Class ModuleIOTalonFX

java.lang.Object

org.teamvan.robot.mechanisms.drive.ModuleIOTalonFX

All Implemented Interfaces:

ModuleIO

public class ModuleIOTalonFX
extends Object
implements ModuleIO

Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and CANcoder. Configured using a set of module constants from Phoenix.

Device configuration and other behaviors not exposed by TunerConstants can be customized here.

Nested Class Summary

Nested classes/interfaces inherited from interface ModuleIO

ModuleIO.ModuleIOInputs

Constructor Summary

Constructors

Constructor	Description
ModuleIOTalonFX(SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> constants)

Method Summary

Modifier and Type	Method	Description
void	setDriveOpenLoop(double output)	Run the drive motor at the specified open loop value.
void	setDriveVelocity(double velocityRadPerSec)	Run the drive motor at the specified velocity.
void	setTurnOpenLoop(double output)	Run the turn motor at the specified open loop value.
void	setTurnPosition(Rotation2d rotation)	Run the turn motor to the specified rotation.
void	updateInputs(ModuleIO.ModuleIOInputs inputs)	Updates the set of loggable inputs.

Methods inherited from class Object

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

Constructor Details

ModuleIOTalonFX

public ModuleIOTalonFX(SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> constants)

Method Details

updateInputs

public void updateInputs(ModuleIO.ModuleIOInputs inputs)

Description copied from interface: ModuleIO

Updates the set of loggable inputs.

Specified by:

updateInputs in interface ModuleIO

setDriveOpenLoop

public void setDriveOpenLoop(double output)

Description copied from interface: ModuleIO

Run the drive motor at the specified open loop value.

Specified by:

setDriveOpenLoop in interface ModuleIO

setTurnOpenLoop

public void setTurnOpenLoop(double output)

Description copied from interface: ModuleIO

Run the turn motor at the specified open loop value.

Specified by:

setTurnOpenLoop in interface ModuleIO

setDriveVelocity

public void setDriveVelocity(double velocityRadPerSec)

Description copied from interface: ModuleIO

Run the drive motor at the specified velocity.

Specified by:

setDriveVelocity in interface ModuleIO

setTurnPosition

public void setTurnPosition(Rotation2d rotation)

Description copied from interface: ModuleIO

Run the turn motor to the specified rotation.

Specified by:

setTurnPosition in interface ModuleIO