SwerveControllerConfiguration

java.lang.Object
- frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveControllerConfiguration

```
public class SwerveControllerConfiguration
extends Object
```
Swerve Controller configuration class which is used to configure SwerveController.

Field Summary

Fields
Modifier and Type	Field	Description
`double`	`angleJoyStickRadiusDeadband`	hypotenuse deadband for the robot angle control joystick.
`PIDFConfig`	`headingPIDF`	PIDF for the heading of the robot.
`double`	`maxAngularVelocity`	Maximum angular velocity in rad/s
`double`	`maxSpeed`	Maximum robot speed in meters per second.

Constructor Summary

Constructors
Constructor	Description
`SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF)`	Construct the swerve controller configuration.
`SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF, double angleJoyStickRadiusDeadband)`	Construct the swerve controller configuration.

Method Summary
- Methods inherited from class java.lang.Object
  clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - maxSpeed
```
public final double maxSpeed
```
    Maximum robot speed in meters per second.
  - maxAngularVelocity
```
public final double maxAngularVelocity
```
    Maximum angular velocity in rad/s
  - headingPIDF
```
public final PIDFConfig headingPIDF
```
    PIDF for the heading of the robot.
  - angleJoyStickRadiusDeadband
```
public final double angleJoyStickRadiusDeadband
```
    hypotenuse deadband for the robot angle control joystick.
- Constructor Detail
  - SwerveControllerConfiguration
```
public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg,
                                     PIDFConfig headingPIDF,
                                     double angleJoyStickRadiusDeadband)
```
    Construct the swerve controller configuration.
    
    Parameters:
    
    driveCfg - Drive configuration.
    
    headingPIDF - Heading PIDF configuration.
    
    angleJoyStickRadiusDeadband - Deadband on radius of angle joystick.
  - SwerveControllerConfiguration
```
public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg,
                                     PIDFConfig headingPIDF)
```
    Construct the swerve controller configuration. Assumes hypotenuse deadband of 0.5 (minimum radius for angle to be set on angle joystick is .5 of the controller).
    
    Parameters:
    
    driveCfg - Drive configuration.
    
    headingPIDF - Heading PIDF configuration.