Package yams.mechanisms.swerve

Class SwerveModule

java.lang.Object

yams.mechanisms.swerve.SwerveModule

public class SwerveModule
extends Object

Swerve Module

Constructor Summary

Constructors

Constructor	Description
SwerveModule(SwerveModuleConfig config)	Create a SwerveModule.

Method Summary

Modifier and Type	Method	Description
SwerveModuleConfig	getConfig()	Get the SwerveModuleConfig for the module.
String	getName()	Get the name of the module.
SwerveModulePosition	getPosition()	Get the SwerveModulePosition of the module.
SwerveModuleState	getState()	Get the SwerveModuleState of the module.
void	seedAzimuthEncoder()	Seed the azimuth encoder with the absolute encoder angle.
void	setSwerveModuleState(SwerveModuleState state)	Set the SwerveModuleState of the module.
void	simIterate()	Update the simulation of the module.
void	updateTelemetry()	Update the telemetry of the module.

Methods inherited from class java.lang.Object

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

Constructor Details

SwerveModule

public SwerveModule(SwerveModuleConfig config)

Create a SwerveModule.

Parameters:

config - SwerveModuleConfig for the module.

Method Details

seedAzimuthEncoder

public void seedAzimuthEncoder()

Seed the azimuth encoder with the absolute encoder angle.

getName

public String getName()

Get the name of the module.

Returns:

Name of the module.

getConfig

public SwerveModuleConfig getConfig()

Get the SwerveModuleConfig for the module.

Returns:

SwerveModuleConfig for the module.

setSwerveModuleState

public void setSwerveModuleState(SwerveModuleState state)

Set the SwerveModuleState of the module.

Parameters:

state - State to set.

getState

public SwerveModuleState getState()

Get the SwerveModuleState of the module.

Returns:

SwerveModuleState of the module.

getPosition

public SwerveModulePosition getPosition()

Get the SwerveModulePosition of the module.

Returns:

SwerveModulePosition of the module.

updateTelemetry

public void updateTelemetry()

Update the telemetry of the module.

simIterate

public void simIterate()

Update the simulation of the module.