Class ModuleIOTalonFX

java.lang.Object
com.stuypulse.robot.subsystems.swerve.ModuleIOTalonFX
All Implemented Interfaces:
ModuleIO
public class ModuleIOTalonFX extends Object implements ModuleIO
Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and CANcoder. Configured using a set of module constants from Phoenix.

Device configuration and other behaviors not exposed by TunerConstants can be customized here.

  • Field Details

    • constants

      private final com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration, com.ctre.phoenix6.configs.TalonFXConfiguration, com.ctre.phoenix6.configs.CANcoderConfiguration> constants

    • driveTalon

      private final com.ctre.phoenix6.hardware.TalonFX driveTalon

    • turnTalon

      private final com.ctre.phoenix6.hardware.TalonFX turnTalon

    • cancoder

      private final com.ctre.phoenix6.hardware.CANcoder cancoder

    • voltageRequest

      private final com.ctre.phoenix6.controls.VoltageOut voltageRequest

    • positionVoltageRequest

      private final com.ctre.phoenix6.controls.PositionVoltage positionVoltageRequest

    • velocityVoltageRequest

      private final com.ctre.phoenix6.controls.VelocityVoltage velocityVoltageRequest

    • torqueCurrentRequest

      private final com.ctre.phoenix6.controls.TorqueCurrentFOC torqueCurrentRequest

    • positionTorqueCurrentRequest

      private final com.ctre.phoenix6.controls.PositionTorqueCurrentFOC positionTorqueCurrentRequest

    • velocityTorqueCurrentRequest

      private final com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC velocityTorqueCurrentRequest

    • timestampQueue

      private final Queue<Double> timestampQueue

    • drivePosition

      private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Angle> drivePosition

    • drivePositionQueue

      private final Queue<Double> drivePositionQueue

    • driveVelocity

      private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.AngularVelocity> driveVelocity

    • driveAppliedVolts

      private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Voltage> driveAppliedVolts

    • driveCurrent

      private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Current> driveCurrent

    • turnAbsolutePosition

      private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Angle> turnAbsolutePosition

    • turnPosition

      private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Angle> turnPosition

    • turnPositionQueue

      private final Queue<Double> turnPositionQueue

    • turnVelocity

      private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.AngularVelocity> turnVelocity

    • turnAppliedVolts

      private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Voltage> turnAppliedVolts

    • turnCurrent

      private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Current> turnCurrent

    • driveConnectedDebounce

      private final org.wpilib.math.filter.Debouncer driveConnectedDebounce

    • turnConnectedDebounce

      private final org.wpilib.math.filter.Debouncer turnConnectedDebounce

    • turnEncoderConnectedDebounce

      private final org.wpilib.math.filter.Debouncer turnEncoderConnectedDebounce

  • Constructor Details

    • ModuleIOTalonFX

      public ModuleIOTalonFX(com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration, com.ctre.phoenix6.configs.TalonFXConfiguration, com.ctre.phoenix6.configs.CANcoderConfiguration> constants)

  • Method Details