Team4388/2023WayOfTheRobot
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converstions and getState

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Ryan
2023-01-14 15:30:38 -07:00
parent dc0dfe6cc6
commit 9a2542fb38
2 changed files with 31 additions and 1 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+23
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@@ -7,6 +7,7 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonFX;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
@@ -81,6 +82,26 @@ public class SwerveModule extends SubsystemBase {
return Rotation2d.fromDegrees(canCoder.getAbsolutePosition());
}
public void stop() {
driveMotor.set(0);
angleMotor.set(0);
}
public void rotateToAngle(double angle){
angleMotor.set(TalonFXControlMode.Position, angle);
}
/**
* Get state of swerve module
* @return speed in m/s and angle in degrees
*/
public SwerveModuleState getState() {
return new SwerveModuleState(
Units.inchesToMeters(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.Conversions.INCHES_PER_TICK) * SwerveDriveConstants.Conversions.TICK_TIME_TO_SECONDS,
getAngle()
);
}
/**
* Set the speed and rotation of the SwerveModule from a SwerveModuleState object
* @param desiredState a SwerveModuleState representing the desired new state of the module
@@ -104,4 +125,6 @@ public class SwerveModule extends SubsystemBase {
driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND);
}
}