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
ctre::phoenix6::hardware::TalonFX	m_drive
ctre::phoenix6::hardware::TalonFX	m_turn
ctre::phoenix6::hardware::CANcoder	m_encoder

Detailed Description

Copyright

Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

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

driveAddr	address of the drive motor on the module
turnAddr	address of the turn motor on the module
encoderAddr	address of the encoder on this module

Member Function Documentation

GetPosition()

frc::SwerveModulePosition SwerveModule::GetPosition

(

)

GetState()

frc::SwerveModuleState SwerveModule::GetState

(

)

Member Data Documentation

m_drive

ctre::phoenix6::hardware::TalonFX SwerveModule::m_drive

m_encoder

ctre::phoenix6::hardware::CANcoder SwerveModule::m_encoder

m_turn

ctre::phoenix6::hardware::TalonFX SwerveModule::m_turn

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

• src/main/include/subsystems/swerve_drive_subsystem.h
• src/main/cpp/subsystems/swerve_drive_subsystem.cpp