Package frc.team4373.swerve

Class SwerveConfig

java.lang.Object

frc.team4373.swerve.SwerveConfig

public class SwerveConfig
extends java.lang.Object

A configuration object for a swerve bot.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SwerveConfig.CurrentLimitConfig	A configuration object representing the current limiting to perform on the drivetrain.
static class	SwerveConfig.MotorConfig	A configuration object for a single motor.
static class	SwerveConfig.PID	A configuration object containing the gains for a PID controller.
static class	SwerveConfig.RobotDimensions	A configuration object representing the dimensions of the robot.
static class	SwerveConfig.WheelsConfig	A configuration object for all four wheels of a swerve bot.

Field Summary

Fields

Modifier and Type	Field	Description
SwerveConfig.RobotDimensions	dimensions	The dimensions of the robot.
int	pigeonID	The CAN ID for the Pigeon IMU.
SwerveConfig.WheelsConfig	wheels	The SwerveConfig.WheelsConfig configuration for the wheels of the robot.

Constructor Summary

Constructors

Constructor	Description
SwerveConfig(SwerveConfig.RobotDimensions dimensions, SwerveConfig.WheelsConfig wheels, int pigeonID)	Constructs a new configuration object for a swerve bot.

Method Summary

Methods inherited from class java.lang.Object

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

Field Detail

dimensions

public final SwerveConfig.RobotDimensions dimensions

The dimensions of the robot. The units used do not matter, so long as they are the same.

wheels

public final SwerveConfig.WheelsConfig wheels

The SwerveConfig.WheelsConfig configuration for the wheels of the robot.

pigeonID

public final int pigeonID

The CAN ID for the Pigeon IMU. It must be connected over CAN, not through the gadgeteer.

Constructor Detail

SwerveConfig

public SwerveConfig(SwerveConfig.RobotDimensions dimensions,
                    SwerveConfig.WheelsConfig wheels,
                    int pigeonID)

Constructs a new configuration object for a swerve bot.

Parameters:

dimensions - the dimensions of the bot (unit-agnostic).

wheels - a SwerveConfig.WheelsConfig object describing the bot's motors.

pigeonID - the CAN ID of the Pigeon IMU (cannot be gadgeteer).