Package com.ctre.phoenix6.mechanisms.swerve

Class SwerveDrivetrainConstants

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrainConstants

public class SwerveDrivetrainConstants
extends Object

Common constants for a swerve drivetrain.

Field Summary

Fields

Modifier and Type	Field	Description
String	CANbusName	Name of the CAN bus the swerve drive is on.
Pigeon2Configuration	Pigeon2Configs	The Pigeon2 configuration object to apply to the Pigeon2.
int	Pigeon2Id	CAN ID of the Pigeon2 on the drivetrain.

Constructor Summary

Constructors

Constructor	Description
SwerveDrivetrainConstants()

Method Summary

Modifier and Type	Method	Description
SwerveDrivetrainConstants	withCANbusName(String name)	Sets the name of the CAN bus the swerve drive is on.
SwerveDrivetrainConstants	withPigeon2Configs(Pigeon2Configuration configs)	The Pigeon2 configuration object to apply to the Pigeon2.
SwerveDrivetrainConstants	withPigeon2Id(int id)	Sets the CAN ID of the Pigeon2 on the drivetrain.

Methods inherited from class java.lang.Object

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

Field Details

Pigeon2Id

public int Pigeon2Id

CAN ID of the Pigeon2 on the drivetrain.

CANbusName

public String CANbusName

Name of the CAN bus the swerve drive is on. Possible CAN bus strings are:

• "rio" for the native roboRIO CAN bus
• CANivore name or serial number
• "*" for any CANivore seen by the program

Pigeon2Configs

public Pigeon2Configuration Pigeon2Configs

The Pigeon2 configuration object to apply to the Pigeon2. This defaults to null. If this remains null, then the Pigeon2 will not be configured (and whatever configs are on it remain on it). If this is non-null, the Pigeon2 will be overwritten with these configs.

Constructor Details

SwerveDrivetrainConstants

public SwerveDrivetrainConstants()

Method Details

withPigeon2Id

public SwerveDrivetrainConstants withPigeon2Id(int id)

Sets the CAN ID of the Pigeon2 on the drivetrain.

Parameters:

id - CAN ID of the Pigeon2 on the drivetrain

Returns:

this object

withCANbusName

public SwerveDrivetrainConstants withCANbusName(String name)

Sets the name of the CAN bus the swerve drive is on. Possible CAN bus strings are:

• "rio" for the native roboRIO CAN bus
• CANivore name or serial number
• "*" for any CANivore seen by the program

Parameters:

name - Name of the CAN bus the swerve drive is on

Returns:

this object

withPigeon2Configs

public SwerveDrivetrainConstants withPigeon2Configs(Pigeon2Configuration configs)

The Pigeon2 configuration object to apply to the Pigeon2. This defaults to null. If this remains null, then the Pigeon2 will not be configured (and whatever configs are on it remain on it). If this is non-null, the Pigeon2 will be overwritten with these configs.

Parameters:

configs - The configs to apply to the Pigeon2

Returns:

this object