Package com.ctre.phoenix6.swerve

Class SwerveDrivetrainConstants

java.lang.Object

com.ctre.phoenix6.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 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 newCANBusName)	Modifies the CANBusName parameter and returns itself.
SwerveDrivetrainConstants	withPigeon2Configs(Pigeon2Configuration newPigeon2Configs)	Modifies the Pigeon2Configs parameter and returns itself.
SwerveDrivetrainConstants	withPigeon2Id(int newPigeon2Id)	Modifies the Pigeon2Id parameter and returns itself.

Methods inherited from class java.lang.Object

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

Field Details

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
• SocketCAN interface (non-FRC Linux only)
• "*" for any CANivore seen by the program
• empty string (default) to select the default for the system:
  • "rio" on roboRIO
  • "can0" on Linux
  • "*" on Windows

Note that all devices must be on the same CAN bus.

Pigeon2Id

public int Pigeon2Id

CAN ID of the Pigeon2 on the drivetrain.

Pigeon2Configs

public Pigeon2Configuration Pigeon2Configs

The 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 not null, the Pigeon2 will be overwritten with these configs.

Constructor Details

SwerveDrivetrainConstants

public SwerveDrivetrainConstants()

Method Details

withCANBusName

public SwerveDrivetrainConstants withCANBusName(String newCANBusName)

Modifies the CANBusName parameter and returns itself.

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
• SocketCAN interface (non-FRC Linux only)
• "*" for any CANivore seen by the program
• empty string (default) to select the default for the system:
  • "rio" on roboRIO
  • "can0" on Linux
  • "*" on Windows

Note that all devices must be on the same CAN bus.

Parameters:

newCANBusName - Parameter to modify

Returns:

this object

withPigeon2Id

public SwerveDrivetrainConstants withPigeon2Id(int newPigeon2Id)

Modifies the Pigeon2Id parameter and returns itself.

CAN ID of the Pigeon2 on the drivetrain.

Parameters:

newPigeon2Id - Parameter to modify

Returns:

this object

withPigeon2Configs

public SwerveDrivetrainConstants withPigeon2Configs(Pigeon2Configuration newPigeon2Configs)

Modifies the Pigeon2Configs parameter and returns itself.

The 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 not null, the Pigeon2 will be overwritten with these configs.

Parameters:

newPigeon2Configs - Parameter to modify

Returns:

this object