SwerveDriveConfiguration

java.lang.Object

swervelib.parser.SwerveDriveConfiguration

public class SwerveDriveConfiguration extends Object

Swerve drive configurations used during SwerveDrive construction.

Field Summary

Fields

Modifier and Type

Field

Description

SwerveIMU

imu

Swerve IMU

boolean

invertedIMU

Invert the imu measurements.

double

maxSpeed

Max speed in meters per second.

int

moduleCount

Number of modules on the robot.

edu.wpi.first.math.geometry.Translation2d[]

moduleLocationsMeters

Swerve Module locations.

SwerveModule[]

modules

Swerve Modules.
Constructor Summary

Constructors

Constructor

Description

SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, SwerveIMU swerveIMU, double maxSpeed, boolean invertedIMU)

Create swerve drive configuration.
Method Summary

Modifier and Type

Method

Description

SwerveModule[]

createModules(SwerveModuleConfiguration[] swerves)

Create modules based off of the SwerveModuleConfiguration.

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

Field Details
- moduleLocationsMeters
  
  public edu.wpi.first.math.geometry.Translation2d[] moduleLocationsMeters
  
  Swerve Module locations.
- imu
  
  public SwerveIMU imu
  
  Swerve IMU
- invertedIMU
  
  public boolean invertedIMU
  
  Invert the imu measurements.
- maxSpeed
  
  public double maxSpeed
  
  Max speed in meters per second.
- moduleCount
  
  public int moduleCount
  
  Number of modules on the robot.
- modules
  
  public SwerveModule[] modules
  
  Swerve Modules.
Constructor Details
- SwerveDriveConfiguration
  
  public SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, SwerveIMU swerveIMU, double maxSpeed, boolean invertedIMU)
  
  Create swerve drive configuration.
  
  Parameters:
  
  moduleConfigs - Module configuration.
  
  swerveIMU - Swerve IMU.
  
  maxSpeed - Max speed of the robot in meters per second.
  
  invertedIMU - Invert the IMU.
Method Details
- createModules
  
  public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves)
  
  Create modules based off of the SwerveModuleConfiguration.
  
  Parameters:
  
  swerves - Swerve constants.
  
  Returns:
  
  Swerve Modules.