Package frc.robot.swerve

Class SwerveConfig

java.lang.Object
frc.robot.swerve.SwerveConfig
public class SwerveConfig extends Object

  • Constructor Details

    • SwerveConfig

      public SwerveConfig()

  • Method Details

    • getModules

      public SwerveModuleConstants<TalonFXConfiguration,TalonFXConfiguration,CANcoderConfiguration>[] getModules()

    • updateConfig

      public SwerveConfig updateConfig()

    • configEncoderOffsets

      public SwerveConfig configEncoderOffsets(double frontLeft, double frontRight, double backLeft, double backRight)

    • getSimLoopPeriod

      public double getSimLoopPeriod()

    • getRobotWidth

      public double getRobotWidth()

    • setRobotWidth

      public void setRobotWidth(double robotWidth)

    • getRobotLength

      public double getRobotLength()

    • setRobotLength

      public void setRobotLength(double robotLength)

    • getMaxAngularRate

      public double getMaxAngularRate()

    • setMaxAngularRate

      public void setMaxAngularRate(double maxAngularRate)

    • getDeadband

      public double getDeadband()

    • setDeadband

      public void setDeadband(double deadband)

    • getAimDeadband

      public double getAimDeadband()

    • setAimDeadband

      public void setAimDeadband(double aimDeadband)

    • getDriveGearRatio

      public double getDriveGearRatio()

    • setDriveGearRatio

      public void setDriveGearRatio(double driveGearRatio)

    • getSteerGearRatio

      public double getSteerGearRatio()

    • setSteerGearRatio

      public void setSteerGearRatio(double steerGearRatio)

    • getWheelRadius

      public Distance getWheelRadius()

    • setWheelRadius

      public void setWheelRadius(Distance wheelRadius)

    • getSpeedAt12Volts

      public LinearVelocity getSpeedAt12Volts()

    • setSpeedAt12Volts

      public void setSpeedAt12Volts(LinearVelocity speedAt12Volts)

    • getKSdrive

      public double getKSdrive()

    • getKSsteer

      public double getKSsteer()

    • getMaxAngularVelocity

      public double getMaxAngularVelocity()

    • getMaxAngularAcceleration

      public double getMaxAngularAcceleration()

    • getKPRotationController

      public double getKPRotationController()

    • getKIRotationController

      public double getKIRotationController()

    • getKDRotationController

      public double getKDRotationController()

    • getRotationTolerance

      public double getRotationTolerance()

    • getRotationVelocityTolerance

      public double getRotationVelocityTolerance()

    • getKPHoldController

      public double getKPHoldController()

    • getKIHoldController

      public double getKIHoldController()

    • getKDHoldController

      public double getKDHoldController()

    • getKPTranslationController

      public double getKPTranslationController()

    • getKITranslationController

      public double getKITranslationController()

    • getKDTranslationController

      public double getKDTranslationController()

    • getTranslationTolerance

      public double getTranslationTolerance()

    • getTranslationVelocityTolerance

      public double getTranslationVelocityTolerance()

    • getTranslationConstraints

      public TrapezoidProfile.Constraints getTranslationConstraints()

    • getKPTagCenterController

      public double getKPTagCenterController()

    • getKITagCenterController

      public double getKITagCenterController()

    • getKDTagCenterController

      public double getKDTagCenterController()

    • getTagCenterTolerance

      public double getTagCenterTolerance()

    • getKPTagDistanceController

      public double getKPTagDistanceController()

    • getKITagDistanceController

      public double getKITagDistanceController()

    • getKDTagDistanceController

      public double getKDTagDistanceController()

    • getTagDistanceTolerance

      public double getTagDistanceTolerance()

    • getBlueAlliancePerspectiveRotation

      public Rotation2d getBlueAlliancePerspectiveRotation()

    • getRedAlliancePerspectiveRotation

      public Rotation2d getRedAlliancePerspectiveRotation()

    • getSteerGains

      public Slot0Configs getSteerGains()

    • getDriveGains

      public Slot0Configs getDriveGains()

    • getSteerClosedLoopOutput

      public SwerveModuleConstants.ClosedLoopOutputType getSteerClosedLoopOutput()

    • getDriveClosedLoopOutput

      public SwerveModuleConstants.ClosedLoopOutputType getDriveClosedLoopOutput()

    • getSlipCurrent

      public Current getSlipCurrent()

    • setSlipCurrent

      public void setSlipCurrent(Current slipCurrent)

    • getDriveInitialConfigs

      public TalonFXConfiguration getDriveInitialConfigs()

    • getSteerInitialConfigs

      public TalonFXConfiguration getSteerInitialConfigs()

    • getCanCoderInitialConfigs

      public CANcoderConfiguration getCanCoderInitialConfigs()

    • getPigeonConfigs

      public Pigeon2Configuration getPigeonConfigs()

    • getCoupleRatio

      public double getCoupleRatio()

    • isSteerMotorReversed

      public boolean isSteerMotorReversed()

    • setSteerMotorReversed

      public void setSteerMotorReversed(boolean steerMotorReversed)

    • isInvertLeftSide

      public boolean isInvertLeftSide()

    • setInvertLeftSide

      public void setInvertLeftSide(boolean invertLeftSide)

    • isInvertRightSide

      public boolean isInvertRightSide()

    • setInvertRightSide

      public void setInvertRightSide(boolean invertRightSide)

    • getCanBus

      public CANBus getCanBus()

    • setCanBus

      public void setCanBus(CANBus canBus)

    • getPigeonId

      public int getPigeonId()

    • getSteerInertia

      public double getSteerInertia()

    • getDriveInertia

      public double getDriveInertia()

    • getSteerFrictionVoltage

      public Voltage getSteerFrictionVoltage()

    • getDriveFrictionVoltage

      public Voltage getDriveFrictionVoltage()

    • getDrivetrainConstants

      public SwerveDrivetrainConstants getDrivetrainConstants()

    • getConstantCreator

      public SwerveModuleConstantsFactory<TalonFXConfiguration,TalonFXConfiguration,CANcoderConfiguration> getConstantCreator()

    • getDrivebaseRadiusInches

      public double getDrivebaseRadiusInches()

    • getDrivebaseRadiusMeters

      public double getDrivebaseRadiusMeters()

    • getFrontLeftDriveMotorId

      public int getFrontLeftDriveMotorId()

    • getFrontLeftSteerMotorId

      public int getFrontLeftSteerMotorId()

    • getFrontLeftEncoderId

      public int getFrontLeftEncoderId()

    • getFrontLeftEncoderOffset

      public Angle getFrontLeftEncoderOffset()

    • isFrontLeftSteerInverted

      public boolean isFrontLeftSteerInverted()

    • getFrontLeftXPos

      public Distance getFrontLeftXPos()

    • getFrontLeftYPos

      public Distance getFrontLeftYPos()

    • getFrontRightDriveMotorId

      public int getFrontRightDriveMotorId()

    • getFrontRightSteerMotorId

      public int getFrontRightSteerMotorId()

    • getFrontRightEncoderId

      public int getFrontRightEncoderId()

    • getFrontRightEncoderOffset

      public Angle getFrontRightEncoderOffset()

    • isFrontRightSteerInverted

      public boolean isFrontRightSteerInverted()

    • getFrontRightXPos

      public Distance getFrontRightXPos()

    • getFrontRightYPos

      public Distance getFrontRightYPos()

    • getBackLeftDriveMotorId

      public int getBackLeftDriveMotorId()

    • getBackLeftSteerMotorId

      public int getBackLeftSteerMotorId()

    • getBackLeftEncoderId

      public int getBackLeftEncoderId()

    • getBackLeftEncoderOffset

      public Angle getBackLeftEncoderOffset()

    • isBackLeftSteerInverted

      public boolean isBackLeftSteerInverted()

    • getBackLeftXPos

      public Distance getBackLeftXPos()

    • getBackLeftYPos

      public Distance getBackLeftYPos()

    • getBackRightDriveMotorId

      public int getBackRightDriveMotorId()

    • getBackRightSteerMotorId

      public int getBackRightSteerMotorId()

    • getBackRightEncoderId

      public int getBackRightEncoderId()

    • getBackRightEncoderOffset

      public Angle getBackRightEncoderOffset()

    • isBackRightSteerInverted

      public boolean isBackRightSteerInverted()

    • getBackRightXPos

      public Distance getBackRightXPos()

    • getBackRightYPos

      public Distance getBackRightYPos()

    • getTargetHeading

      public double getTargetHeading()

    • setTargetHeading

      public void setTargetHeading(double targetHeading)

    • getFrontLeft

      public SwerveModuleConstants<TalonFXConfiguration,TalonFXConfiguration,CANcoderConfiguration> getFrontLeft()

    • getFrontRight

      public SwerveModuleConstants<TalonFXConfiguration,TalonFXConfiguration,CANcoderConfiguration> getFrontRight()

    • getBackLeft

      public SwerveModuleConstants<TalonFXConfiguration,TalonFXConfiguration,CANcoderConfiguration> getBackLeft()

    • getBackRight

      public SwerveModuleConstants<TalonFXConfiguration,TalonFXConfiguration,CANcoderConfiguration> getBackRight()