Navigation/com.amarcolini.joos.drive/PIDSwerveModule

PIDSwerveModule

public abstract class PIDSwerveModule extends SwerveModule

A basic SwerveModule implementation using a PIDController to hold module position.

Constructors

PIDSwerveModule

public PIDSwerveModule PIDSwerveModule(PIDCoefficients pidCoefficients)

Properties

pidCoefficients

private final PIDCoefficients pidCoefficients

private final PIDController pidController

Functions

getPidCoefficients

protected final PIDCoefficients getPidCoefficients()

getPidController

protected final PIDController getPidController()

setCorrectedDrivePower

public abstract Unit setCorrectedDrivePower(Double power)

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

setCorrectedWheelVelocity

public abstract Unit setCorrectedWheelVelocity(Double velocity, Double acceleration)

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

public final Unit setDrivePower(Double power)

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

setModuleOrientation

public final Unit setModuleOrientation(Angle angle)

public abstract Unit setModulePower(Double power)

Sets the power of the actuator which rotates the module.

setWheelVelocity

public final Unit setWheelVelocity(Double velocity, Double acceleration)

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

public Unit update()

Updates the module.