Package org.team1126.lib.swerve.config

Class SwerveModuleConfig

java.lang.Object

org.team1126.lib.swerve.config.SwerveModuleConfig

public class SwerveModuleConfig
extends Object

Config builder for SwerveAPI modules.

Field Summary

Fields

Modifier and Type	Field	Description
SwerveEncoders.SwerveEncoder.Ctor	encoder	The encoder to use, generated by the SwerveEncoders class.
edu.wpi.first.math.geometry.Translation2d	location	The module's location relative to the center of the robot.
SwerveMotors.SwerveMotor.Ctor	moveMotor	The move motor to use, generated by the SwerveMotors class.
String	name	The name of the module.
SwerveMotors.SwerveMotor.Ctor	turnMotor	The turn motor to use, generated by the SwerveMotors class.

Constructor Summary

Constructors

Constructor	Description
SwerveModuleConfig()

Method Summary

Modifier and Type	Method	Description
SwerveModuleConfig	setEncoder(SwerveEncoders.SwerveEncoder.Ctor encoder)	Sets the encoder to use.
SwerveModuleConfig	setLocation(double x, double y)	Sets the module's location relative to the center of the robot (in meters).
SwerveModuleConfig	setMoveMotor(SwerveMotors.SwerveMotor.Ctor motor)	Sets the move motor to use.
SwerveModuleConfig	setName(String name)	Sets the module's name.
SwerveModuleConfig	setTurnMotor(SwerveMotors.SwerveMotor.Ctor motor)	Sets the turn motor to use.
void	verify()	Verifies the config.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

name

public String name

The name of the module.

location

public edu.wpi.first.math.geometry.Translation2d location

The module's location relative to the center of the robot.

moveMotor

public SwerveMotors.SwerveMotor.Ctor moveMotor

The move motor to use, generated by the SwerveMotors class.

turnMotor

public SwerveMotors.SwerveMotor.Ctor turnMotor

The turn motor to use, generated by the SwerveMotors class.

encoder

public SwerveEncoders.SwerveEncoder.Ctor encoder

The encoder to use, generated by the SwerveEncoders class.

Constructor Details

SwerveModuleConfig

public SwerveModuleConfig()

Method Details

setName

public SwerveModuleConfig setName(String name)

Sets the module's name. Utilized by telemetry.

Parameters:

name - The name of the module.

setLocation

public SwerveModuleConfig setLocation(double x,
 double y)

Sets the module's location relative to the center of the robot (in meters).

Parameters:

x - The module's X location in meters.

y - The module's Y location in meters.

setMoveMotor

public SwerveModuleConfig setMoveMotor(SwerveMotors.SwerveMotor.Ctor motor)

Sets the move motor to use.

Parameters:

motor - The move motor to use, generated by the SwerveMotors class.

setTurnMotor

public SwerveModuleConfig setTurnMotor(SwerveMotors.SwerveMotor.Ctor motor)

Sets the turn motor to use.

Parameters:

motor - The turn motor to use, generated by the SwerveMotors class.

setEncoder

public SwerveModuleConfig setEncoder(SwerveEncoders.SwerveEncoder.Ctor encoder)

Sets the encoder to use.

Parameters:

encoder - The encoder to use, generated by the SwerveEncoders class.

verify

public void verify()

Verifies the config.