Package org.team1126.lib.swerve.hardware

Class SwerveMotors.SwerveMotor

java.lang.Object

org.team1126.lib.swerve.hardware.SwerveMotors.SwerveMotor

All Implemented Interfaces:

AutoCloseable

Enclosing class:

SwerveMotors

public abstract static class SwerveMotors.SwerveMotor
extends Object

A swerve motor. All units are in rotations.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	SwerveMotors.SwerveMotor.Ctor	(config, isMoveMotor) -> SwerveMotor

Constructor Summary

Constructors

Constructor	Description
SwerveMotor()

Method Summary

Modifier and Type	Method	Description
static SwerveMotors.SwerveMotor	construct(SwerveMotors.SwerveMotor.Ctor ctor, SwerveConfig config, boolean isMoveMotor)	Constructs a swerve motor.
Object	getAPI()	Returns the device's underlying API.
abstract double	getPosition()	Gets the motor's position in rotations.
default List<com.ctre.phoenix6.BaseStatusSignal>	getSignals()	Returns all Phoenix status signals in use by the hardware.
abstract double	getVelocity()	Gets the motor's velocity in rotations/second.
default boolean	readError()	If the device has encountered an error while reading inputs.
abstract void	reapplyBrakeMode()	Configures the motor's brake mode from the swerve config.
abstract void	reapplyGains()	Re-applies PID and FF gains from the swerve config.
abstract void	setPosition(double position)	Sets the motor's closed-loop position target.
abstract void	setVelocity(double velocity)	Sets the motor's closed-loop velocity target.
abstract void	setVoltage(double voltage)	Sets the motor's output voltage.

Methods inherited from class java.lang.Object

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

Methods inherited from interface java.lang.AutoCloseable

close

Constructor Details

SwerveMotor

public SwerveMotor()

Method Details

construct

public static SwerveMotors.SwerveMotor construct(SwerveMotors.SwerveMotor.Ctor ctor,
 SwerveConfig config,
 boolean isMoveMotor)

Constructs a swerve motor. Wraps to support simulation if applicable.

Parameters:

ctor - The motor's constructor.

config - The general swerve API configuration.

isMoveMotor - true if the motor is a move motor.

getPosition

public abstract double getPosition()

Gets the motor's position in rotations.

setPosition

public abstract void setPosition(double position)

Sets the motor's closed-loop position target.

Parameters:

position - The target position in rotations.

getVelocity

public abstract double getVelocity()

Gets the motor's velocity in rotations/second.

setVelocity

public abstract void setVelocity(double velocity)

Sets the motor's closed-loop velocity target.

Parameters:

velocity - The target velocity in rotations/second.

setVoltage

public abstract void setVoltage(double voltage)

Sets the motor's output voltage.

Parameters:

voltage - The voltage to apply.

reapplyGains

public abstract void reapplyGains()

Re-applies PID and FF gains from the swerve config. Used for setting new gains after the config has been mutated. This is likely a blocking operation.

reapplyBrakeMode

public abstract void reapplyBrakeMode()

Configures the motor's brake mode from the swerve config. Used for setting a new value after the config has been mutated. This is likely a blocking operation.

getAPI

Object getAPI()

Returns the device's underlying API.

getSignals

default List<com.ctre.phoenix6.BaseStatusSignal> getSignals()

Returns all Phoenix status signals in use by the hardware. Phoenix hardware should not invoke .refresh() on their status signals in their implementations. This method is required for the odometry thread to register signals to be refreshed automatically. Because signals are not thread safe, all returned signals should also be cloned in their initialization as to not interfere with telemetry, which is invoked on the main thread. The exception to this rule is IMU pitch and roll values, as they are only measured synchronously when calling SwerveAPI.refresh().

readError

default boolean readError()

If the device has encountered an error while reading inputs.