rmb::SwerveModule Class Reference

#include <rmb/drive/SwerveModule.h>

Inheritance diagram for rmb::SwerveModule:

Public Member Functions
	SwerveModule (const SwerveModule &)=delete
	SwerveModule (SwerveModule &&)=default
	SwerveModule (std::unique_ptr< LinearVelocityController > velocityController, std::unique_ptr< AngularPositionController > angularController, const frc::Translation2d &moduleTranslation, bool breakMode=false)
void	setState (const units::meters_per_second_t &velocity, const frc::Rotation2d &angle)
void	smartdashboardDisplayTargetState (const std::string &name) const
void	setState (const frc::SwerveModuleState &state)
frc::SwerveModuleState	getState () const
frc::SwerveModulePosition	getPosition () const
frc::SwerveModuleState	getTargetState () const
units::meters_per_second_t	getTargetVelocity () const
frc::Rotation2d	getTargetRotation () const
void	setPower (double power, const frc::Rotation2d &angle)
void	setPower (const SwerveModulePower &power)
void	stop ()
SwerveModulePower	getPower ()
const frc::Translation2d &	getModuleTranslation () const
virtual void	InitSendable (wpi::SendableBuilder &builder) override
double	getAngle ()

Detailed Description

Class managing the motion of a swerve module

Constructor & Destructor Documentation

SwerveModule()

rmb::SwerveModule::SwerveModule	(	std::unique_ptr< LinearVelocityController >	velocityController,
		std::unique_ptr< AngularPositionController >	angularController,
		const frc::Translation2d &	moduleTranslation,
		bool	breakMode = false )

Constructs a SwerveModule object for controlling module states.

Parameters

angularController	Controller of the angle of module.
angularController	Controller of the velocioty of module.
moduleTranslation	the position of teh modlue reletive to the center of the robot for kinematics.

Member Function Documentation

getModuleTranslation()

const frc::Translation2d & rmb::SwerveModule::getModuleTranslation

(

)

const

Returns the position fo the module reletive to the center of the robot for kinematics.

getPosition()

frc::SwerveModulePosition rmb::SwerveModule::getPosition

(

)

const

Returns the current position of the module useful for more accurate odometry.

getState()

frc::SwerveModuleState rmb::SwerveModule::getState

(

)

const

Returns the current state of the module.

getTargetState()

frc::SwerveModuleState rmb::SwerveModule::getTargetState

(

)

const

Returns

The target state of the module. This is useful for debugging.

setPower() [1/2]

void rmb::SwerveModule::setPower

(

const SwerveModulePower &

power

)

Sets the desired open loop power of the swerve module. This is helpful for teleoperated driving as drivers tend power based control to be more natural.

Parameters

power

The desired power output of the swerve module.

setPower() [2/2]

void rmb::SwerveModule::setPower	(	double	power,
		const frc::Rotation2d &	angle )

Sets the desired open loop powerof the swerve module. Tghis is helpful for teleoperated driving as drivers tend power based control to be more natural.

Parameters

power	The desired power output of the swerve module.
angle	The desired angle of the swerve module.

setState() [1/2]

void rmb::SwerveModule::setState

(

const frc::SwerveModuleState &

state

)

Sets the desired state of the swerve module.

Parameters

state

The desired state of the module.

setState() [2/2]

void rmb::SwerveModule::setState	(	const units::meters_per_second_t &	velocity,
		const frc::Rotation2d &	angle )

Sets the desired state of the swerve module.

Parameters

velocity	The desired speed of the swerve module.
angle	The desired angle of the swerve module.

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The documentation for this class was generated from the following file:

• src/rmb/drive/SwerveModule.h