2023-Robot
Robot code for 2023 FRC season by Argos, FRC team #1756
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SwerveModule Class Reference

#include <swerve_drive_subsystem.h>

Public Member Functions

 SwerveModule (const argos_lib::CANAddress &driveAddr, const argos_lib::CANAddress &turnAddr, const argos_lib::CANAddress &encoderAddr)
 Construct a new Swerve Module object.
 
frc::SwerveModuleState GetState ()
 
frc::SwerveModulePosition GetPosition ()
 

Public Attributes

WPI_TalonFX m_drive
 
WPI_TalonFX m_turn
 
CANCoder m_encoder
 

Detailed Description

Constructor & Destructor Documentation

◆ SwerveModule()

SwerveModule::SwerveModule ( const argos_lib::CANAddress driveAddr,
const argos_lib::CANAddress turnAddr,
const argos_lib::CANAddress encoderAddr 
)

Construct a new Swerve Module object.

Parameters
driveAddraddress of the drive motor on the module
turnAddraddress of the turn motor on the module
encoderAddraddress of the encoder on this module

Member Function Documentation

◆ GetPosition()

frc::SwerveModulePosition SwerveModule::GetPosition ( )

◆ GetState()

frc::SwerveModuleState SwerveModule::GetState ( )

Member Data Documentation

◆ m_drive

WPI_TalonFX SwerveModule::m_drive

◆ m_encoder

CANCoder SwerveModule::m_encoder

◆ m_turn

WPI_TalonFX SwerveModule::m_turn

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