Class SwerveModuleConstants<DriveMotorConfigsT extends ParentConfiguration, SteerMotorConfigsT extends ParentConfiguration, EncoderConfigsT extends ParentConfiguration>

java.lang.Object

com.ctre.phoenix6.swerve.SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>

Type Parameters:

DriveMotorConfigsT - Type of the drive motor configs

SteerMotorConfigsT - Type of the steer motor configs

EncoderConfigsT - Type of the steer encoder configs

public class SwerveModuleConstants<DriveMotorConfigsT extends ParentConfiguration, SteerMotorConfigsT extends ParentConfiguration, EncoderConfigsT extends ParentConfiguration>
extends Object

All constants for a swerve module.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SwerveModuleConstants.ClosedLoopOutputType	Supported closed-loop output types.
static enum	SwerveModuleConstants.DriveMotorArrangement	Supported motor arrangements for the drive motors.
static enum	SwerveModuleConstants.SteerFeedbackType	Supported feedback sensors for the steer motors.
static enum	SwerveModuleConstants.SteerMotorArrangement	Supported motor arrangements for the steer motors.

Field Summary

Fields

Modifier and Type	Field	Description
double	CouplingGearRatio	Coupled gear ratio between the azimuth encoder and the drive motor.
double	DriveFrictionVoltage	Simulated drive voltage required to overcome friction.
double	DriveInertia	Simulated drive inertia.
SwerveModuleConstants.ClosedLoopOutputType	DriveMotorClosedLoopOutput	The closed-loop output type to use for the drive motors.
Slot0Configs	DriveMotorGains	The drive motor closed-loop gains.
double	DriveMotorGearRatio	Gear ratio between the drive motor and the wheel.
int	DriveMotorId	CAN ID of the drive motor.
DriveMotorConfigsT	DriveMotorInitialConfigs	The initial configs used to configure the drive motor of the swerve module.
boolean	DriveMotorInverted	True if the drive motor is inverted.
SwerveModuleConstants.DriveMotorArrangement	DriveMotorType	Choose the motor used for the drive motor.
int	EncoderId	CAN ID of the absolute encoder used for azimuth.
EncoderConfigsT	EncoderInitialConfigs	The initial configs used to configure the azimuth encoder of the swerve module.
boolean	EncoderInverted	True if the azimuth encoder is inverted from the azimuth.
double	EncoderOffset	Offset of the azimuth encoder.
SwerveModuleConstants.SteerFeedbackType	FeedbackSource	Choose how the feedback sensors should be configured.
double	LocationX	The location of this module's wheels relative to the physical center of the robot in meters along the X axis of the robot.
double	LocationY	The location of this module's wheels relative to the physical center of the robot in meters along the Y axis of the robot.
double	SlipCurrent	The maximum amount of stator current the drive motors can apply without slippage.
double	SpeedAt12Volts	When using open-loop drive control, this specifies the measured speed at which the robot travels when driven with 12 volts.
double	SteerFrictionVoltage	Simulated steer voltage required to overcome friction.
double	SteerInertia	Simulated azimuthal inertia.
SwerveModuleConstants.ClosedLoopOutputType	SteerMotorClosedLoopOutput	The closed-loop output type to use for the steer motors.
Slot0Configs	SteerMotorGains	The steer motor closed-loop gains.
double	SteerMotorGearRatio	Gear ratio between the steer motor and the azimuth encoder.
int	SteerMotorId	CAN ID of the steer motor.
SteerMotorConfigsT	SteerMotorInitialConfigs	The initial configs used to configure the steer motor of the swerve module.
boolean	SteerMotorInverted	True if the steer motor is inverted from the azimuth.
SwerveModuleConstants.SteerMotorArrangement	SteerMotorType	Choose the motor used for the steer motor.
double	WheelRadius	Radius of the driving wheel in meters.

Constructor Summary

Constructors

Constructor	Description
SwerveModuleConstants()

Method Summary

Modifier and Type	Method	Description
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withCouplingGearRatio(double newCouplingGearRatio)	Modifies the CouplingGearRatio parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveFrictionVoltage(double newDriveFrictionVoltage)	Modifies the DriveFrictionVoltage parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveFrictionVoltage(Voltage newDriveFrictionVoltage)	Modifies the DriveFrictionVoltage parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveInertia(double newDriveInertia)	Modifies the DriveInertia parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveInertia(MomentOfInertia newDriveInertia)	Modifies the DriveInertia parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveMotorClosedLoopOutput(SwerveModuleConstants.ClosedLoopOutputType newDriveMotorClosedLoopOutput)	Modifies the DriveMotorClosedLoopOutput parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveMotorGains(Slot0Configs newDriveMotorGains)	Modifies the DriveMotorGains parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveMotorGearRatio(double newDriveMotorGearRatio)	Modifies the DriveMotorGearRatio parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveMotorId(int newDriveMotorId)	Modifies the DriveMotorId parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveMotorInitialConfigs(DriveMotorConfigsT newDriveMotorInitialConfigs)	Modifies the DriveMotorInitialConfigs parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveMotorInverted(boolean newDriveMotorInverted)	Modifies the DriveMotorInverted parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveMotorType(SwerveModuleConstants.DriveMotorArrangement newDriveMotorType)	Modifies the DriveMotorType parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withEncoderId(int newEncoderId)	Modifies the EncoderId parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withEncoderInitialConfigs(EncoderConfigsT newEncoderInitialConfigs)	Modifies the EncoderInitialConfigs parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withEncoderInverted(boolean newEncoderInverted)	Modifies the EncoderInverted parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withEncoderOffset(double newEncoderOffset)	Modifies the EncoderOffset parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withEncoderOffset(Angle newEncoderOffset)	Modifies the EncoderOffset parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withFeedbackSource(SwerveModuleConstants.SteerFeedbackType newFeedbackSource)	Modifies the FeedbackSource parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withLocationX(double newLocationX)	Modifies the LocationX parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withLocationX(Distance newLocationX)	Modifies the LocationX parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withLocationY(double newLocationY)	Modifies the LocationY parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withLocationY(Distance newLocationY)	Modifies the LocationY parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSlipCurrent(double newSlipCurrent)	Modifies the SlipCurrent parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSlipCurrent(Current newSlipCurrent)	Modifies the SlipCurrent parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSpeedAt12Volts(double newSpeedAt12Volts)	Modifies the SpeedAt12Volts parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSpeedAt12Volts(LinearVelocity newSpeedAt12Volts)	Modifies the SpeedAt12Volts parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerFrictionVoltage(double newSteerFrictionVoltage)	Modifies the SteerFrictionVoltage parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerFrictionVoltage(Voltage newSteerFrictionVoltage)	Modifies the SteerFrictionVoltage parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerInertia(double newSteerInertia)	Modifies the SteerInertia parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerInertia(MomentOfInertia newSteerInertia)	Modifies the SteerInertia parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerMotorClosedLoopOutput(SwerveModuleConstants.ClosedLoopOutputType newSteerMotorClosedLoopOutput)	Modifies the SteerMotorClosedLoopOutput parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerMotorGains(Slot0Configs newSteerMotorGains)	Modifies the SteerMotorGains parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerMotorGearRatio(double newSteerMotorGearRatio)	Modifies the SteerMotorGearRatio parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerMotorId(int newSteerMotorId)	Modifies the SteerMotorId parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerMotorInitialConfigs(SteerMotorConfigsT newSteerMotorInitialConfigs)	Modifies the SteerMotorInitialConfigs parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerMotorInverted(boolean newSteerMotorInverted)	Modifies the SteerMotorInverted parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerMotorType(SwerveModuleConstants.SteerMotorArrangement newSteerMotorType)	Modifies the SteerMotorType parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withWheelRadius(double newWheelRadius)	Modifies the WheelRadius parameter and returns itself.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withWheelRadius(Distance newWheelRadius)	Modifies the WheelRadius parameter and returns itself.

Methods inherited from class Object

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

Field Details

SteerMotorId

public int SteerMotorId

CAN ID of the steer motor.

DriveMotorId

public int DriveMotorId

CAN ID of the drive motor.

EncoderId

public int EncoderId

CAN ID of the absolute encoder used for azimuth.

EncoderOffset

public double EncoderOffset

Offset of the azimuth encoder.

LocationX

public double LocationX

The location of this module's wheels relative to the physical center of the robot in meters along the X axis of the robot.

LocationY

public double LocationY

The location of this module's wheels relative to the physical center of the robot in meters along the Y axis of the robot.

DriveMotorInverted

public boolean DriveMotorInverted

True if the drive motor is inverted.

SteerMotorInverted

public boolean SteerMotorInverted

True if the steer motor is inverted from the azimuth. The azimuth should rotate counter-clockwise (as seen from the top of the robot) for a positive motor output.

EncoderInverted

public boolean EncoderInverted

True if the azimuth encoder is inverted from the azimuth. The encoder should report a positive velocity when the azimuth rotates counter-clockwise (as seen from the top of the robot).

DriveMotorGearRatio

public double DriveMotorGearRatio

Gear ratio between the drive motor and the wheel.

SteerMotorGearRatio

public double SteerMotorGearRatio

Gear ratio between the steer motor and the azimuth encoder. For example, the SDS Mk4 has a steering ratio of 12.8.

CouplingGearRatio

public double CouplingGearRatio

Coupled gear ratio between the azimuth encoder and the drive motor.

For a typical swerve module, the azimuth turn motor also drives the wheel a nontrivial amount, which affects the accuracy of odometry and control. This ratio represents the number of rotations of the drive motor caused by a rotation of the azimuth.

WheelRadius

public double WheelRadius

Radius of the driving wheel in meters.

SteerMotorGains

public Slot0Configs SteerMotorGains

The steer motor closed-loop gains.

The steer motor uses the control ouput type specified by SteerMotorClosedLoopOutput and any SwerveModule.SteerRequestType. These gains operate on azimuth rotations (after the gear ratio).

DriveMotorGains

public Slot0Configs DriveMotorGains

The drive motor closed-loop gains.

When using closed-loop control, the drive motor uses the control output type specified by DriveMotorClosedLoopOutput and any closed-loop SwerveModule.DriveRequestType. These gains operate on motor rotor rotations (before the gear ratio).

SteerMotorClosedLoopOutput

public SwerveModuleConstants.ClosedLoopOutputType SteerMotorClosedLoopOutput

The closed-loop output type to use for the steer motors.

DriveMotorClosedLoopOutput

public SwerveModuleConstants.ClosedLoopOutputType DriveMotorClosedLoopOutput

The closed-loop output type to use for the drive motors.

SlipCurrent

public double SlipCurrent

The maximum amount of stator current the drive motors can apply without slippage.

SpeedAt12Volts

public double SpeedAt12Volts

When using open-loop drive control, this specifies the measured speed at which the robot travels when driven with 12 volts. This is used to approximate the output for a desired velocity; it cannot be used to change the desired max speed of the robot. If using closed loop control, this value is ignored.

DriveMotorType

public SwerveModuleConstants.DriveMotorArrangement DriveMotorType

Choose the motor used for the drive motor.

If using a Talon FX, this should be set to TalonFX_Integrated. If using a Talon FXS, this should be set to the motor attached to the Talon FXS.

SteerMotorType

public SwerveModuleConstants.SteerMotorArrangement SteerMotorType

Choose the motor used for the steer motor.

If using a Talon FX, this should be set to TalonFX_Integrated. If using a Talon FXS, this should be set to the motor attached to the Talon FXS.

FeedbackSource

public SwerveModuleConstants.SteerFeedbackType FeedbackSource

Choose how the feedback sensors should be configured.

If the robot does not support Pro, then this should be set to RemoteCANcoder. Otherwise, users have the option to use either FusedCANcoder or SyncCANcoder depending on if there is a risk that the CANcoder can fail in a way to provide "good" data.

If this is set to FusedCANcoder or SyncCANcoder when the steer motor is not Pro-licensed, the device will automatically fall back to RemoteCANcoder and report a UsingProFeatureOnUnlicensedDevice status code.

DriveMotorInitialConfigs

public DriveMotorConfigsT extends ParentConfiguration DriveMotorInitialConfigs

The initial configs used to configure the drive motor of the swerve module. The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

• MotorOutputConfigs.NeutralMode (Brake mode, overwritten with SwerveDrivetrain.configNeutralMode(NeutralModeValue))
• MotorOutputConfigs.Inverted (DriveMotorInverted)
• Slot0Configs (DriveMotorGains)
• CurrentLimitsConfigs.StatorCurrentLimit / TorqueCurrentConfigs.PeakForwardTorqueCurrent / TorqueCurrentConfigs.PeakReverseTorqueCurrent (SlipCurrent)
• CurrentLimitsConfigs.StatorCurrentLimitEnable (Enabled)
• FeedbackConfigs.RotorToSensorRatio / FeedbackConfigs.SensorToMechanismRatio (1.0)

SteerMotorInitialConfigs

public SteerMotorConfigsT extends ParentConfiguration SteerMotorInitialConfigs

The initial configs used to configure the steer motor of the swerve module. The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

• MotorOutputConfigs.NeutralMode (Brake mode)
• MotorOutputConfigs.Inverted (SteerMotorInverted)
• Slot0Configs (SteerMotorGains)
• FeedbackConfigs.FeedbackRemoteSensorID (EncoderId)
• FeedbackConfigs.FeedbackSensorSource (FeedbackSource)
• FeedbackConfigs.RotorToSensorRatio (SteerMotorGearRatio)
• FeedbackConfigs.SensorToMechanismRatio (1.0)
• MotionMagicConfigs.MotionMagicExpo_kV / MotionMagicConfigs.MotionMagicExpo_kA (Calculated from gear ratios)
• ClosedLoopGeneralConfigs.ContinuousWrap (true)

EncoderInitialConfigs

public EncoderConfigsT extends ParentConfiguration EncoderInitialConfigs

The initial configs used to configure the azimuth encoder of the swerve module. The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

For CANcoder, the list of configs that will be overwritten is as follows:

• MagnetSensorConfigs.MagnetOffset (EncoderOffset)
• MagnetSensorConfigs.SensorDirection (EncoderInverted)

SteerInertia

public double SteerInertia

Simulated azimuthal inertia.

DriveInertia

public double DriveInertia

Simulated drive inertia.

SteerFrictionVoltage

public double SteerFrictionVoltage

Simulated steer voltage required to overcome friction.

DriveFrictionVoltage

public double DriveFrictionVoltage

Simulated drive voltage required to overcome friction.

Constructor Details

SwerveModuleConstants

public SwerveModuleConstants()

Method Details

withSteerMotorId

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSteerMotorId(int newSteerMotorId)

Modifies the SteerMotorId parameter and returns itself.

CAN ID of the steer motor.

Parameters:

newSteerMotorId - Parameter to modify

Returns:

this object

withDriveMotorId

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withDriveMotorId(int newDriveMotorId)

Modifies the DriveMotorId parameter and returns itself.

CAN ID of the drive motor.

Parameters:

newDriveMotorId - Parameter to modify

Returns:

this object

withEncoderId

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withEncoderId(int newEncoderId)

Modifies the EncoderId parameter and returns itself.

CAN ID of the absolute encoder used for azimuth.

Parameters:

newEncoderId - Parameter to modify

Returns:

this object

withEncoderOffset

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withEncoderOffset(double newEncoderOffset)

Modifies the EncoderOffset parameter and returns itself.

Offset of the azimuth encoder.

Parameters:

newEncoderOffset - Parameter to modify

Returns:

this object

withEncoderOffset

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withEncoderOffset(Angle newEncoderOffset)

Modifies the EncoderOffset parameter and returns itself.

Offset of the azimuth encoder.

Parameters:

newEncoderOffset - Parameter to modify

Returns:

this object

withLocationX

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withLocationX(double newLocationX)

Modifies the LocationX parameter and returns itself.

The location of this module's wheels relative to the physical center of the robot in meters along the X axis of the robot.

Parameters:

newLocationX - Parameter to modify

Returns:

this object

withLocationX

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withLocationX(Distance newLocationX)

Modifies the LocationX parameter and returns itself.

The location of this module's wheels relative to the physical center of the robot in meters along the X axis of the robot.

Parameters:

newLocationX - Parameter to modify

Returns:

this object

withLocationY

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withLocationY(double newLocationY)

Modifies the LocationY parameter and returns itself.

The location of this module's wheels relative to the physical center of the robot in meters along the Y axis of the robot.

Parameters:

newLocationY - Parameter to modify

Returns:

this object

withLocationY

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withLocationY(Distance newLocationY)

Modifies the LocationY parameter and returns itself.

The location of this module's wheels relative to the physical center of the robot in meters along the Y axis of the robot.

Parameters:

newLocationY - Parameter to modify

Returns:

this object

withDriveMotorInverted

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withDriveMotorInverted(boolean newDriveMotorInverted)

Modifies the DriveMotorInverted parameter and returns itself.

True if the drive motor is inverted.

Parameters:

newDriveMotorInverted - Parameter to modify

Returns:

this object

withSteerMotorInverted

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSteerMotorInverted(boolean newSteerMotorInverted)

Modifies the SteerMotorInverted parameter and returns itself.

True if the steer motor is inverted from the azimuth. The azimuth should rotate counter-clockwise (as seen from the top of the robot) for a positive motor output.

Parameters:

newSteerMotorInverted - Parameter to modify

Returns:

this object

withEncoderInverted

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withEncoderInverted(boolean newEncoderInverted)

Modifies the EncoderInverted parameter and returns itself.

True if the azimuth encoder is inverted from the azimuth. The encoder should report a positive velocity when the azimuth rotates counter-clockwise (as seen from the top of the robot).

Parameters:

newEncoderInverted - Parameter to modify

Returns:

this object

withDriveMotorGearRatio

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withDriveMotorGearRatio(double newDriveMotorGearRatio)

Modifies the DriveMotorGearRatio parameter and returns itself.

Gear ratio between the drive motor and the wheel.

Parameters:

newDriveMotorGearRatio - Parameter to modify

Returns:

this object

withSteerMotorGearRatio

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSteerMotorGearRatio(double newSteerMotorGearRatio)

Modifies the SteerMotorGearRatio parameter and returns itself.

Gear ratio between the steer motor and the azimuth encoder. For example, the SDS Mk4 has a steering ratio of 12.8.

Parameters:

newSteerMotorGearRatio - Parameter to modify

Returns:

this object

withCouplingGearRatio

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withCouplingGearRatio(double newCouplingGearRatio)

Modifies the CouplingGearRatio parameter and returns itself.

Coupled gear ratio between the azimuth encoder and the drive motor.

For a typical swerve module, the azimuth turn motor also drives the wheel a nontrivial amount, which affects the accuracy of odometry and control. This ratio represents the number of rotations of the drive motor caused by a rotation of the azimuth.

Parameters:

newCouplingGearRatio - Parameter to modify

Returns:

this object

withWheelRadius

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withWheelRadius(double newWheelRadius)

Modifies the WheelRadius parameter and returns itself.

Radius of the driving wheel in meters.

Parameters:

newWheelRadius - Parameter to modify

Returns:

this object

withWheelRadius

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withWheelRadius(Distance newWheelRadius)

Modifies the WheelRadius parameter and returns itself.

Radius of the driving wheel in meters.

Parameters:

newWheelRadius - Parameter to modify

Returns:

this object

withSteerMotorGains

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSteerMotorGains(Slot0Configs newSteerMotorGains)

Modifies the SteerMotorGains parameter and returns itself.

The steer motor closed-loop gains.

The steer motor uses the control ouput type specified by SteerMotorClosedLoopOutput and any SwerveModule.SteerRequestType. These gains operate on azimuth rotations (after the gear ratio).

Parameters:

newSteerMotorGains - Parameter to modify

Returns:

this object

withDriveMotorGains

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withDriveMotorGains(Slot0Configs newDriveMotorGains)

Modifies the DriveMotorGains parameter and returns itself.

The drive motor closed-loop gains.

When using closed-loop control, the drive motor uses the control output type specified by DriveMotorClosedLoopOutput and any closed-loop SwerveModule.DriveRequestType. These gains operate on motor rotor rotations (before the gear ratio).

Parameters:

newDriveMotorGains - Parameter to modify

Returns:

this object

withSteerMotorClosedLoopOutput

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSteerMotorClosedLoopOutput(SwerveModuleConstants.ClosedLoopOutputType newSteerMotorClosedLoopOutput)

Modifies the SteerMotorClosedLoopOutput parameter and returns itself.

The closed-loop output type to use for the steer motors.

Parameters:

newSteerMotorClosedLoopOutput - Parameter to modify

Returns:

this object

withDriveMotorClosedLoopOutput

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withDriveMotorClosedLoopOutput(SwerveModuleConstants.ClosedLoopOutputType newDriveMotorClosedLoopOutput)

Modifies the DriveMotorClosedLoopOutput parameter and returns itself.

The closed-loop output type to use for the drive motors.

Parameters:

newDriveMotorClosedLoopOutput - Parameter to modify

Returns:

this object

withSlipCurrent

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSlipCurrent(double newSlipCurrent)

Modifies the SlipCurrent parameter and returns itself.

The maximum amount of stator current the drive motors can apply without slippage.

Parameters:

newSlipCurrent - Parameter to modify

Returns:

this object

withSlipCurrent

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSlipCurrent(Current newSlipCurrent)

Modifies the SlipCurrent parameter and returns itself.

The maximum amount of stator current the drive motors can apply without slippage.

Parameters:

newSlipCurrent - Parameter to modify

Returns:

this object

withSpeedAt12Volts

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSpeedAt12Volts(double newSpeedAt12Volts)

Modifies the SpeedAt12Volts parameter and returns itself.

When using open-loop drive control, this specifies the measured speed at which the robot travels when driven with 12 volts. This is used to approximate the output for a desired velocity; it cannot be used to change the desired max speed of the robot. If using closed loop control, this value is ignored.

Parameters:

newSpeedAt12Volts - Parameter to modify

Returns:

this object

withSpeedAt12Volts

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSpeedAt12Volts(LinearVelocity newSpeedAt12Volts)

Modifies the SpeedAt12Volts parameter and returns itself.

When using open-loop drive control, this specifies the measured speed at which the robot travels when driven with 12 volts. This is used to approximate the output for a desired velocity; it cannot be used to change the desired max speed of the robot. If using closed loop control, this value is ignored.

Parameters:

newSpeedAt12Volts - Parameter to modify

Returns:

this object

withDriveMotorType

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withDriveMotorType(SwerveModuleConstants.DriveMotorArrangement newDriveMotorType)

Modifies the DriveMotorType parameter and returns itself.

Choose the motor used for the drive motor.

If using a Talon FX, this should be set to TalonFX_Integrated. If using a Talon FXS, this should be set to the motor attached to the Talon FXS.

Parameters:

newDriveMotorType - Parameter to modify

Returns:

this object

withSteerMotorType

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSteerMotorType(SwerveModuleConstants.SteerMotorArrangement newSteerMotorType)

Modifies the SteerMotorType parameter and returns itself.

Choose the motor used for the steer motor.

If using a Talon FX, this should be set to TalonFX_Integrated. If using a Talon FXS, this should be set to the motor attached to the Talon FXS.

Parameters:

newSteerMotorType - Parameter to modify

Returns:

this object

withFeedbackSource

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withFeedbackSource(SwerveModuleConstants.SteerFeedbackType newFeedbackSource)

Modifies the FeedbackSource parameter and returns itself.

Choose how the feedback sensors should be configured.

If the robot does not support Pro, then this should be set to RemoteCANcoder. Otherwise, users have the option to use either FusedCANcoder or SyncCANcoder depending on if there is a risk that the CANcoder can fail in a way to provide "good" data.

If this is set to FusedCANcoder or SyncCANcoder when the steer motor is not Pro-licensed, the device will automatically fall back to RemoteCANcoder and report a UsingProFeatureOnUnlicensedDevice status code.

Parameters:

newFeedbackSource - Parameter to modify

Returns:

this object

withDriveMotorInitialConfigs

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withDriveMotorInitialConfigs(DriveMotorConfigsT newDriveMotorInitialConfigs)

Modifies the DriveMotorInitialConfigs parameter and returns itself.

The initial configs used to configure the drive motor of the swerve module. The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

• MotorOutputConfigs.NeutralMode (Brake mode, overwritten with SwerveDrivetrain.configNeutralMode(NeutralModeValue))
• MotorOutputConfigs.Inverted (DriveMotorInverted)
• Slot0Configs (DriveMotorGains)
• CurrentLimitsConfigs.StatorCurrentLimit / TorqueCurrentConfigs.PeakForwardTorqueCurrent / TorqueCurrentConfigs.PeakReverseTorqueCurrent (SlipCurrent)
• CurrentLimitsConfigs.StatorCurrentLimitEnable (Enabled)
• FeedbackConfigs.RotorToSensorRatio / FeedbackConfigs.SensorToMechanismRatio (1.0)

Parameters:

newDriveMotorInitialConfigs - Parameter to modify

Returns:

this object

withSteerMotorInitialConfigs

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSteerMotorInitialConfigs(SteerMotorConfigsT newSteerMotorInitialConfigs)

Modifies the SteerMotorInitialConfigs parameter and returns itself.

The initial configs used to configure the steer motor of the swerve module. The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

• MotorOutputConfigs.NeutralMode (Brake mode)
• MotorOutputConfigs.Inverted (SteerMotorInverted)
• Slot0Configs (SteerMotorGains)
• FeedbackConfigs.FeedbackRemoteSensorID (EncoderId)
• FeedbackConfigs.FeedbackSensorSource (FeedbackSource)
• FeedbackConfigs.RotorToSensorRatio (SteerMotorGearRatio)
• FeedbackConfigs.SensorToMechanismRatio (1.0)
• MotionMagicConfigs.MotionMagicExpo_kV / MotionMagicConfigs.MotionMagicExpo_kA (Calculated from gear ratios)
• ClosedLoopGeneralConfigs.ContinuousWrap (true)

Parameters:

newSteerMotorInitialConfigs - Parameter to modify

Returns:

this object

withEncoderInitialConfigs

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withEncoderInitialConfigs(EncoderConfigsT newEncoderInitialConfigs)

Modifies the EncoderInitialConfigs parameter and returns itself.

The initial configs used to configure the azimuth encoder of the swerve module. The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

For CANcoder, the list of configs that will be overwritten is as follows:

• MagnetSensorConfigs.MagnetOffset (EncoderOffset)
• MagnetSensorConfigs.SensorDirection (EncoderInverted)

Parameters:

newEncoderInitialConfigs - Parameter to modify

Returns:

this object

withSteerInertia

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSteerInertia(double newSteerInertia)

Modifies the SteerInertia parameter and returns itself.

Simulated azimuthal inertia.

Parameters:

newSteerInertia - Parameter to modify

Returns:

this object

withSteerInertia

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSteerInertia(MomentOfInertia newSteerInertia)

Modifies the SteerInertia parameter and returns itself.

Simulated azimuthal inertia.

Parameters:

newSteerInertia - Parameter to modify

Returns:

this object

withDriveInertia

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withDriveInertia(double newDriveInertia)

Modifies the DriveInertia parameter and returns itself.

Simulated drive inertia.

Parameters:

newDriveInertia - Parameter to modify

Returns:

this object

withDriveInertia

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withDriveInertia(MomentOfInertia newDriveInertia)

Modifies the DriveInertia parameter and returns itself.

Simulated drive inertia.

Parameters:

newDriveInertia - Parameter to modify

Returns:

this object

withSteerFrictionVoltage

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSteerFrictionVoltage(double newSteerFrictionVoltage)

Modifies the SteerFrictionVoltage parameter and returns itself.

Simulated steer voltage required to overcome friction.

Parameters:

newSteerFrictionVoltage - Parameter to modify

Returns:

this object

withSteerFrictionVoltage

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withSteerFrictionVoltage(Voltage newSteerFrictionVoltage)

Modifies the SteerFrictionVoltage parameter and returns itself.

Simulated steer voltage required to overcome friction.

Parameters:

newSteerFrictionVoltage - Parameter to modify

Returns:

this object

withDriveFrictionVoltage

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withDriveFrictionVoltage(double newDriveFrictionVoltage)

Modifies the DriveFrictionVoltage parameter and returns itself.

Simulated drive voltage required to overcome friction.

Parameters:

newDriveFrictionVoltage - Parameter to modify

Returns:

this object

withDriveFrictionVoltage

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> withDriveFrictionVoltage(Voltage newDriveFrictionVoltage)

Modifies the DriveFrictionVoltage parameter and returns itself.

Simulated drive voltage required to overcome friction.

Parameters:

newDriveFrictionVoltage - Parameter to modify

Returns:

this object