Package frc.team_8840_lib.utils.controllers.swerve

Class SwerveSettings

java.lang.Object
frc.team_8840_lib.utils.controllers.swerve.SwerveSettings
public class SwerveSettings extends Object

  • Field Details

    • invertGyro

      public boolean invertGyro

    • trackWidth

      public Unit trackWidth

    • wheelBase

      public Unit wheelBase

    • wheelDiameter

      public double wheelDiameter

    • doManualConversion

      public boolean doManualConversion

    • driveGearRatio

      public double driveGearRatio

    • angleGearRatio

      public double angleGearRatio

    • maxSpeed

      public Unit maxSpeed

    • maxAngularSpeed

      public double maxAngularSpeed

    • driveOpenRampRate

      public double driveOpenRampRate

    • driveClosedRampRate

      public double driveClosedRampRate

    • canCoderInverted

      public boolean canCoderInverted

    • driveInverted

      public boolean driveInverted

    • turnInverted

      public boolean turnInverted

    • manualOffset

      public boolean manualOffset

    • turnPID

      public PIDStruct turnPID

    • drivePID

      public PIDStruct drivePID

    • useCurrentLimits

      public boolean useCurrentLimits

    • driveCurrentLimit

      public CurrentLimit driveCurrentLimit

    • turnCurrentLimit

      public CurrentLimit turnCurrentLimit

    • secondaryDriveCurrentLimit

      public CurrentLimit secondaryDriveCurrentLimit

    • secondaryTurnCurrentLimit

      public CurrentLimit secondaryTurnCurrentLimit

    • voltageCompensation

      public double voltageCompensation

    • driveKS

      public double driveKS

    • driveKV

      public double driveKV

    • driveKA

      public double driveKA

    • driveIdleMode

      public com.revrobotics.CANSparkBase.IdleMode driveIdleMode

    • turnIdleMode

      public com.revrobotics.CANSparkBase.IdleMode turnIdleMode

    • threshold

      public double threshold

    • useThresholdAsPercentage

      public boolean useThresholdAsPercentage

    • gyroscopeStartingAngle

      public edu.wpi.first.math.geometry.Rotation2d gyroscopeStartingAngle

  • Constructor Details

    • SwerveSettings

      public SwerveSettings()

  • Method Details

    • wheelCircumference

      public double wheelCircumference()

    • relativeThreshold

      public double relativeThreshold()
      Gets the min speed for the drive motors using threshold as a percentage of max speed (0.01% by default)

    • getKinematics

      public edu.wpi.first.math.kinematics.SwerveDriveKinematics getKinematics()
      Returns the kinematics for the swerve drive

    • getPositions

      public edu.wpi.first.math.geometry.Translation2d[] getPositions()
      Returns the calculated positions of the modules with the given track width and wheel base

    • updateKinematics

      public void updateKinematics()
      Updates the kinematics with the new wheelbase and trackwidth