Navigation/com.amarcolini.joos.drive/SwerveModule

SwerveModule

public abstract class SwerveModule

Inheritors

PIDSwerveModule

PIDDiffSwerveModule

Constructors

public SwerveModule SwerveModule()

Functions

getModuleOrientation

public abstract Angle getModuleOrientation()

getWheelPosition

public abstract 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.

public abstract Unit setDrivePower(Double power)

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

setModuleOrientation

public abstract Unit setModuleOrientation(Angle angle)

setWheelVelocity

public abstract Unit setWheelVelocity(Double velocity, Double acceleration)

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

public abstract Unit update()

Updates the module.