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.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SwerveModule.ClosedLoopOutputType	Supported closed-loop output types.
static class	SwerveModule.DriveRequestType	All possible control requests for the module drive motor.
static class	SwerveModule.SteerRequestType	All possible control requests for the module steer motor.

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
void	apply(SwerveModuleState state, SwerveModule.DriveRequestType driveRequestType)	Applies the desired SwerveModuleState to this module.
void	apply(SwerveModuleState state, SwerveModule.DriveRequestType driveRequestType, SwerveModule.SteerRequestType steerRequestType)	Applies the desired SwerveModuleState to this module.
void	applyCharacterization(Rotation2d steerTarget, TorqueCurrentFOC driveRequest)	Controls this module to the specified steer target, and applies the specific drive request.
void	applyCharacterization(Rotation2d steerTarget, VoltageOut driveRequest)	Controls this module to the specified steer target, and applies the specific drive request.
StatusCode	configNeutralMode(NeutralModeValue neutralMode)	Configures the neutral mode to use for the module's drive motor.
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.
SwerveModuleState	getTargetState()	Get the target state of the module.
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)

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

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, SwerveModule.DriveRequestType driveRequestType)

Applies the desired SwerveModuleState to this module.

Parameters:

state - Speed and direction the module should target

driveRequestType - The SwerveModule.DriveRequestType to apply

apply

public void apply(SwerveModuleState state, SwerveModule.DriveRequestType driveRequestType, SwerveModule.SteerRequestType steerRequestType)

Applies the desired SwerveModuleState to this module.

Parameters:

state - Speed and direction the module should target

driveRequestType - The SwerveModule.DriveRequestType to apply

steerRequestType - The SwerveModule.SteerRequestType to apply; defaults to SwerveModule.SteerRequestType.MotionMagic

applyCharacterization

public void applyCharacterization(Rotation2d steerTarget, VoltageOut driveRequest)

Controls this module to the specified steer target, and applies the specific drive request.

This is intended only to be used for characterization of the robot, do not use this for normal use.

Parameters:

steerTarget - The angle the wheels should face for characterization

driveRequest - The direct voltage to apply to the motor for use during characterization

applyCharacterization

public void applyCharacterization(Rotation2d steerTarget, TorqueCurrentFOC driveRequest)

Controls this module to the specified steer target, and applies the specific drive request.

This is intended only to be used for characterization of the robot, do not use this for normal use.

Parameters:

steerTarget - The angle the wheels should face for characterization

driveRequest - The direct Torque Current to apply to the motor for use during characterization

configNeutralMode

public StatusCode configNeutralMode(NeutralModeValue neutralMode)

Configures the neutral mode to use for the module's drive motor.

Parameters:

neutralMode - The drive motor neutral mode

Returns:

Status code response of the request

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

getTargetState

public SwerveModuleState getTargetState()

Get the target state of the module.

This is typically used for telemetry.

Returns:

Target 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