Package com.ctre.phoenix6.swerve

Class SwerveModule<DriveMotorT extends CommonTalon,SteerMotorT extends CommonTalon,EncoderT extends ParentDevice>

java.lang.Object

com.ctre.phoenix6.swerve.SwerveModule<DriveMotorT,SteerMotorT,EncoderT>

public class SwerveModule<DriveMotorT extends CommonTalon,SteerMotorT extends CommonTalon,EncoderT extends ParentDevice>
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 enum	SwerveModule.DriveRequestType	All possible control requests for the module drive motor.
static class	SwerveModule.ModuleRequest	Contains everything the swerve module needs to apply a request.
static enum	SwerveModule.SteerRequestType	All possible control requests for the module steer motor.

Field Summary

Fields

Modifier and Type	Field	Description
protected static final int	kNumConfigAttempts	Number of times to attempt config applies.
protected final int	m_drivetrainId	ID of the native drivetrain instance, used for JNI calls.
protected final SwerveJNI	m_jni	JNI instance to use for non-static JNI calls.
protected final int	m_moduleIdx	Index of this module in the native drivetrain, used for JNI calls.

Constructor Summary

Constructors

Constructor	Description
SwerveModule(SwerveDrivetrain.DeviceConstructor<DriveMotorT> driveMotorConstructor, SwerveDrivetrain.DeviceConstructor<SteerMotorT> steerMotorConstructor, SwerveDrivetrain.DeviceConstructor<EncoderT> encoderConstructor, SwerveModuleConstants<?,?,?> constants, String canbusName, int drivetrainId, int index)	Construct a SwerveModule with the specified constants.

Method Summary

Modifier and Type	Method	Description
void	apply(ControlRequest driveRequest, ControlRequest steerRequest)	Controls this module using the specified drive and steer control requests.
void	apply(SwerveModule.ModuleRequest moduleRequest)	Applies the desired SwerveModuleState to this module.
final SwerveModulePosition	getCachedPosition()	Gets the last cached swerve module position.
final SwerveModuleState	getCurrentState()	Get the current state of the module.
final SwerveModuleConstants.ClosedLoopOutputType	getDriveClosedLoopOutputType()	Gets the closed-loop output type to use for the drive motor.
final DriveMotorT	getDriveMotor()	Gets this module's Drive Motor reference.
final EncoderT	getEncoder()	Gets this module's azimuth encoder reference.
final SwerveModulePosition	getPosition(boolean refresh)	Gets the state of this module and passes it back as a SwerveModulePosition object with latency compensated values.
final SwerveModuleConstants.ClosedLoopOutputType	getSteerClosedLoopOutputType()	Gets the closed-loop output type to use for the steer motor.
final SteerMotorT	getSteerMotor()	Gets this module's Steer Motor reference.
final 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

Field Details

kNumConfigAttempts

protected static final int kNumConfigAttempts

Number of times to attempt config applies.

See Also:

• Constant Field Values

m_drivetrainId

protected final int m_drivetrainId

ID of the native drivetrain instance, used for JNI calls.

m_moduleIdx

protected final int m_moduleIdx

Index of this module in the native drivetrain, used for JNI calls.

m_jni

protected final SwerveJNI m_jni

JNI instance to use for non-static JNI calls. This object is not thread-safe.

Constructor Details

SwerveModule

public SwerveModule(SwerveDrivetrain.DeviceConstructor<DriveMotorT> driveMotorConstructor,
 SwerveDrivetrain.DeviceConstructor<SteerMotorT> steerMotorConstructor,
 SwerveDrivetrain.DeviceConstructor<EncoderT> encoderConstructor,
 SwerveModuleConstants<?,?,?> constants,
 String canbusName,
 int drivetrainId,
 int index)

Construct a SwerveModule with the specified constants.

Parameters:

driveMotorConstructor - Constructor for the drive motor, such as TalonFX::new

steerMotorConstructor - Constructor for the steer motor, such as TalonFX::new

encoderConstructor - Constructor for the azimuth encoder, such as CANcoder::new

constants - Constants used to construct the module

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

drivetrainId - ID of the swerve drivetrain

index - Index of this swerve module

Method Details

apply

public void apply(SwerveModule.ModuleRequest moduleRequest)

Applies the desired SwerveModuleState to this module.

Parameters:

moduleRequest - The request to apply to this module

apply

public void apply(ControlRequest driveRequest,
 ControlRequest steerRequest)

Controls this module using the specified drive and steer control requests. This is intended only to be used for characterization of the robot; do not use this for normal use.

Parameters:

driveRequest - The control request to apply to the drive motor

steerRequest - The control request to apply to the steer motor

getPosition

public final SwerveModulePosition getPosition(boolean refresh)

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

This function is blocking when it performs a refresh.

Parameters:

refresh - True if the signals should be refreshed

Returns:

SwerveModulePosition containing this module's state

getCachedPosition

public final 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 final 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 final 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.

getDriveClosedLoopOutputType

public final SwerveModuleConstants.ClosedLoopOutputType getDriveClosedLoopOutputType()

Gets the closed-loop output type to use for the drive motor.

Returns:

Drive motor closed-loop output type

getSteerClosedLoopOutputType

public final SwerveModuleConstants.ClosedLoopOutputType getSteerClosedLoopOutputType()

Gets the closed-loop output type to use for the steer motor.

Returns:

Steer motor closed-loop output type

getDriveMotor

public final DriveMotorT getDriveMotor()

Gets this module's Drive Motor 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 final SteerMotorT getSteerMotor()

Gets this module's Steer Motor 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

getEncoder

public final EncoderT getEncoder()

Gets this module's azimuth encoder reference.

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

Returns:

This module's azimuth encoder reference