PIDSwerveModule

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

Constructors

constructor(pidCoefficients: PIDCoefficients)

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

abstract fun setCorrectedWheelVelocity(velocity: Double, acceleration: Double)

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

override fun setDrivePower(power: Double)

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

abstract fun setModulePower(power: Double)

Sets the power of the actuator which rotates the module.

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

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

open override fun update()

Updates the module.