Package frc.robot.subsystems.drive

Record Class DriveConstants.SwerveModuleConfig

java.lang.Object
java.lang.Record
frc.robot.subsystems.drive.DriveConstants.SwerveModuleConfig
Record Components:
name - A descriptive name for the module.
driveCanId - The CAN ID of the drive motor controller.
turnCanId - The CAN ID of the turn motor controller.
encoderCanId - The CAN ID of the absolute CANcoder.
zeroOffset - The absolute encoder offset to read zero when the wheel is facing forward.
translation - The physical location of the module relative to the center of the robot.
Enclosing class:
DriveConstants
public static record DriveConstants.SwerveModuleConfig(String name, int driveCanId, int turnCanId, int encoderCanId, Angle zeroOffset, Translation2d translation) extends Record
Represents the hardware configuration for a single swerve module.

  • Constructor Details

    • SwerveModuleConfig

      public SwerveModuleConfig(String name, int driveCanId, int turnCanId, int encoderCanId, Angle zeroOffset, Translation2d translation)
      Creates an instance of a SwerveModuleConfig record class.
      Parameters:
      name - the value for the name record component
      driveCanId - the value for the driveCanId record component
      turnCanId - the value for the turnCanId record component
      encoderCanId - the value for the encoderCanId record component
      zeroOffset - the value for the zeroOffset record component
      translation - the value for the translation record component

  • Method Details

    • toString

      public final String toString()
      Returns a string representation of this record class. The representation contains the name of the class, followed by the name and value of each of the record components.
      Specified by:
      toString in class Record
      Returns:
      a string representation of this object

    • hashCode

      public final int hashCode()
      Returns a hash code value for this object. The value is derived from the hash code of each of the record components.
      Specified by:
      hashCode in class Record
      Returns:
      a hash code value for this object

    • equals

      public final boolean equals(Object o)
      Indicates whether some other object is "equal to" this one. The objects are equal if the other object is of the same class and if all the record components are equal. Reference components are compared with Objects::equals(Object,Object); primitive components are compared with '=='.
      Specified by:
      equals in class Record
      Parameters:
      o - the object with which to compare
      Returns:
      true if this object is the same as the o argument; false otherwise.

    • name

      public String name()
      Returns the value of the name record component.
      Returns:
      the value of the name record component

    • driveCanId

      public int driveCanId()
      Returns the value of the driveCanId record component.
      Returns:
      the value of the driveCanId record component

    • turnCanId

      public int turnCanId()
      Returns the value of the turnCanId record component.
      Returns:
      the value of the turnCanId record component

    • encoderCanId

      public int encoderCanId()
      Returns the value of the encoderCanId record component.
      Returns:
      the value of the encoderCanId record component

    • zeroOffset

      public Angle zeroOffset()
      Returns the value of the zeroOffset record component.
      Returns:
      the value of the zeroOffset record component

    • translation

      public Translation2d translation()
      Returns the value of the translation record component.
      Returns:
      the value of the translation record component