Package frc.robot.subsystems.drive.module

Class ModuleIO.ModuleIOInputs

java.lang.Object
frc.robot.subsystems.drive.module.ModuleIO.ModuleIOInputs
Enclosing interface:
ModuleIO
public static class ModuleIO.ModuleIOInputs extends Object
Contains all of the inputs received from the module hardware.

  • Field Details

    • driveConnected

      public boolean driveConnected
      Whether the drive motor controller is currently connected.

    • drivePosition

      public Angle drivePosition
      The current position of the drive motor in radians.

    • driveVelocity

      public AngularVelocity driveVelocity
      The current velocity of the drive motor in radians per second.

    • driveAppliedVoltage

      public Voltage driveAppliedVoltage
      The voltage currently being applied to the drive motor.

    • driveCurrent

      public Current driveCurrent
      The current being drawn by the drive motor.

    • driveHealthy

      public boolean driveHealthy
      Whether the drive motor is functioning correctly.

    • driveStatus

      public int[] driveStatus
      The full status of the drive motor controller.

    • turnConnected

      public boolean turnConnected
      Whether the turn motor controller is currently connected.

    • turnPosition

      public Angle turnPosition
      The current position of the turn motor in radians.

    • turnVelocity

      public AngularVelocity turnVelocity
      The current velocity of the turn motor in radians per second.

    • turnAppliedVoltage

      public Voltage turnAppliedVoltage
      The voltage currently being applied to the turn motor.

    • turnCurrent

      public Current turnCurrent
      The current being drawn by the turn motor.

    • turnHealthy

      public boolean turnHealthy
      Whether the turn motor is functioning correctly.

    • turnStatus

      public int[] turnStatus
      The full status of the turn motor controller.

    • turnEncoderConnected

      public boolean turnEncoderConnected
      Whether the turn encoder is currently connected.

    • odometryTimestamps

      public double[] odometryTimestamps
      Timestamps for odometry measurements.

    • odometryDrivePositionsRad

      public double[] odometryDrivePositionsRad
      Drive positions for odometry measurements.

    • odometryTurnPositionsRad

      public double[] odometryTurnPositionsRad
      Turn positions for odometry measurements.

  • Constructor Details

    • ModuleIOInputs

      public ModuleIOInputs()