Package com.marslib.swerve

Class SwerveModuleIOTalonFX

java.lang.Object

com.marslib.swerve.SwerveModuleIOTalonFX

All Implemented Interfaces:

SwerveModuleIO

public class SwerveModuleIOTalonFX
extends Object
implements SwerveModuleIO

Hardware IO implementation for a Swerve Module using CTRE TalonFX motors and a CANcoder.

Nested Class Summary

Nested classes/interfaces inherited from interface com.marslib.swerve.SwerveModuleIO

SwerveModuleIO.SwerveModuleIOInputs

Constructor Summary

Constructors

Constructor	Description
SwerveModuleIOTalonFX(int driveMotorId, int turnMotorId, String canbus, SwerveConfig config)

Method Summary

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

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SwerveModuleIOTalonFX

public SwerveModuleIOTalonFX(int driveMotorId,
 int turnMotorId,
 String canbus,
 SwerveConfig config)

Method Details

updateInputs

public void updateInputs(SwerveModuleIO.SwerveModuleIOInputs inputs)

Description copied from interface: SwerveModuleIO

Updates the set of loggable inputs.

Specified by:

updateInputs in interface SwerveModuleIO

setDriveVoltage

public void setDriveVoltage(double volts)

Description copied from interface: SwerveModuleIO

Run the drive motor at the specified voltage.

Specified by:

setDriveVoltage in interface SwerveModuleIO

setTurnVoltage

public void setTurnVoltage(double volts)

Description copied from interface: SwerveModuleIO

Run the turn motor at the specified voltage.

Specified by:

setTurnVoltage in interface SwerveModuleIO

setDriveBrakeMode

public void setDriveBrakeMode(boolean enable)

Description copied from interface: SwerveModuleIO

Sets the neutral mode of the drive motor.

Specified by:

setDriveBrakeMode in interface SwerveModuleIO

setTurnBrakeMode

public void setTurnBrakeMode(boolean enable)

Description copied from interface: SwerveModuleIO

Sets the neutral mode of the turn motor.

Specified by:

setTurnBrakeMode in interface SwerveModuleIO