Malefix/xyz.malefic.frc.swerve/SwerveModule

SwerveModule

class SwerveModule(driveMotorId: Int, steerMotorId: Int, canCoderId: Int, val angleOffset: Rotation2d = Rotation2d())

Represents a single swerve module with drive and steer motors.

This class manages a swerve module consisting of:

A drive motor (for wheel rotation) using TonguFX
A steer motor (for changing module direction) using TonguFX
An Engu CANcoder for absolute angle measurement
Pingu PID controllers for drive and steer control

Usage Example:

val module = SwerveModule(
    driveMotorId = 1,
    steerMotorId = 2,
    canCoderId = 3,
    angleOffset = Rotation2d.fromDegrees(45.0)
)

module.configure {
    driveGearRatio = 6.75
    steerGearRatio = 150.0 / 7.0
    wheelDiameterMeters = 0.1016
    drivePingu.apply {
        p = 0.1
        v = 0.12
        s = 0.2
    }
    steerPingu.apply {
        p = 100.0
        d = 0.1
    }
}

// Set desired state
val desiredState = SwerveModuleState(2.0, Rotation2d.fromDegrees(90.0))
module.setDesiredState(desiredState)

Constructors

SwerveModule

constructor(driveMotorId: Int, steerMotorId: Int, canCoderId: Int, angleOffset: Rotation2d = Rotation2d())

Types

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.