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

java.lang.Object

com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<DriveMotorConfigsT extends ParentConfiguration, SteerMotorConfigsT extends ParentConfiguration, EncoderConfigsT extends ParentConfiguration>
extends Object

Constants that are common across the swerve modules, used for creating instances of module-specific SwerveModuleConstants.

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.
DriveMotorConfigsT	DriveMotorInitialConfigs	The initial configs used to configure the drive motor of the swerve module.
SwerveModuleConstants.DriveMotorArrangement	DriveMotorType	Choose the motor used for the drive motor.
EncoderConfigsT	EncoderInitialConfigs	The initial configs used to configure the azimuth encoder of the swerve module.
SwerveModuleConstants.SteerFeedbackType	FeedbackSource	Choose how the feedback sensors should be configured.
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.
SteerMotorConfigsT	SteerMotorInitialConfigs	The initial configs used to configure the steer motor of the swerve module.
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
SwerveModuleConstantsFactory()

Method Summary

Modifier and Type	Method	Description
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	createModuleConstants(int steerMotorId, int driveMotorId, int encoderId, double encoderOffset, double locationX, double locationY, boolean driveMotorInverted, boolean steerMotorInverted, boolean encoderInverted)	Creates the constants for a swerve module with the given properties.
final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	createModuleConstants(int steerMotorId, int driveMotorId, int encoderId, Angle encoderOffset, Distance locationX, Distance locationY, boolean driveMotorInverted, boolean steerMotorInverted, boolean encoderInverted)	Creates the constants for a swerve module with the given properties.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withCouplingGearRatio(double newCouplingGearRatio)	Modifies the CouplingGearRatio parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveFrictionVoltage(double newDriveFrictionVoltage)	Modifies the DriveFrictionVoltage parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveFrictionVoltage(Voltage newDriveFrictionVoltage)	Modifies the DriveFrictionVoltage parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveInertia(double newDriveInertia)	Modifies the DriveInertia parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveInertia(MomentOfInertia newDriveInertia)	Modifies the DriveInertia parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveMotorClosedLoopOutput(SwerveModuleConstants.ClosedLoopOutputType newDriveMotorClosedLoopOutput)	Modifies the DriveMotorClosedLoopOutput parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveMotorGains(Slot0Configs newDriveMotorGains)	Modifies the DriveMotorGains parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveMotorGearRatio(double newDriveMotorGearRatio)	Modifies the DriveMotorGearRatio parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveMotorInitialConfigs(DriveMotorConfigsT newDriveMotorInitialConfigs)	Modifies the DriveMotorInitialConfigs parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withDriveMotorType(SwerveModuleConstants.DriveMotorArrangement newDriveMotorType)	Modifies the DriveMotorType parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withEncoderInitialConfigs(EncoderConfigsT newEncoderInitialConfigs)	Modifies the EncoderInitialConfigs parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withFeedbackSource(SwerveModuleConstants.SteerFeedbackType newFeedbackSource)	Modifies the FeedbackSource parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSlipCurrent(double newSlipCurrent)	Modifies the SlipCurrent parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSlipCurrent(Current newSlipCurrent)	Modifies the SlipCurrent parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSpeedAt12Volts(double newSpeedAt12Volts)	Modifies the SpeedAt12Volts parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSpeedAt12Volts(LinearVelocity newSpeedAt12Volts)	Modifies the SpeedAt12Volts parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerFrictionVoltage(double newSteerFrictionVoltage)	Modifies the SteerFrictionVoltage parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerFrictionVoltage(Voltage newSteerFrictionVoltage)	Modifies the SteerFrictionVoltage parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerInertia(double newSteerInertia)	Modifies the SteerInertia parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerInertia(MomentOfInertia newSteerInertia)	Modifies the SteerInertia parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerMotorClosedLoopOutput(SwerveModuleConstants.ClosedLoopOutputType newSteerMotorClosedLoopOutput)	Modifies the SteerMotorClosedLoopOutput parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerMotorGains(Slot0Configs newSteerMotorGains)	Modifies the SteerMotorGains parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerMotorGearRatio(double newSteerMotorGearRatio)	Modifies the SteerMotorGearRatio parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerMotorInitialConfigs(SteerMotorConfigsT newSteerMotorInitialConfigs)	Modifies the SteerMotorInitialConfigs parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withSteerMotorType(SwerveModuleConstants.SteerMotorArrangement newSteerMotorType)	Modifies the SteerMotorType parameter and returns itself.
final SwerveModuleConstantsFactory<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT>	withWheelRadius(double newWheelRadius)	Modifies the WheelRadius parameter and returns itself.
final SwerveModuleConstantsFactory<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

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 (SwerveModuleConstants.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 (SwerveModuleConstants.SteerMotorInverted)
• Slot0Configs (SteerMotorGains)
• FeedbackConfigs.FeedbackRemoteSensorID (SwerveModuleConstants.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 (SwerveModuleConstants.EncoderOffset)
• MagnetSensorConfigs.SensorDirection (SwerveModuleConstants.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

SwerveModuleConstantsFactory

public SwerveModuleConstantsFactory()

Method Details

withDriveMotorGearRatio

public final SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 (SwerveModuleConstants.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 SwerveModuleConstantsFactory<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 (SwerveModuleConstants.SteerMotorInverted)
• Slot0Configs (SteerMotorGains)
• FeedbackConfigs.FeedbackRemoteSensorID (SwerveModuleConstants.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 SwerveModuleConstantsFactory<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 (SwerveModuleConstants.EncoderOffset)
• MagnetSensorConfigs.SensorDirection (SwerveModuleConstants.EncoderInverted)

Parameters:

newEncoderInitialConfigs - Parameter to modify

Returns:

this object

withSteerInertia

public final SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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 SwerveModuleConstantsFactory<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

createModuleConstants

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> createModuleConstants(int steerMotorId,
 int driveMotorId,
 int encoderId,
 double encoderOffset,
 double locationX,
 double locationY,
 boolean driveMotorInverted,
 boolean steerMotorInverted,
 boolean encoderInverted)

Creates the constants for a swerve module with the given properties.

Parameters:

steerMotorId - CAN ID of the steer motor.

driveMotorId - CAN ID of the drive motor.

encoderId - CAN ID of the absolute encoder used for azimuth.

encoderOffset - Offset of the azimuth encoder.

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 - 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 - True if the drive motor is inverted.

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 - 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).

Returns:

Constants for the swerve module

createModuleConstants

public final SwerveModuleConstants<DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT> createModuleConstants(int steerMotorId,
 int driveMotorId,
 int encoderId,
 Angle encoderOffset,
 Distance locationX,
 Distance locationY,
 boolean driveMotorInverted,
 boolean steerMotorInverted,
 boolean encoderInverted)

Creates the constants for a swerve module with the given properties.

Parameters:

steerMotorId - CAN ID of the steer motor.

driveMotorId - CAN ID of the drive motor.

encoderId - CAN ID of the absolute encoder used for azimuth.

encoderOffset - Offset of the azimuth encoder.

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 - 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 - True if the drive motor is inverted.

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 - 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).

Returns:

Constants for the swerve module