Package yams.mechanisms.swerve
Class SwerveModule
java.lang.Object
yams.mechanisms.swerve.SwerveModule
Swerve Module
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Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptionGet theSwerveModuleConfigfor the module.getName()Get the name of the module.Get theSwerveModulePositionof the module.getState()Get theSwerveModuleStateof the module.voidSeed the azimuth encoder with the absolute encoder angle.voidSet theSwerveModuleStateof the module.voidUpdate the simulation of the module.voidUpdate the telemetry of the module.
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Constructor Details
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SwerveModule
Create a SwerveModule.- Parameters:
config-SwerveModuleConfigfor the module.
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Method Details
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seedAzimuthEncoder
public void seedAzimuthEncoder()Seed the azimuth encoder with the absolute encoder angle. -
getName
Get the name of the module.- Returns:
- Name of the module.
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getConfig
Get theSwerveModuleConfigfor the module.- Returns:
SwerveModuleConfigfor the module.
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setSwerveModuleState
Set theSwerveModuleStateof the module.- Parameters:
state- State to set.
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getState
Get theSwerveModuleStateof the module.- Returns:
SwerveModuleStateof the module.
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getPosition
Get theSwerveModulePositionof the module.- Returns:
SwerveModulePositionof the module.
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updateTelemetry
public void updateTelemetry()Update the telemetry of the module. -
simIterate
public void simIterate()Update the simulation of the module.
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