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< div class = "subTitle" > < span class = "packageLabelInType" > Package< / span > < a href = "package-summary.html" > swervelib< / a > < / div >
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< h2 title = "Class SwerveController" class = "title" > Class SwerveController< / h2 >
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< li > < a href = "https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title = "class or interface in java.lang" class = "externalLink" > java.lang.Object< / a > < / li >
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< li > swervelib.SwerveController< / li >
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< pre > public class < span class = "typeNameLabel" > SwerveController< / span >
extends < a href = "https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title = "class or interface in java.lang" class = "externalLink" > Object< / a > < / pre >
< div class = "block" > Controller class used to convert raw inputs into robot speeds.< / div >
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< td class = "colFirst" > < code > < a href = "parser/SwerveControllerConfiguration.html" title = "class in swervelib.parser" > SwerveControllerConfiguration< / a > < / code > < / td >
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< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#config" > config< / a > < / span > < / code > < / th >
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< div class = "block" > < a href = "parser/SwerveControllerConfiguration.html" title = "class in swervelib.parser" > < code > SwerveControllerConfiguration< / code > < / a > object storing data to generate the < code > PIDController< / code > for controlling the
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robot heading, and deadband for heading joystick.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
< td class = "colFirst" > < code > double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#lastAngle" > lastAngle< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Last angle to robot was set to.< / div >
< / td >
< / tr >
< tr class = "altColor" >
< td class = "colFirst" > < code > private edu.wpi.first.math.controller.PIDController< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#thetaController" > thetaController< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > PID Controller for the robot heading.< / div >
< / td >
< / tr >
< / table >
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< / ul >
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< td class = "colLast" >
< div class = "block" > Construct the SwerveController object which is used for determining the speeds of the robot based on controller
input.< / div >
< / td >
< / tr >
< / table >
< / li >
< / ul >
< / section >
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< th class = "colFirst" scope = "col" > Modifier and Type< / th >
< th class = "colSecond" scope = "col" > Method< / th >
< th class = "colLast" scope = "col" > Description< / th >
< / tr >
< tr id = "i0" class = "altColor" >
< td class = "colFirst" > < code > edu.wpi.first.math.kinematics.ChassisSpeeds< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#getTargetSpeeds(double,double,double,double)" > getTargetSpeeds< / a > < / span > ​ (double xInput,
double yInput,
double angle,
double currentHeadingAngleRadians)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Get the chassis speeds based on controller input of 1 joystick and a angle.< / div >
< / td >
< / tr >
< tr id = "i1" class = "rowColor" >
< td class = "colFirst" > < code > edu.wpi.first.math.kinematics.ChassisSpeeds< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#getTargetSpeeds(double,double,double,double,double)" > getTargetSpeeds< / a > < / span > ​ (double xInput,
double yInput,
double headingX,
double headingY,
double currentHeadingAngleRadians)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Get the chassis speeds based on controller input of 2 joysticks.< / div >
< / td >
< / tr >
< tr id = "i2" class = "altColor" >
< td class = "colFirst" > < code > static edu.wpi.first.math.geometry.Translation2d< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)" > getTranslation2d< / a > < / span > ​ (edu.wpi.first.math.kinematics.ChassisSpeeds speeds)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Helper function to get the < code > Translation2d< / code > of the chassis speeds given the < code > ChassisSpeeds< / code > .< / div >
< / td >
< / tr >
< tr id = "i3" class = "rowColor" >
< td class = "colFirst" > < code > boolean< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#withinHypotDeadband(double,double)" > withinHypotDeadband< / a > < / span > ​ (double x,
double y)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Calculate the hypot deadband and check if the joystick is within it.< / div >
< / td >
< / tr >
< / table >
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< pre > public final < a href = "parser/SwerveControllerConfiguration.html" title = "class in swervelib.parser" > SwerveControllerConfiguration< / a > config< / pre >
< div class = "block" > < a href = "parser/SwerveControllerConfiguration.html" title = "class in swervelib.parser" > < code > SwerveControllerConfiguration< / code > < / a > object storing data to generate the < code > PIDController< / code > for controlling the
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robot heading, and deadband for heading joystick.< / div >
< / li >
< / ul >
< a id = "thetaController" >
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< / a >
< ul class = "blockList" >
< li class = "blockList" >
< h4 > thetaController< / h4 >
< pre > private final edu.wpi.first.math.controller.PIDController thetaController< / pre >
< div class = "block" > PID Controller for the robot heading.< / div >
< / li >
< / ul >
< a id = "lastAngle" >
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< h4 > lastAngle< / h4 >
< pre > public double lastAngle< / pre >
< div class = "block" > Last angle to robot was set to.< / div >
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< / li >
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< / section >
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< a id = "<init>(swervelib.parser.SwerveControllerConfiguration)" >
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< pre > public SwerveController​ (< a href = "parser/SwerveControllerConfiguration.html" title = "class in swervelib.parser" > SwerveControllerConfiguration< / a > cfg)< / pre >
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< div class = "block" > Construct the SwerveController object which is used for determining the speeds of the robot based on controller
input.< / div >
< / li >
< / ul >
< / li >
< / ul >
< / section >
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< a id = "getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)" >
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< h4 > getTranslation2d< / h4 >
< pre class = "methodSignature" > public static edu.wpi.first.math.geometry.Translation2d getTranslation2d​ (edu.wpi.first.math.kinematics.ChassisSpeeds speeds)< / pre >
< div class = "block" > Helper function to get the < code > Translation2d< / code > of the chassis speeds given the < code > ChassisSpeeds< / code > .< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > speeds< / code > - Chassis speeds.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > < code > Translation2d< / code > of the speed the robot is going in.< / dd >
< / dl >
< / li >
< / ul >
< a id = "withinHypotDeadband(double,double)" >
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< h4 > withinHypotDeadband< / h4 >
< pre class = "methodSignature" > public boolean withinHypotDeadband​ (double x,
double y)< / pre >
< div class = "block" > Calculate the hypot deadband and check if the joystick is within it.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > x< / code > - The x value for the joystick in which the deadband should be applied.< / dd >
< dd > < code > y< / code > - The y value for the joystick in which the deadband should be applied.< / dd >
< / dl >
< / li >
< / ul >
< a id = "getTargetSpeeds(double,double,double,double)" >
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< h4 > getTargetSpeeds< / h4 >
< pre class = "methodSignature" > public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds​ (double xInput,
double yInput,
double angle,
double currentHeadingAngleRadians)< / pre >
< div class = "block" > Get the chassis speeds based on controller input of 1 joystick and a angle.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > xInput< / code > - X joystick input for the robot to move in the X direction.< / dd >
< dd > < code > yInput< / code > - Y joystick input for the robot to move in the Y direction.< / dd >
< dd > < code > angle< / code > - The desired angle of the robot in radians.< / dd >
< dd > < code > currentHeadingAngleRadians< / code > - The current robot heading in radians.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > < code > ChassisSpeeds< / code > which can be sent to th Swerve Drive.< / dd >
< / dl >
< / li >
< / ul >
< a id = "getTargetSpeeds(double,double,double,double,double)" >
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< h4 > getTargetSpeeds< / h4 >
< pre class = "methodSignature" > public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds​ (double xInput,
double yInput,
double headingX,
double headingY,
double currentHeadingAngleRadians)< / pre >
< div class = "block" > Get the chassis speeds based on controller input of 2 joysticks. One for speeds in which direction. The other for
the angle of the robot.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > xInput< / code > - X joystick input for the robot to move in the X direction.< / dd >
< dd > < code > yInput< / code > - Y joystick input for the robot to move in the Y direction.< / dd >
< dd > < code > headingX< / code > - X joystick which controls the angle of the robot.< / dd >
< dd > < code > headingY< / code > - Y joystick which controls the angle of the robot.< / dd >
< dd > < code > currentHeadingAngleRadians< / code > - The current robot heading in radians.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > < code > ChassisSpeeds< / code > which can be sent to th Swerve Drive.< / dd >
< / dl >
< / li >
< / ul >
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