Public Member Functions
	ModuleConfig (units::meter_t wheelRadius, units::meters_per_second_t maxDriveVelocityMPS, double wheelCOF, frc::DCMotor driveMotor, units::ampere_t driveCurrentLimit, int numMotors)

	ModuleConfig (units::meter_t wheelRadius, units::meters_per_second_t maxDriveVelocityMPS, double wheelCOF, frc::DCMotor driveMotor, double driveGearing, units::ampere_t driveCurrentLimit, int numMotors)

Public Attributes
units::meter_t	wheelRadius

units::meters_per_second_t	maxDriveVelocityMPS

double	wheelCOF

frc::DCMotor	driveMotor

units::ampere_t	driveCurrentLimit

units::radians_per_second_t	maxDriveVelocityRadPerSec

units::newton_meter_t	torqueLoss

Constructor & Destructor Documentation

◆ ModuleConfig() [1/2]

pathplanner::ModuleConfig::ModuleConfig	(	units::meter_t	wheelRadius,
		units::meters_per_second_t	maxDriveVelocityMPS,
		double	wheelCOF,
		frc::DCMotor	driveMotor,
		units::ampere_t	driveCurrentLimit,
		int	numMotors
	)

inline

Configuration of a robot drive module. This can either be a swerve module, or one side of a differential drive train.

Parameters

wheelRadius	Radius of the drive wheels, in meters.
maxDriveVelocityMPS	The max speed that the drive motor can reach while actually driving the robot at full output, in M/S.
wheelCOF	The coefficient of friction between the drive wheel and the carpet. If you are unsure, just use a placeholder value of 1.0.
driveMotor	The DCMotor representing the drive motor gearbox, including gear reduction
driveCurrentLimit	The current limit of the drive motor, in Amps
numMotors	The number of motors per module. For swerve, this is 1. For differential, this is usually 2.

pathplanner::ModuleConfig::ModuleConfig	(	units::meter_t	wheelRadius,
		units::meters_per_second_t	maxDriveVelocityMPS,
		double	wheelCOF,
		frc::DCMotor	driveMotor,
		double	driveGearing,
		units::ampere_t	driveCurrentLimit,
		int	numMotors
	)

inline

Configuration of a robot drive module. This can either be a swerve module, or one side of a differential drive train.

Parameters

wheelRadius	Radius of the drive wheels, in meters.
maxDriveVelocityMPS	The max speed that the drive motor can reach while actually driving the robot at full output, in M/S.
wheelCOF	The coefficient of friction between the drive wheel and the carpet. If you are unsure, just use a placeholder value of 1.0.
driveMotor	The DCMotor representing the drive motor gearbox, NOT including gear reduction
driveGearing	The gear reduction between the drive motor and the wheels
driveCurrentLimit	The current limit of the drive motor, in Amps
numMotors	The number of motors per module. For swerve, this is 1. For differential, this is usually 2.

The documentation for this class was generated from the following file: