Package com.marslib.swerve

Interface SwerveModuleIO

All Known Implementing Classes:

SwerveModuleIOSim, SwerveModuleIOTalonFX

public interface SwerveModuleIO

Hardware abstraction interface for a single swerve module (drive + turn motors).

Students: Implement this interface once for real hardware (SwerveModuleIOTalonFX) and once for desktop physics simulation (SwerveModuleIOSim). The SwerveModule subsystem is injected with one or the other and never knows the difference.

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	SwerveModuleIO.SwerveModuleIOInputs

Method Summary

Modifier and Type	Method	Description
default void	setDriveBrakeMode(boolean enable)	Sets the neutral mode of the drive motor.
default void	setDriveVoltage(double volts)	Run the drive motor at the specified voltage.
default void	setTurnBrakeMode(boolean enable)	Sets the neutral mode of the turn motor.
default void	setTurnVoltage(double volts)	Run the turn motor at the specified voltage.
default void	updateInputs(SwerveModuleIO.SwerveModuleIOInputs inputs)	Updates the set of loggable inputs.

Method Details

updateInputs

default void updateInputs(SwerveModuleIO.SwerveModuleIOInputs inputs)

Updates the set of loggable inputs.

setDriveVoltage

default void setDriveVoltage(double volts)

Run the drive motor at the specified voltage.

setTurnVoltage

default void setTurnVoltage(double volts)

Run the turn motor at the specified voltage.

setDriveBrakeMode

default void setDriveBrakeMode(boolean enable)

Sets the neutral mode of the drive motor.

setTurnBrakeMode

default void setTurnBrakeMode(boolean enable)

Sets the neutral mode of the turn motor.