SwerveDrive class done

2026-06-09 00:37:59 -06:00 · 2023-01-14 11:42:03 -07:00
parent eab188b520
commit dc899d42bc
3 changed files with 123 additions and 17 deletions
@@ -26,7 +26,6 @@ public class SwerveModule extends SubsystemBase {

    public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
  
-  
    /** Creates a new SwerveModule. */
    public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder, double offset) {
        this.driveMotor = driveMotor;
@@ -49,6 +48,30 @@ public class SwerveModule extends SubsystemBase {
        canCoder.configAllSettings(canCoderConfig);
    }

+    /**
+     * Get the drive motor of the SwerveModule
+     * @return the drive motor of the SwerveModule
+     */
+    public WPI_TalonFX getDriveMotor() {
+        return this.driveMotor;
+    }
+
+    /**
+     * Get the angle motor of the SwerveModule
+     * @return the angle motor of the SwerveModule
+     */
+    public WPI_TalonFX getAngleMotor() {
+        return this.angleMotor;
+    }
+
+    /**
+     * Get the CANcoder of the SwerveModule
+     * @return the CANcoder of the SwerveModule
+     */
+    public CANCoder getEncoder() {
+        return this.canCoder;
+    }
+
    /**
     * Get the angle of a SwerveModule as a Rotation2d
     * @return the angle of a SwerveModule as a Rotation2d