com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants

public class SwerveModuleConstants
extends Object

All constants for a swerve module.

Nested Class Summary

Nested Classes

Modifier and Type Class Description

static class SwerveModuleConstants.SteerFeedbackType
Supported feedback sensors for the steer motors.

Field Summary

Fields
Modifier and Type	Field	Description
`int`	`CANcoderId`	CAN ID of the CANcoder used for azimuth.
`CANcoderConfiguration`	`CANcoderInitialConfigs`	The initial configs used to configure the CANcoder of the swerve module.
`double`	`CANcoderOffset`	Offset of the CANcoder in rotations.
`double`	`CouplingGearRatio`	Coupled gear ratio between the CANcoder and the drive motor.
`double`	`DriveFrictionVoltage`	Simulated drive voltage required to overcome friction.
`double`	`DriveInertia`	Simulated drive inertia in kilogram meters squared.
`SwerveModule.ClosedLoopOutputType`	`DriveMotorClosedLoopOutput`	The closed-loop output type to use for the drive motors.
`Slot0Configs`	`DriveMotorGains`	The drive motor closed-loop gains.
`double`	`DriveMotorGearRatio`	Gear ratio between the drive motor and the wheel.
`int`	`DriveMotorId`	CAN ID of the drive motor.
`TalonFXConfiguration`	`DriveMotorInitialConfigs`	The initial configs used to configure the drive motor of the swerve module.
`boolean`	`DriveMotorInverted`	True if the driving motor is reversed.
`SwerveModuleConstants.SteerFeedbackType`	`FeedbackSource`	Choose how the feedback sensors should be configured.
`double`	`LocationX`	The location of this module's wheels relative to the physical center of the robot in meters along the X axis of the robot.
`double`	`LocationY`	The location of this module's wheels relative to the physical center of the robot in meters along the Y axis of the robot.
`double`	`SlipCurrent`	The maximum amount of stator current the drive motors can apply without slippage.
`double`	`SpeedAt12VoltsMps`	When using open-loop drive control, this specifies the speed at which the robot travels when driven with 12 volts, in meters per second.
`double`	`SteerFrictionVoltage`	Simulated steer voltage required to overcome friction.
`double`	`SteerInertia`	Simulated azimuthal inertia in kilogram meters squared.
`SwerveModule.ClosedLoopOutputType`	`SteerMotorClosedLoopOutput`	The closed-loop output type to use for the steer motors.
`Slot0Configs`	`SteerMotorGains`	The steer motor closed-loop gains.
`double`	`SteerMotorGearRatio`	Gear ratio between the steer motor and the CANcoder.
`int`	`SteerMotorId`	CAN ID of the steer motor.
`TalonFXConfiguration`	`SteerMotorInitialConfigs`	The initial configs used to configure the steer motor of the swerve module.
`boolean`	`SteerMotorInverted`	True if the steering motor is reversed from the CANcoder.
`double`	`WheelRadius`	Radius of the driving wheel in inches.

Constructor Summary

Constructors

Constructor Description

SwerveModuleConstants()

Method Summary

Modifier and Type	Method	Description
`SwerveModuleConstants`	`withCANcoderId(int id)`	Sets the CAN ID of the CANcoder used for azimuth.
`SwerveModuleConstants`	`withCANcoderInitialConfigs(CANcoderConfiguration configs)`	The initial configs used to configure the CANcoder of the swerve module.
`SwerveModuleConstants`	`withCANcoderOffset(double offset)`	Sets the offset of the CANcoder in rotations.
`SwerveModuleConstants`	`withCouplingGearRatio(double ratio)`	Sets the coupled gear ratio between the CANcoder and the drive motor.
`SwerveModuleConstants`	`withDriveFrictionVoltage(double voltage)`	Sets the simulated drive voltage required to overcome friction.
`SwerveModuleConstants`	`withDriveInertia(double driveInertia)`	Sets the simulated drive inertia in kilogram meters squared.
`SwerveModuleConstants`	`withDriveMotorClosedLoopOutput(SwerveModule.ClosedLoopOutputType outputType)`	Sets closed-loop output type to use for the drive motors.
`SwerveModuleConstants`	`withDriveMotorGains(Slot0Configs gains)`	Sets the drive motor closed-loop gains.
`SwerveModuleConstants`	`withDriveMotorGearRatio(double ratio)`	Sets the gear ratio between the drive motor and the wheel.
`SwerveModuleConstants`	`withDriveMotorId(int id)`	Sets the CAN ID of the drive motor.
`SwerveModuleConstants`	`withDriveMotorInitialConfigs(TalonFXConfiguration configs)`	The initial configs used to configure the drive motor of the swerve module.
`SwerveModuleConstants`	`withDriveMotorInverted(boolean driveMotorInverted)`	Sets whether the driving motor is reversed.
`SwerveModuleConstants`	`withFeedbackSource(SwerveModuleConstants.SteerFeedbackType source)`	Chooses how the feedback sensors should be configured.
`SwerveModuleConstants`	`withLocationX(double locationXMeters)`	Sets the location of this module's wheels relative to the physical center of the robot in meters along the X axis of the robot.
`SwerveModuleConstants`	`withLocationY(double locationYMeters)`	Sets the location of this module's wheels relative to the physical center of the robot in meters along the Y axis of the robot.
`SwerveModuleConstants`	`withSlipCurrent(double slipCurrent)`	Sets the maximum amount of stator current the drive motors can apply without slippage.
`SwerveModuleConstants`	`withSpeedAt12VoltsMps(double speedAt12VoltsMps)`	When using open-loop drive control, this specifies the speed at which the robot travels when driven with 12 volts, in meters per second.
`SwerveModuleConstants`	`withSteerFrictionVoltage(double voltage)`	Sets the simulated steer voltage required to overcome friction.
`SwerveModuleConstants`	`withSteerInertia(double steerInertia)`	Sets the simulated azimuthal inertia in kilogram meters squared.
`SwerveModuleConstants`	`withSteerMotorClosedLoopOutput(SwerveModule.ClosedLoopOutputType outputType)`	Sets closed-loop output type to use for the steer motors.
`SwerveModuleConstants`	`withSteerMotorGains(Slot0Configs gains)`	Sets the steer motor closed-loop gains.
`SwerveModuleConstants`	`withSteerMotorGearRatio(double ratio)`	Sets the gear ratio between the steer motor and the CANcoder.
`SwerveModuleConstants`	`withSteerMotorId(int id)`	Sets the CAN ID of the steer motor.
`SwerveModuleConstants`	`withSteerMotorInitialConfigs(TalonFXConfiguration configs)`	The initial configs used to configure the steer motor of the swerve module.
`SwerveModuleConstants`	`withSteerMotorInverted(boolean steerMotorInverted)`	Sets whether the steering motor is reversed from the CANcoder.
`SwerveModuleConstants`	`withWheelRadius(double radius)`	Sets the radius of the driving wheel in inches.

Methods inherited from class java.lang.Object

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

Field Details
- DriveMotorId
  
  public int DriveMotorId
  
  CAN ID of the drive motor.
- SteerMotorId
  
  public int SteerMotorId
  
  CAN ID of the steer motor.
- CANcoderId
  
  public int CANcoderId
  
  CAN ID of the CANcoder used for azimuth.
- CANcoderOffset
  
  public double CANcoderOffset
  
  Offset of the CANcoder in rotations.
- DriveMotorGearRatio
  
  public double DriveMotorGearRatio
  
  Gear ratio between the drive motor and the wheel.
- SteerMotorGearRatio
  
  public double SteerMotorGearRatio
  
  Gear ratio between the steer motor and the CANcoder. For example, the SDS Mk4 has a steering ratio of 12.8.
- CouplingGearRatio
  
  public double CouplingGearRatio
  
  Coupled gear ratio between the CANcoder and the drive motor.
  For a typical swerve module, the azimuth turn motor also drives the wheel a nontrivial amount, which affects the accuracy of odometry and control. This ratio represents the number of rotations of the drive motor caused by a rotation of the azimuth.
- WheelRadius
  
  public double WheelRadius
  
  Radius of the driving wheel in inches.
- LocationX
  
  public double LocationX
  
  The location of this module's wheels relative to the physical center of the robot in meters along the X axis of the robot.
- LocationY
  
  public double LocationY
  
  The location of this module's wheels relative to the physical center of the robot in meters along the Y axis of the robot.
- SteerMotorGains
  
  public Slot0Configs SteerMotorGains
  
  The steer motor closed-loop gains.
  The steer motor uses the control ouput type specified by SteerMotorClosedLoopOutput and any SwerveModule.SteerRequestType.
- DriveMotorGains
  
  public Slot0Configs DriveMotorGains
  
  The drive motor closed-loop gains.
  When using closed-loop control, the drive motor uses the control output type specified by DriveMotorClosedLoopOutput and any closed-loop SwerveModule.DriveRequestType.
- SteerMotorClosedLoopOutput
  
  public SwerveModule.ClosedLoopOutputType SteerMotorClosedLoopOutput
  
  The closed-loop output type to use for the steer motors.
- DriveMotorClosedLoopOutput
  
  public SwerveModule.ClosedLoopOutputType DriveMotorClosedLoopOutput
  
  The closed-loop output type to use for the drive motors.
- SlipCurrent
  
  public double SlipCurrent
  
  The maximum amount of stator current the drive motors can apply without slippage.
- SteerMotorInverted
  
  public boolean SteerMotorInverted
  
  True if the steering motor is reversed from the CANcoder.
- DriveMotorInverted
  
  public boolean DriveMotorInverted
  
  True if the driving motor is reversed.
- SpeedAt12VoltsMps
  
  public double SpeedAt12VoltsMps
  
  When using open-loop drive control, this specifies the speed at which the robot travels when driven with 12 volts, in meters per second. This is used to approximate the output for a desired velocity. If using closed loop control, this value is ignored.
- SteerInertia
  
  public double SteerInertia
  
  Simulated azimuthal inertia in kilogram meters squared.
- DriveInertia
  
  public double DriveInertia
  
  Simulated drive inertia in kilogram meters squared.
- SteerFrictionVoltage
  
  public double SteerFrictionVoltage
  
  Simulated steer voltage required to overcome friction.
- DriveFrictionVoltage
  
  public double DriveFrictionVoltage
  
  Simulated drive voltage required to overcome friction.
- FeedbackSource
  
  public SwerveModuleConstants.SteerFeedbackType FeedbackSource
  
  Choose how the feedback sensors should be configured.
  If the robot does not support Pro, then this should remain as RemoteCANcoder. Otherwise, users have the option to use either FusedCANcoder or SyncCANcoder depending on if there is a risk that the CANcoder can fail in a way to provide "good" data.
- DriveMotorInitialConfigs
  
  public TalonFXConfiguration DriveMotorInitialConfigs
  The initial configs used to configure the drive motor of the swerve module. The default value is the factory-default.
  Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.
  The list of configs that will be overwritten is as follows:
  
  MotorOutputConfigs.NeutralMode (Brake mode, overwritten with SwerveModule.configNeutralMode(NeutralModeValue))
  MotorOutputConfigs.Inverted (DriveMotorInverted)
  Slot0Configs (DriveMotorGains)
  CurrentLimitsConfigs.StatorCurrentLimit / TorqueCurrentConfigs.PeakForwardTorqueCurrent / TorqueCurrentConfigs.PeakReverseTorqueCurrent (SlipCurrent)
  CurrentLimitsConfigs.StatorCurrentLimitEnable (Enabled)
- SteerMotorInitialConfigs
  
  public TalonFXConfiguration SteerMotorInitialConfigs
  The initial configs used to configure the steer motor of the swerve module. The default value is the factory-default.
  Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.
  The list of configs that will be overwritten is as follows:
  
  MotorOutputConfigs.NeutralMode (Brake mode)
  MotorOutputConfigs.Inverted (SteerMotorInverted)
  Slot0Configs (SteerMotorGains)
  FeedbackConfigs.FeedbackRemoteSensorID (CANcoderId)
  FeedbackConfigs.FeedbackSensorSource (FeedbackSource)
  FeedbackConfigs.RotorToSensorRatio (SteerMotorGearRatio)
  MotionMagicConfigs (Calculated from gear ratios)
  ClosedLoopGeneralConfigs.ContinuousWrap (true)
- CANcoderInitialConfigs
  
  public CANcoderConfiguration CANcoderInitialConfigs
  The initial configs used to configure the CANcoder of the swerve module. The default value is the factory-default.
  Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants() class is available to be changed.
  The list of configs that will be overwritten is as follows:
  
  MagnetSensorConfigs.MagnetOffset (CANcoderOffset)
Constructor Details
- SwerveModuleConstants
  
  public SwerveModuleConstants()
Method Details
- withDriveMotorId
  
  public SwerveModuleConstants withDriveMotorId(int id)
  
  Sets the CAN ID of the drive motor.
  
  Parameters:
  
  id - CAN ID of the drive motor
  
  Returns:
  
  this object
- withSteerMotorId
  
  public SwerveModuleConstants withSteerMotorId(int id)
  
  Sets the CAN ID of the steer motor.
  
  Parameters:
  
  id - CAN ID of the steer motor
  
  Returns:
  
  this object
- withCANcoderId
  
  public SwerveModuleConstants withCANcoderId(int id)
  
  Sets the CAN ID of the CANcoder used for azimuth.
  
  Parameters:
  
  id - CAN ID of the CANcoder used for azimuth
  
  Returns:
  
  this object
- withCANcoderOffset
  
  public SwerveModuleConstants withCANcoderOffset(double offset)
  
  Sets the offset of the CANcoder in rotations.
  
  Parameters:
  
  offset - Offset of the CANcoder in rotations
  
  Returns:
  
  this object
- withDriveMotorGearRatio
  
  public SwerveModuleConstants withDriveMotorGearRatio(double ratio)
  
  Sets the gear ratio between the drive motor and the wheel.
  
  Parameters:
  
  ratio - Gear ratio between the drive motor and the wheel
  
  Returns:
  
  this object
- withSteerMotorGearRatio
  
  public SwerveModuleConstants withSteerMotorGearRatio(double ratio)
  
  Sets the gear ratio between the steer motor and the CANcoder. For example, the SDS Mk4 has a steering ratio of 12.8.
  
  Parameters:
  
  ratio - Gear ratio between the steer motor and the CANcoder
  
  Returns:
  
  this object
- withCouplingGearRatio
  
  public SwerveModuleConstants withCouplingGearRatio(double ratio)
  
  Sets the coupled gear ratio between the CANcoder and the drive motor.
  For a typical swerve module, the azimuth turn motor also drives the wheel a nontrivial amount, which affects the accuracy of odometry and control. This ratio represents the number of rotations of the drive motor caused by a rotation of the azimuth.
  
  Parameters:
  
  ratio - Coupled gear ratio between the CANcoder and the drive motor
  
  Returns:
  
  this object
- withWheelRadius
  
  public SwerveModuleConstants withWheelRadius(double radius)
  
  Sets the radius of the driving wheel in inches.
  
  Parameters:
  
  radius - Radius of the driving wheel in inches
  
  Returns:
  
  this object
- withLocationX
  
  public SwerveModuleConstants withLocationX(double locationXMeters)
  
  Sets the location of this module's wheels relative to the physical center of the robot in meters along the X axis of the robot.
  
  Parameters:
  
  locationXMeters - Location of this module's wheels
  
  Returns:
  
  this object
- withLocationY
  
  public SwerveModuleConstants withLocationY(double locationYMeters)
  
  Sets the location of this module's wheels relative to the physical center of the robot in meters along the Y axis of the robot.
  
  Parameters:
  
  locationYMeters - Location of this module's wheels
  
  Returns:
  
  this object
- withSteerMotorGains
  
  public SwerveModuleConstants withSteerMotorGains(Slot0Configs gains)
  
  Sets the steer motor closed-loop gains.
  The steer motor uses the control ouput type specified by SteerMotorClosedLoopOutput and any SwerveModule.SteerRequestType.
  
  Parameters:
  
  gains - Steer motor closed-loop gains
  
  Returns:
  
  this object
- withDriveMotorGains
  
  public SwerveModuleConstants withDriveMotorGains(Slot0Configs gains)
  
  Sets the drive motor closed-loop gains.
  When using closed-loop control, the drive motor uses the control output type specified by DriveMotorClosedLoopOutput and any closed-loop SwerveModule.DriveRequestType.
  
  Parameters:
  
  gains - Drive motor closed-loop gains
  
  Returns:
  
  this object
- withSteerMotorClosedLoopOutput
  
  public SwerveModuleConstants withSteerMotorClosedLoopOutput(SwerveModule.ClosedLoopOutputType outputType)
  
  Sets closed-loop output type to use for the steer motors.
  
  Parameters:
  
  outputType - Closed-loop output type to use for the steer motors
  
  Returns:
  
  this object
- withDriveMotorClosedLoopOutput
  
  public SwerveModuleConstants withDriveMotorClosedLoopOutput(SwerveModule.ClosedLoopOutputType outputType)
  
  Sets closed-loop output type to use for the drive motors.
  
  Parameters:
  
  outputType - Closed-loop output type to use for the drive motors
  
  Returns:
  
  this object
- withSlipCurrent
  
  public SwerveModuleConstants withSlipCurrent(double slipCurrent)
  
  Sets the maximum amount of stator current the drive motors can apply without slippage.
  
  Parameters:
  
  slipCurrent - Maximum amount of stator current
  
  Returns:
  
  this object
- withSteerMotorInverted
  
  public SwerveModuleConstants withSteerMotorInverted(boolean steerMotorInverted)
  
  Sets whether the steering motor is reversed from the CANcoder.
  
  Parameters:
  
  steerMotorInverted - True if the steering motor is reversed from the CANcoder
  
  Returns:
  
  this object
- withDriveMotorInverted
  
  public SwerveModuleConstants withDriveMotorInverted(boolean driveMotorInverted)
  
  Sets whether the driving motor is reversed.
  
  Parameters:
  
  driveMotorInverted - True if the driving motor is reversed
  
  Returns:
  
  this object
- withSpeedAt12VoltsMps
  
  public SwerveModuleConstants withSpeedAt12VoltsMps(double speedAt12VoltsMps)
  
  When using open-loop drive control, this specifies the speed at which the robot travels when driven with 12 volts, in meters per second. This is used to approximate the output for a desired velocity. If using closed loop control, this value is ignored.
  
  Parameters:
  
  speedAt12VoltsMps - Speed at which the robot travels when driven with 12 volts, in meters per second
  
  Returns:
  
  this object
- withSteerInertia
  
  public SwerveModuleConstants withSteerInertia(double steerInertia)
  
  Sets the simulated azimuthal inertia in kilogram meters squared.
  
  Parameters:
  
  steerInertia - Azimuthal inertia in kilogram meters squared
  
  Returns:
  
  this object
- withDriveInertia
  
  public SwerveModuleConstants withDriveInertia(double driveInertia)
  
  Sets the simulated drive inertia in kilogram meters squared.
  
  Parameters:
  
  driveInertia - Drive inertia in kilogram meters squared
  
  Returns:
  
  this object
- withSteerFrictionVoltage
  
  public SwerveModuleConstants withSteerFrictionVoltage(double voltage)
  
  Sets the simulated steer voltage required to overcome friction.
  
  Parameters:
  
  voltage - Steer voltage required to overcome friction
  
  Returns:
  
  this object
- withDriveFrictionVoltage
  
  public SwerveModuleConstants withDriveFrictionVoltage(double voltage)
  
  Sets the simulated drive voltage required to overcome friction.
  
  Parameters:
  
  voltage - Drive voltage required to overcome friction
  
  Returns:
  
  this object
- withFeedbackSource
  
  public SwerveModuleConstants withFeedbackSource(SwerveModuleConstants.SteerFeedbackType source)
  
  Chooses how the feedback sensors should be configured.
  If the robot does not support Pro, then this should remain as RemoteCANcoder. Otherwise, users have the option to use either FusedCANcoder or SyncCANcoder depending on if there is a risk that the CANcoder can fail in a way to provide "good" data.
  
  Parameters:
  
  source - The feedback sensor source
  
  Returns:
  
  this object
- withDriveMotorInitialConfigs
  
  public SwerveModuleConstants withDriveMotorInitialConfigs(TalonFXConfiguration configs)
  The initial configs used to configure the drive motor of the swerve module. The default value is the factory-default.
  Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.
  The list of configs that will be overwritten is as follows:
  
  MotorOutputConfigs.NeutralMode (Brake mode, overwritten with SwerveModule.configNeutralMode(NeutralModeValue))
  MotorOutputConfigs.Inverted (DriveMotorInverted)
  Slot0Configs (DriveMotorGains)
  CurrentLimitsConfigs.StatorCurrentLimit / TorqueCurrentConfigs.PeakForwardTorqueCurrent / TorqueCurrentConfigs.PeakReverseTorqueCurrent (SlipCurrent)
  CurrentLimitsConfigs.StatorCurrentLimitEnable (Enabled)
  Parameters:
  
  configs - Configs to set as an initial set of configs
  
  Returns:
  
  this object
- withSteerMotorInitialConfigs
  
  public SwerveModuleConstants withSteerMotorInitialConfigs(TalonFXConfiguration configs)
  The initial configs used to configure the steer motor of the swerve module. The default value is the factory-default.
  Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.
  The list of configs that will be overwritten is as follows:
  
  MotorOutputConfigs.NeutralMode (Brake mode)
  MotorOutputConfigs.Inverted (SteerMotorInverted)
  Slot0Configs (SteerMotorGains)
  FeedbackConfigs.FeedbackRemoteSensorID (CANcoderId)
  FeedbackConfigs.FeedbackSensorSource (FeedbackSource)
  FeedbackConfigs.RotorToSensorRatio (SteerMotorGearRatio)
  MotionMagicConfigs (Calculated from gear ratios)
  ClosedLoopGeneralConfigs.ContinuousWrap (true)
  Parameters:
  
  configs - Configs to set as an initial set of configs
  
  Returns:
  
  this object
- withCANcoderInitialConfigs
  
  public SwerveModuleConstants withCANcoderInitialConfigs(CANcoderConfiguration configs)
  The initial configs used to configure the CANcoder of the swerve module. The default value is the factory-default.
  Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants() class is available to be changed.
  The list of configs that will be overwritten is as follows:
  
  MagnetSensorConfigs.MagnetOffset (CANcoderOffset)
  Parameters:
  
  configs - Configs to set as an initial set of configs
  
  Returns:
  
  this object

Class SwerveModuleConstants

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Details

Constructor Details

Method Details