Class ModuleIOTalonFXS

java.lang.Object

com.stuypulse.robot.subsystems.swerve.ModuleIOTalonFXS

All Implemented Interfaces:

ModuleIO

public class ModuleIOTalonFXS
extends Object
implements ModuleIO

Module IO implementation for Talon FXS drive motor controller, Talon FXS turn motor controller, and CANdi (PWM 1). Configured using a set of module constants from Phoenix.

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

Nested Class Summary

Nested classes/interfaces inherited from interface ModuleIO

ModuleIO.DriveOutputMode, ModuleIO.ModuleIOInputs, ModuleIO.ModuleIOOutputs, ModuleIO.TurnOutputMode

Field Summary

Fields

Modifier and Type	Field	Description
private final com.ctre.phoenix6.hardware.CANdi	candi
private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Voltage>	driveAppliedVolts
private final org.wpilib.math.filter.Debouncer	driveConnectedDebounce
private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Current>	driveCurrent
private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Angle>	drivePosition
private final Queue<Double>	drivePositionQueue
private final com.ctre.phoenix6.hardware.TalonFXS	driveTalon
private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.AngularVelocity>	driveVelocity
private final com.ctre.phoenix6.controls.PositionVoltage	positionVoltageRequest
private final Queue<Double>	timestampQueue
private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Angle>	turnAbsolutePosition
private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Voltage>	turnAppliedVolts
private final org.wpilib.math.filter.Debouncer	turnConnectedDebounce
private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Current>	turnCurrent
private final org.wpilib.math.filter.Debouncer	turnEncoderConnectedDebounce
private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Angle>	turnPosition
private final Queue<Double>	turnPositionQueue
private final com.ctre.phoenix6.hardware.TalonFXS	turnTalon
private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.AngularVelocity>	turnVelocity
private final com.ctre.phoenix6.controls.VelocityVoltage	velocityVoltageRequest
private final com.ctre.phoenix6.controls.VoltageOut	voltageRequest

Constructor Summary

Constructors

Constructor	Description
ModuleIOTalonFXS(com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXSConfiguration, com.ctre.phoenix6.configs.TalonFXSConfiguration, com.ctre.phoenix6.configs.CANdiConfiguration> constants)

Method Summary

Modifier and Type	Method	Description
void	applyOutputs(ModuleIO.ModuleIOOutputs outputs)
private static void	tryUntilOk(int maxAttempts, Supplier<com.ctre.phoenix6.StatusCode> command)
void	updateInputs(ModuleIO.ModuleIOInputs inputs)	Updates the set of loggable inputs.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

driveTalon

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

turnTalon

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

candi

private final com.ctre.phoenix6.hardware.CANdi candi

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

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

ModuleIOTalonFXS

public ModuleIOTalonFXS(com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXSConfiguration, com.ctre.phoenix6.configs.TalonFXSConfiguration, com.ctre.phoenix6.configs.CANdiConfiguration> constants)

Method Details

tryUntilOk

private static void tryUntilOk(int maxAttempts,
 Supplier<com.ctre.phoenix6.StatusCode> command)

updateInputs

public void updateInputs(ModuleIO.ModuleIOInputs inputs)

Description copied from interface: ModuleIO

Updates the set of loggable inputs.

Specified by:

updateInputs in interface ModuleIO

applyOutputs

public void applyOutputs(ModuleIO.ModuleIOOutputs outputs)

Specified by:

applyOutputs in interface ModuleIO