Package com.ctre.phoenix6.mechanisms.swerve

Class SwerveModule

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.SwerveModule

public class SwerveModule
extends Object

Swerve Module class that encapsulates a swerve module powered by CTR Electronics devices.

This class handles the hardware devices and configures them for swerve module operation using the Phoenix 6 API.

This class constructs hardware devices internally, so the user only specifies the constants (IDs, PID gains, gear ratios, etc). Getters for these hardware devices are available.

Constructor Summary

Constructors

Constructor	Description
SwerveModule(SwerveModuleConstants constants, String canbusName, boolean supportsPro)	Construct a SwerveModule with the specified constants.

Method Summary

Modifier and Type	Method	Description
void	apply(SwerveModuleState state, boolean isOpenLoop)	Applies the desired SwerveModuleState to this module.
SwerveModulePosition	getCachedPosition()	Gets the last cached swerve module position.
CANcoder	getCANcoder()	Gets this module's CANcoder reference.
SwerveModuleState	getCurrentState()	Get the current state of the module.
TalonFX	getDriveMotor()	Gets this module's Drive Motor TalonFX reference.
SwerveModulePosition	getPosition(boolean refresh)	Gets the state of this module and passes it back as a SwerveModulePosition object with latency compensated values.
TalonFX	getSteerMotor()	Gets this module's Steer Motor TalonFX reference.
void	resetPosition()	Resets this module's drive motor position to 0 rotations.

Methods inherited from class java.lang.Object

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

Constructor Details

SwerveModule

public SwerveModule(SwerveModuleConstants constants, String canbusName, boolean supportsPro)

Construct a SwerveModule with the specified constants.

Parameters:

constants - Constants used to construct the module

canbusName - The name of the CAN bus this module is on

supportsPro - True if the devices are licensed to use Pro features

Method Details

getPosition

public SwerveModulePosition getPosition(boolean refresh)

Gets the state of this module and passes it back as a SwerveModulePosition object with latency compensated values.

Parameters:

refresh - True if the signals should be refreshed

Returns:

SwerveModulePosition containing this module's state.

apply

public void apply(SwerveModuleState state, boolean isOpenLoop)

Applies the desired SwerveModuleState to this module.

Parameters:

state - Speed and direction the module should target

isOpenLoop - True if this should use open-loop control.

getCachedPosition

public SwerveModulePosition getCachedPosition()

Gets the last cached swerve module position. This differs from getPosition(boolean) in that it will not perform any latency compensation or refresh the signals.

Returns:

Last cached SwerveModulePosition

getCurrentState

public SwerveModuleState getCurrentState()

Get the current state of the module.

This is typically used for telemetry, as the SwerveModulePosition is used for odometry.

Returns:

Current state of the module

resetPosition

public void resetPosition()

Resets this module's drive motor position to 0 rotations.

getDriveMotor

public TalonFX getDriveMotor()

Gets this module's Drive Motor TalonFX reference.

This should be used only to access signals and change configurations that the swerve drivetrain does not configure itself.

Returns:

This module's Drive Motor reference

getSteerMotor

public TalonFX getSteerMotor()

Gets this module's Steer Motor TalonFX reference.

This should be used only to access signals and change configurations that the swerve drivetrain does not configure itself.

Returns:

This module's Steer Motor reference

getCANcoder

public CANcoder getCANcoder()

Gets this module's CANcoder reference.

This should be used only to access signals and change configurations that the swerve drivetrain does not configure itself.

Returns:

This module's CANcoder reference