SwerveModule

public class SwerveModule

Represents a swerve module used in a swerve drive system.

Constructors

public void SwerveModule(int driveId, int steerId, int canCoderID, double canCoderDriveStraightSteerSetPoint)

Constructs a new SwerveModule.

public SwerveModuleState state

public SwerveModulePosition getPosition()

Gets the current position of the swerve module.

public SwerveModuleState getState()

Gets the current state of the swerve module.

public void intializeAlarms(int driveID, int steerID, int canCoderID)

Resets the drive motor position to zero.

public void setAutoPID()

Sets the PID values for autonomous mode.

public void setDrivePID(PIDController pid, double velocity)

Sets the drive PID values.

public void setState(SwerveModuleState desiredState)

Sets the state of the swerve module.

public void setSteerPID(PIDController pid, double velocity)

Sets the steer PID values.

public void setTelePID()

Sets the PID values for teleoperation mode.

public void stop()

Stops the swerve module motors.

public void updateTelePID()