Package swervelib

Class SwerveModule

java.lang.Object
swervelib.SwerveModule
public class SwerveModule extends Object
The Swerve Module class which represents and controls Swerve Modules for the swerve drive.

  • Field Details

    • configuration

      public final SwerveModuleConfiguration configuration
      Swerve module configuration options.

    • absolutePositionCache

      public final Cache<Double> absolutePositionCache
      Absolute encoder position cache.

    • drivePositionCache

      public final Cache<Double> drivePositionCache
      Drive motor position cache.

    • driveVelocityCache

      public final Cache<Double> driveVelocityCache
      Drive motor velocity cache.

    • angleMotor

      private final SwerveMotor angleMotor
      Swerve Motors.

    • driveMotor

      private final SwerveMotor driveMotor
      Swerve Motors.

    • absoluteEncoder

      private final SwerveAbsoluteEncoder absoluteEncoder
      Absolute encoder for swerve drive.

    • encoderOffsetWarning

      private final Alert encoderOffsetWarning
      An Alert for if pushing the Absolute Encoder offset to the encoder fails.

    • noEncoderWarning

      private final Alert noEncoderWarning
      An Alert for if there is no Absolute Encoder on the module.

    • rawAbsoluteAngleName

      private final String rawAbsoluteAngleName
      NT3 Raw Absolute Angle publisher for the absolute encoder.

    • adjAbsoluteAngleName

      private final String adjAbsoluteAngleName
      NT3 Adjusted Absolute angle publisher for the absolute encoder.

    • absoluteEncoderIssueName

      private final String absoluteEncoderIssueName
      NT3 Absolute encoder read issue.

    • rawAngleName

      private final String rawAngleName
      NT3 raw angle motor.

    • rawDriveName

      private final String rawDriveName
      NT3 Raw drive motor.

    • moduleNumber

      public int moduleNumber
      Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.

    • driveMotorFeedforward

      private edu.wpi.first.math.controller.SimpleMotorFeedforward driveMotorFeedforward
      Feedforward for the drive motor during closed loop control.

    • maxSpeed

      public double maxSpeed
      Maximum speed of the drive motors in meters per second.

    • antiJitterEnabled

      private boolean antiJitterEnabled
      Anti-Jitter AKA auto-centering disabled.

    • lastState

      private edu.wpi.first.math.kinematics.SwerveModuleState lastState
      Last swerve module state applied.

    • angleOffset

      private double angleOffset
      Angle offset from the absolute encoder.

    • simModule

      private SwerveModuleSimulation simModule
      Simulated swerve module.

    • synchronizeEncoderQueued

      private boolean synchronizeEncoderQueued
      Encoder synchronization queued.

  • Constructor Details

    • SwerveModule

      public SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfiguration, edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)
      Construct the swerve module and initialize the swerve module motors and absolute encoder.
      Parameters:
      moduleNumber - Module number for kinematics.
      moduleConfiguration - Module constants containing CAN ID's and offsets.
      driveFeedforward - Drive motor feedforward created by SwerveMath.createDriveFeedforward(double, double, double).

  • Method Details

    • setAngleMotorVoltageCompensation

      public void setAngleMotorVoltageCompensation(double optimalVoltage)
      Set the voltage compensation for the swerve module motor.
      Parameters:
      optimalVoltage - Nominal voltage for operation to output to.

    • setDriveMotorVoltageCompensation

      public void setDriveMotorVoltageCompensation(double optimalVoltage)
      Set the voltage compensation for the swerve module motor.
      Parameters:
      optimalVoltage - Nominal voltage for operation to output to.

    • queueSynchronizeEncoders

      public void queueSynchronizeEncoders()
      Queue synchronization of the integrated angle encoder with the absolute encoder.

    • setAntiJitter

      public void setAntiJitter(boolean antiJitter)
      Set the antiJitter functionality, if true the modules will NOT auto center. Pushes the offsets to the angle motor controllers as well.
      Parameters:
      antiJitter - Anti-Jitter state desired.

    • setFeedforward

      public void setFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward drive)
      Set the feedforward attributes to the given parameters.
      Parameters:
      drive - Drive motor feedforward for the module.

    • setDrivePIDF

      public void setDrivePIDF(PIDFConfig config)
      Set the drive PIDF values.
      Parameters:
      config - PIDFConfig of that should be set.

    • getDrivePIDF

      public PIDFConfig getDrivePIDF()
      Get the current drive motor PIDF values.
      Returns:
      PIDFConfig of the drive motor.

    • setAnglePIDF

      public void setAnglePIDF(PIDFConfig config)
      Set the angle/azimuth/steering motor PID
      Parameters:
      config - PIDFConfig of that should be set.

    • getAnglePIDF

      public PIDFConfig getAnglePIDF()
      Get the current angle/azimuth/steering motor PIDF values.
      Returns:
      PIDFConfig of the angle motor.

    • setDesiredState

      public void setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState desiredState, boolean isOpenLoop, boolean force)
      Set the desired state of the swerve module.
      WARNING: If you are not using one of the functions from SwerveDrive you may screw up SwerveDrive.kinematics
      Parameters:
      desiredState - Desired swerve module state.
      isOpenLoop - Whether to use open loop (direct percent) or direct velocity control.
      force - Disables optimizations that prevent movement in the angle motor and forces the desired state onto the swerve module.

    • getCosineCompensatedVelocity

      private double getCosineCompensatedVelocity(edu.wpi.first.math.kinematics.SwerveModuleState desiredState)
      Get the cosine compensated velocity to set the swerve module to.
      Parameters:
      desiredState - Desired SwerveModuleState to use.
      Returns:
      Cosine compensated velocity in meters/second.

    • setAngle

      public void setAngle(double angle)
      Set the angle for the module.
      Parameters:
      angle - Angle in degrees.

    • getState

      public edu.wpi.first.math.kinematics.SwerveModuleState getState()
      Get the Swerve Module state.
      Returns:
      Current SwerveModule state.

    • getPosition

      public edu.wpi.first.math.kinematics.SwerveModulePosition getPosition()
      Get the position of the swerve module.
      Returns:
      SwerveModulePosition of the swerve module.

    • getAbsolutePosition

      public double getAbsolutePosition()
      Get the absolute position. Falls back to relative position on reading failure.
      Returns:
      Absolute encoder angle in degrees in the range [0, 360).

    • getRawAbsolutePosition

      public double getRawAbsolutePosition()
      Get the absolute position. Falls back to relative position on reading failure.
      Returns:
      Absolute encoder angle in degrees in the range [0, 360).

    • getRelativePosition

      public double getRelativePosition()
      Get the relative angle in degrees.
      Returns:
      Angle in degrees.

    • setMotorBrake

      public void setMotorBrake(boolean brake)
      Set the brake mode.
      Parameters:
      brake - Set the brake mode.

    • setAngleMotorConversionFactor

      public void setAngleMotorConversionFactor(double conversionFactor)
      Set the conversion factor for the angle/azimuth motor controller.
      Parameters:
      conversionFactor - Angle motor conversion factor for PID, should be generated from SwerveMath.calculateDegreesPerSteeringRotation(double, double) or calculated.

    • setDriveMotorConversionFactor

      public void setDriveMotorConversionFactor(double conversionFactor)
      Set the conversion factor for the drive motor controller.
      Parameters:
      conversionFactor - Drive motor conversion factor for PID, should be generated from SwerveMath.calculateMetersPerRotation(double, double, double) or calculated.

    • getAngleMotor

      public SwerveMotor getAngleMotor()
      Get the angle SwerveMotor for the SwerveModule.
      Returns:
      SwerveMotor for the angle/steering motor of the module.

    • getDriveMotor

      public SwerveMotor getDriveMotor()
      Get the drive SwerveMotor for the SwerveModule.
      Returns:
      SwerveMotor for the drive motor of the module.

    • getAbsoluteEncoder

      public SwerveAbsoluteEncoder getAbsoluteEncoder()
      Get the SwerveAbsoluteEncoder for the SwerveModule.
      Returns:
      SwerveAbsoluteEncoder for the swerve module.

    • getConfiguration

      public SwerveModuleConfiguration getConfiguration()
      Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.
      Returns:
      SwerveModuleConfiguration for the SwerveModule.

    • pushOffsetsToControllers

      public void pushOffsetsToControllers()
      Push absolute encoder offset in the memory of the encoder or controller. Also removes the internal angle offset.

    • restoreInternalOffset

      public void restoreInternalOffset()
      Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value.

    • getAbsoluteEncoderReadIssue

      public boolean getAbsoluteEncoderReadIssue()
      Get if the last Absolute Encoder had a read issue, such as it does not exist.
      Returns:
      If the last Absolute Encoder had a read issue, or absolute encoder does not exist.

    • updateTelemetry

      public void updateTelemetry()
      Update data sent to SmartDashboard.