Navigation/com.amarcolini.joos.drive/SwerveModule

SwerveModule

abstract class SwerveModule

Inheritors

Constructors

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constructor()

Functions

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abstract fun getModuleOrientation(): Angle
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abstract fun getWheelPosition(): Double

Returns the positions of the wheel in linear distance units.

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open fun getWheelVelocity(): Double?

Returns the velocity of the wheel in linear distance units.

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abstract fun setDrivePower(power: Double)

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

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abstract fun setModuleOrientation(angle: Angle)
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abstract fun setWheelVelocity(velocity: Double, acceleration: Double)

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

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abstract fun update()

Updates the module.