com.ctre.phoenix6.mechanisms.swerve.SimSwerveDrivetrain.SimSwerveModule

public class SimSwerveDrivetrain.SimSwerveModule
extends Object

Field Summary

Fields
Modifier and Type	Field	Description
`double`	`DriveFrictionVoltage`	Voltage necessary for the drive motor to overcome friction
`double`	`DriveGearing`	Reference to steer gearing for updating CANcoder
`DCMotorSim`	`DriveMotor`	Reference to motor simulation for drive motor
`boolean`	`DriveMotorInverted`	Whether the drive motor is inverted
`double`	`SteerFrictionVoltage`	Voltage necessary for the steer motor to overcome friction
`double`	`SteerGearing`	Reference to steer gearing for updating CANcoder
`DCMotorSim`	`SteerMotor`	Reference to motor simulation for the steer motor
`boolean`	`SteerMotorInverted`	Whether the steer motor is inverted

Constructor Summary

Constructors
Constructor	Description
`SimSwerveModule(double steerGearing, double steerInertia, double steerFrictionVoltage, boolean steerMotorInverted, double driveGearing, double driveInertia, double driveFrictionVoltage, boolean driveMotorInverted)`

Method Summary

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details
- SteerMotor
  
  public final DCMotorSim SteerMotor
  
  Reference to motor simulation for the steer motor
- DriveMotor
  
  public final DCMotorSim DriveMotor
  
  Reference to motor simulation for drive motor
- SteerGearing
  
  public final double SteerGearing
  
  Reference to steer gearing for updating CANcoder
- DriveGearing
  
  public final double DriveGearing
  
  Reference to steer gearing for updating CANcoder
- SteerFrictionVoltage
  
  public final double SteerFrictionVoltage
  
  Voltage necessary for the steer motor to overcome friction
- DriveFrictionVoltage
  
  public final double DriveFrictionVoltage
  
  Voltage necessary for the drive motor to overcome friction
- SteerMotorInverted
  
  public final boolean SteerMotorInverted
  
  Whether the steer motor is inverted
- DriveMotorInverted
  
  public final boolean DriveMotorInverted
  
  Whether the drive motor is inverted
Constructor Details
- SimSwerveModule
  
  public SimSwerveModule(double steerGearing, double steerInertia, double steerFrictionVoltage, boolean steerMotorInverted, double driveGearing, double driveInertia, double driveFrictionVoltage, boolean driveMotorInverted)