PIDDiffSwerveModule

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

Constructors

constructor(pidCoefficients: PIDCoefficients, feedforward: Feedforward)

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

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

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

Returns the positions of the wheel in linear distance units.

open override fun getWheelVelocity(): Double?

Returns the velocity of the wheel in linear distance units.

override fun setDrivePower(power: Double)

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

abstract fun setMotorPowers(top: Double, bottom: Double)

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

override fun setWheelVelocity(velocity: Double, acceleration: Double)

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

open override fun update()

Updates the module.