Navigation/com.amarcolini.joos.drive/PIDDiffSwerveModule

PIDDiffSwerveModule

public abstract class PIDDiffSwerveModule extends SwerveModule

A basic SwerveModule implementation using a PIDController to control a differential swerve module.

Constructors

PIDDiffSwerveModule

public PIDDiffSwerveModule PIDDiffSwerveModule(PIDCoefficients pidCoefficients, Feedforward feedforward)

Properties

feedforward

private Feedforward feedforward

pidController

private final PIDController pidController

Functions

getFeedforward

protected final Feedforward getFeedforward()

getGearPositions

public abstract List<Double> getGearPositions()

Returns the positions of the gears in linear distance units. Positions should exactly match the ordering in setMotorPowers.

getGearRotations

public abstract List<Angle> getGearRotations()

Returns the total rotation of the gears. Angles should exactly match the ordering in setMotorPowers.

getGearVelocities

public List<Double> getGearVelocities()

Returns the velocities of the gears in linear distance units. Velocities should exactly match the ordering in setMotorPowers.

getModuleOrientation

public Angle getModuleOrientation()

getPidController

protected final PIDController getPidController()

getWheelPosition

public Double getWheelPosition()

Returns the positions of the wheel in linear distance units.

getWheelVelocity

public Double getWheelVelocity()

Returns the velocity of the wheel in linear distance units.

setDrivePower

public final Unit setDrivePower(Double power)

Sets the wheel motor power (normalized voltage) on the interval [-1.0, 1.0].

setFeedforward

protected final Unit setFeedforward(Feedforward feedforward)

setModuleOrientation

public final Unit setModuleOrientation(Angle angle)

setMotorPowers

public abstract Unit setMotorPowers(Double top, Double bottom)

Sets the following motor powers (normalized voltages). All arguments are on the interval [-1.0, 1.0].

setWheelVelocity

public final Unit setWheelVelocity(Double velocity, Double acceleration)

Sets the wheel velocity (and acceleration) of the wheel motor.

update

public Unit update()

Updates the module.