Class SimSwerveDrivetrain.SimSwerveModule

java.lang.Object

com.ctre.phoenix6.swerve.SimSwerveDrivetrain.SimSwerveModule

Enclosing class:

SimSwerveDrivetrain

protected static class SimSwerveDrivetrain.SimSwerveModule
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
final double	DriveFrictionVoltage	Voltage necessary for the drive motor to overcome friction
final double	DriveGearing	Reference to steer gearing for updating encoder
final DCMotorSim	DriveMotor	Reference to motor simulation for drive motor
final boolean	DriveMotorInverted	Whether the drive motor is inverted
final boolean	EncoderInverted	Whether the azimuth encoder is inverted
final double	EncoderOffset	Offset of the azimuth encoder
final SwerveModuleConstants.SteerFeedbackType	EncoderType	The type of encoder to use for the azimuth
final double	SteerFrictionVoltage	Voltage necessary for the steer motor to overcome friction
final double	SteerGearing	Reference to steer gearing for updating encoder
final DCMotorSim	SteerMotor	Reference to motor simulation for the steer motor
final boolean	SteerMotorInverted	Whether the steer motor is inverted

Constructor Summary

Constructors

Constructor

Description

SimSwerveModule(double driveGearing, double driveInertia, double driveFrictionVoltage, boolean driveMotorInverted, SwerveModuleConstants.DriveMotorArrangement driveMotorType, double steerGearing, double steerInertia, double steerFrictionVoltage, boolean steerMotorInverted, SwerveModuleConstants.SteerMotorArrangement steerMotorType, boolean encoderInverted, double encoderOffset, SwerveModuleConstants.SteerFeedbackType encoderType)

Method Summary

Methods inherited from class Object

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

Field Details

DriveMotor

public final DCMotorSim DriveMotor

Reference to motor simulation for drive motor

SteerMotor

public final DCMotorSim SteerMotor

Reference to motor simulation for the steer motor

DriveGearing

public final double DriveGearing

Reference to steer gearing for updating encoder

SteerGearing

public final double SteerGearing

Reference to steer gearing for updating encoder

DriveFrictionVoltage

public final double DriveFrictionVoltage

Voltage necessary for the drive motor to overcome friction

SteerFrictionVoltage

public final double SteerFrictionVoltage

Voltage necessary for the steer motor to overcome friction

DriveMotorInverted

public final boolean DriveMotorInverted

Whether the drive motor is inverted

SteerMotorInverted

public final boolean SteerMotorInverted

Whether the steer motor is inverted

EncoderInverted

public final boolean EncoderInverted

Whether the azimuth encoder is inverted

EncoderOffset

public final double EncoderOffset

Offset of the azimuth encoder

EncoderType

public final SwerveModuleConstants.SteerFeedbackType EncoderType

The type of encoder to use for the azimuth

Constructor Details

SimSwerveModule

public SimSwerveModule(double driveGearing,
 double driveInertia,
 double driveFrictionVoltage,
 boolean driveMotorInverted,
 SwerveModuleConstants.DriveMotorArrangement driveMotorType,
 double steerGearing,
 double steerInertia,
 double steerFrictionVoltage,
 boolean steerMotorInverted,
 SwerveModuleConstants.SteerMotorArrangement steerMotorType,
 boolean encoderInverted,
 double encoderOffset,
 SwerveModuleConstants.SteerFeedbackType encoderType)