Config
data class Config(var driveGearRatio: Double = 6.75, var steerGearRatio: Double = 150.0 / 7.0, var wheelDiameter: Distance = Units.Meters.of(0.1016), val drivePingu: Pingu = Pingu(p = 0.1), val steerPingu: Pingu = Pingu(p = 100.0), var driveCurrentLimit: Current = Units.Amps.of(40.0), var steerCurrentLimit: Current = Units.Amps.of(30.0), var driveInverted: Boolean = false, var steerInverted: Boolean = true)
Configuration for a swerve module.
Constructors
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constructor(driveGearRatio: Double = 6.75, steerGearRatio: Double = 150.0 / 7.0, wheelDiameter: Distance = Units.Meters.of(0.1016), drivePingu: Pingu = Pingu(p = 0.1), steerPingu: Pingu = Pingu(p = 100.0), driveCurrentLimit: Current = Units.Amps.of(40.0), steerCurrentLimit: Current = Units.Amps.of(30.0), driveInverted: Boolean = false, steerInverted: Boolean = true)
Properties
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Current limit for drive motor.
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Gear ratio for the drive motor (motor rotations per wheel rotation).
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Whether the drive motor is inverted.
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Pingu PID controller for drive motor velocity control.
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Current limit for steer motor.
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Gear ratio for the steer motor (motor rotations per module rotation).
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Whether the steer motor is inverted.
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Pingu PID controller for steer motor position control.
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Diameter of the wheel as a measured distance.