JSwerveModule Class Reference

defines a common interface for swerve modules More...

#include <JSwerveModule.h>

Inheritance diagram for JSwerveModule:

Public Member Functions
virtual void	set (float _speed, float _angle, bool _run=true)
	set speed and angle setpoints for wheel
virtual float	getAngle ()
	get angle measurement from wheel
virtual float	getMaxSpeed ()
	maximum drive speed
virtual long	zeroTurnCounter ()
	zeros the encoder's counter of full turns, leaving only the fractional turn
virtual bool	setEnable (bool _enable)
	set enable state of swerve module motors
virtual bool	getEnable ()
	get enable state of module
bool	enable ()
	enable motor
bool	disable ()
	disable motor
virtual void	run ()
	call this in loop() so that the swerve module can update its motors and angle control loop

Detailed Description

defines a common interface for swerve modules

Member Function Documentation

disable()

bool JSwerveModule::disable ( )

inline

disable motor

Note

equivalent to setEnable(false)

Return values

(bool)

true if state changed, false if state already set

enable()

bool JSwerveModule::enable ( )

inline

enable motor

Note

equivalent to setEnable(true)

Return values

(bool)

true if state changed, false if state already set

getAngle()

virtual float JSwerveModule::getAngle ( )

virtual

get angle measurement from wheel

Return values

(float)

angle in degrees

Reimplemented in JSwerveModuleDifferential.

getEnable()

virtual bool JSwerveModule::getEnable ( )

virtual

get enable state of module

Return values

(bool)

true = motors enabled, false = motors disabled

Reimplemented in JSwerveModuleDifferential.

getMaxSpeed()

virtual float JSwerveModule::getMaxSpeed ( )

virtual

maximum drive speed

Reimplemented in JSwerveModuleDifferential.

run()

virtual void JSwerveModule::run ( )

virtual

call this in loop() so that the swerve module can update its motors and angle control loop

Reimplemented in JSwerveModuleDifferential.

set()

virtual void JSwerveModule::set ( float  _speed, float  _angle, bool  _run = true  )

virtual

set speed and angle setpoints for wheel

Parameters

speed	(float) speed for wheel
angle	(float) angle in degrees
run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Return values

None

Reimplemented in JSwerveModuleDifferential.

setEnable()

virtual bool JSwerveModule::setEnable ( bool  _enable )

virtual

set enable state of swerve module motors

Parameters

_enable

(bool) true = enable module, false = disable module

Return values

(bool)

true if state changed, false if state already set

Reimplemented in JSwerveModuleDifferential.

zeroTurnCounter()

virtual long JSwerveModule::zeroTurnCounter ( )

virtual

zeros the encoder's counter of full turns, leaving only the fractional turn

Return values

(long)

previous turn counter value

Reimplemented in JSwerveModuleDifferential.

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The documentation for this class was generated from the following file:

• src/JSwerve/JSwerveModule.h