation.
SwerveModuleState	getOptimizedState(SwerveModuleState state)	Get the optimized SwerveModuleState applying all optional optimizations.
boolean	getStateOptimization()	Enable or disable state optimization.
Optional<String>	getTelemetryName()	Get the telemetry name for the SwerveModule.
Optional<SmartMotorControllerConfig.TelemetryVerbosity>	getTelemetryVerbosity()	Get the telemetry verbosity for the SwerveModule.
SwerveModuleConfig	withAbsoluteEncoder(Object absoluteEncoder)	Set the absolute encoder for the azimuth SmartMotorController if it's the SAME VENDOR, only.
SwerveModuleConfig	withAbsoluteEncoder(DoubleSupplier rotationSupplier)	Supply a non-alike vendor absolute encoder for the azimuth SmartMotorController.
SwerveModuleConfig	withAbsoluteEncoder(Supplier<Angle> locationProvider)	Supply a non-alike vendor absolute encoder for the azimuth SmartMotorController.
SwerveModuleConfig	withAbsoluteEncoderGearing(GearBox gearing)	Set the gearing of the absolute encoder if it's not 1:1.
SwerveModuleConfig	withAbsoluteEncoderOffset(Angle offset)	Set the absolute encoder offset for the azimuth SmartMotorController so that the absolute encoder reads 0 while the wheel is facing forwards and bevel to the left.
SwerveModuleConfig	withCosineCompensation(boolean compensate)	Cosine compensation for the SwerveModule, adjusting the velocity by the cosine of the (current_angle-desired_angle).
SwerveModuleConfig	withDistanceFromCenterOfRotation(Distance front, Distance left)	Set the distance from the center of rotation for the SwerveModule.
SwerveModuleConfig	withLocation(Translation2d location)	Set the location for the SwerveModule in Meters from the center of rotation.
SwerveModuleConfig	withLocation(Distance distance, Angle angle)	Set the location for the SwerveModule using polar coordinates.
SwerveModuleConfig	withLocation(Distance front, Distance left)	Set the distance from the center of rotation for the SwerveModule.
SwerveModuleConfig	withMinimumVelocity(LinearVelocity speed)	Set the minimum velocity for the SmartMotorController.
SwerveModuleConfig	withOptimization(boolean swerveModuleStateOptimization)	Use SwerveModuleState.optimize(Rotation2d) to optimize each state.
SwerveModuleConfig	withSmartMotorController(SmartMotorController driveMotor, SmartMotorController azimuthMotor)	Set the SmartMotorController for the SwerveModule.
SwerveModuleConfig	withTelemetry(String telemetryName, SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)	Configure telemetry for the SwerveModule mechanism.
SwerveModuleConfig	withWheelDiameter(Distance diameter)	Set the wheel diameter for the SmartMotorController, ideally should be set inside the drive motor SmartMotorControllerConfig.
SwerveModuleConfig	withWheelRadius(Distance radius)	Set the wheel radius for the SmartMotorController, ideally should be set inside the drive motor SmartMotorControllerConfig

Methods inherited from class java.lang.Object

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

Constructor Details

SwerveModuleConfig

public SwerveModuleConfig(SmartMotorController drive,
 SmartMotorController azimuth)

Create the SwerveModuleConfig for the SwerveModule

Parameters:

drive - Drive motor controller.

azimuth - Azimuth motor controller.

SwerveModuleConfig

public SwerveModuleConfig()

Create the SwerveModuleConfig for the SwerveModule

Implementation Note:

Required to use withSmartMotorController(SmartMotorController, SmartMotorController) BEFORE passed into SwerveModule

Method Details

clone

public SwerveModuleConfig clone()

Overrides:

clone in class Object

withSmartMotorController

public SwerveModuleConfig withSmartMotorController(SmartMotorController driveMotor,
 SmartMotorController azimuthMotor)

Set the SmartMotorController for the SwerveModule.

Parameters:

driveMotor - SmartMotorController for the drive motor.

azimuthMotor - SmartMotorController for the azimuth motor.

Returns:

SwerveModuleConfig for chaining.

withCosineCompensation

public SwerveModuleConfig withCosineCompensation(boolean compensate)

Cosine compensation for the SwerveModule, adjusting the velocity by the cosine of the (current_angle-desired_angle).

Parameters:

compensate - Enable or disable cosine compensation.

Returns:

SwerveModuleConfig for chaining.

withAbsoluteEncoder

public SwerveModuleConfig withAbsoluteEncoder(Object absoluteEncoder)

Set the absolute encoder for the azimuth SmartMotorController if it's the SAME VENDOR, only.

Parameters:

absoluteEncoder - Same vendor, absolute encoder for the SmartMotorController

Returns:

SwerveModuleConfig for chaining.

withDistanceFromCenterOfRotation

public SwerveModuleConfig withDistanceFromCenterOfRotation(Distance front,
 Distance left)

Set the distance from the center of rotation for the SwerveModule.

Parameters:

front - Distance from the front of the robot, will be converted to Meters. (The X location)

left - Distance from the left of the robot, will be converted to Meters. (The Y location)

Returns:

SwerveModuleConfig for chaining.

withLocation

public SwerveModuleConfig withLocation(Translation2d location)

Set the location for the SwerveModule in Meters from the center of rotation.

Parameters:

location - Location of the SwerveModule in meters from the center of rotation.

Returns:

SwerveModuleConfig for chaining.

withLocation

public SwerveModuleConfig withLocation(Distance front,
 Distance left)

Set the distance from the center of rotation for the SwerveModule.

Parameters:

front - Distance from the front of the robot, will be converted to meters. (The X location)

left - Distance from the left of the robot, will be converted to meters. (The Y location)

Returns:

SwerveModuleConfig for chaining.

withLocation

public SwerveModuleConfig withLocation(Distance distance,
 Angle angle)

Set the location for the SwerveModule using polar coordinates.

Parameters:

distance - Distance from the center of rotation will be converted to meters.

angle - Angle from the center of rotation.

Returns:

SwerveModuleConfig for chaining.

withAbsoluteEncoder

public SwerveModuleConfig withAbsoluteEncoder(Supplier<Angle> locationProvider)

Supply a non-alike vendor absolute encoder for the azimuth SmartMotorController.

Parameters:

locationProvider - Provides the Rotation for the azimuth SmartMotorController.

Returns:

SwerveModuleConfig for chaining.

withAbsoluteEncoder

public SwerveModuleConfig withAbsoluteEncoder(DoubleSupplier rotationSupplier)

Supply a non-alike vendor absolute encoder for the azimuth SmartMotorController.

Parameters:

rotationSupplier - Provides the Rotation for the azimuth SmartMotorController.

Returns:

SwerveModuleConfig for chaining.

withAbsoluteEncoderGearing

public SwerveModuleConfig withAbsoluteEncoderGearing(GearBox gearing)

Set the gearing of the absolute encoder if it's not 1:1.

Parameters:

gearing - GearBox for the absolute encoder to get the azimuth angle.

Returns:

SwerveModuleConfig for chaining.

withAbsoluteEncoderOffset

public SwerveModuleConfig withAbsoluteEncoderOffset(Angle offset)

Set the absolute encoder offset for the azimuth SmartMotorController so that the absolute encoder reads 0 while the wheel is facing forwards and bevel to the left.

Parameters:

offset - Offset for the absolute encoder.

Returns:

SwerveModuleConfig for chaining.

withWheelRadius

public SwerveModuleConfig withWheelRadius(Distance radius)

Set the wheel radius for the SmartMotorController, ideally should be set inside the drive motor SmartMotorControllerConfig

Parameters:

radius - Radius of the wheel.

Returns:

SwerveModuleConfig for chaining.

withWheelDiameter

public SwerveModuleConfig withWheelDiameter(Distance diameter)

Set the wheel diameter for the SmartMotorController, ideally should be set inside the drive motor SmartMotorControllerConfig.

Parameters:

diameter - Diameter of the wheel.

Returns:

SwerveModuleConfig for chaining.

withMinimumVelocity

public SwerveModuleConfig withMinimumVelocity(LinearVelocity speed)

Set the minimum velocity for the SmartMotorController.

Parameters:

speed - Minimum velocity for the SmartMotorController.

Returns:

SwerveModuleConfig for chaining.

withOptimization

public SwerveModuleConfig withOptimization(boolean swerveModuleStateOptimization)

Use SwerveModuleState.optimize(Rotation2d) to optimize each state.

Parameters:

swerveModuleStateOptimization - True to enable optimization, false otherwise.

Returns:

SwerveModuleConfig for chaining.

withTelemetry

public SwerveModuleConfig withTelemetry(String telemetryName,
 SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)

Configure telemetry for the SwerveModule mechanism.

Parameters:

telemetryName - Telemetry NetworkTable name to appear under "SmartDashboard/"

telemetryVerbosity - Telemetry verbosity to apply.

Returns:

ArmConfig for chaining.

getAbsoluteEncoderAngle

public Angle getAbsoluteEncoderAngle()

Get the absolute encoder angle for the azimuth SmartMotorController.

Returns:

Absolute encoder Angle.

getStateOptimization

public boolean getStateOptimization()

Enable or disable state optimization.

Returns:

True if optimization is enabled, false otherwise.

getDriveMotor

public SmartMotorController getDriveMotor()

Get the drive SmartMotorController for the SwerveModule.

Returns:

SmartMotorController for the drive motor.

getAzimuthMotor

public SmartMotorController getAzimuthMotor()

Get the azimuth SmartMotorController for the SwerveModule.

Returns:

SmartMotorController for the azimuth motor.

getOptimizedState

public SwerveModuleState getOptimizedState(SwerveModuleState state)

Get the optimized SwerveModuleState applying all optional optimizations.

Parameters:

state - SwerveModuleState to optimize.

Returns:

SwerveModuleState optimized.

getTelemetryName

public Optional<String> getTelemetryName()

Get the telemetry name for the SwerveModule.

Returns:

Telemetry name for the SwerveModule.

getTelemetryVerbosity

public Optional<SmartMotorControllerConfig.TelemetryVerbosity> getTelemetryVerbosity()

Get the telemetry verbosity for the SwerveModule.

Returns:

SmartMotorControllerConfig.TelemetryVerbosity for the SwerveModule.

getLocation

public Optional<Translation2d> getLocation()

Get the location of the SwerveModule in meters from the center of rotation.

Returns:

Translation2d of the SwerveModule