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< div class = "subTitle" > < span class = "packageLabelInType" > Package< / span > < a href = "package-summary.html" > swervelib.math< / a > < / div >
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< h2 title = "Class SwerveMath" class = "title" > Class SwerveMath< / 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.math.SwerveMath< / li >
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< pre > public class < span class = "typeNameLabel" > SwerveMath< / 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" > Mathematical functions which pertain to swerve drive.< / div >
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< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E()" > SwerveMath< / a > < / span > ()< / code > < / th >
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< td class = "colFirst" > < code > static double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#applyDeadband(double,boolean,double)" > applyDeadband< / a > < / span > ​ (double value,
boolean scaled,
double deadband)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Algebraically apply a deadband using a piece wise function.< / div >
< / td >
< / tr >
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< td class = "colFirst" > < code > private static double< / code > < / td >
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< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" > calcMaxAccel< / a > < / span > ​ (edu.wpi.first.math.geometry.Rotation2d angle,
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double chassisMass,
double robotMass,
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
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< a href = "../parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > config)< / code > < / th >
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< td class = "colLast" >
< div class = "block" > Calculates the maximum acceleration allowed in a direction without tipping the robot.< / div >
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< / tr >
< tr id = "i2" class = "altColor" >
< td class = "colFirst" > < code > static double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#calculateAngleKV(double,double,double)" > calculateAngleKV< / a > < / span > ​ (double optimalVoltage,
double motorFreeSpeedRPM,
double angleGearRatio)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Calculate the angle kV which will be multiplied by the radians per second for the feedforward.< / div >
< / td >
< / tr >
< tr id = "i3" class = "rowColor" >
< td class = "colFirst" > < code > static double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#calculateDegreesPerSteeringRotation(double,double)" > calculateDegreesPerSteeringRotation< / a > < / span > ​ (double angleGearRatio,
double pulsePerRotation)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Calculate the degrees per steering rotation for the integrated encoder.< / div >
< / td >
< / tr >
< tr id = "i4" class = "altColor" >
< td class = "colFirst" > < code > static double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#calculateMaxAcceleration(double)" > calculateMaxAcceleration< / a > < / span > ​ (double cof)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.< / div >
< / td >
< / tr >
< tr id = "i5" class = "rowColor" >
< td class = "colFirst" > < code > static double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#calculateMaxAcceleration(double,double,double,double,double)" > calculateMaxAcceleration< / a > < / span > ​ (double stallTorqueNm,
double gearRatio,
double moduleCount,
double wheelDiameter,
double robotMass)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Calculate the maximum theoretical acceleration without friction.< / div >
< / td >
< / tr >
< tr id = "i6" class = "altColor" >
< td class = "colFirst" > < code > static double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#calculateMaxAngularVelocity(double,double,double)" > calculateMaxAngularVelocity< / a > < / span > ​ (double maxSpeed,
double furthestModuleX,
double furthestModuleY)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Calculate the maximum angular velocity.< / div >
< / td >
< / tr >
< tr id = "i7" class = "rowColor" >
< td class = "colFirst" > < code > static double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#calculateMetersPerRotation(double,double,double)" > calculateMetersPerRotation< / a > < / span > ​ (double wheelDiameter,
double driveGearRatio,
double pulsePerRotation)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Calculate the meters per rotation for the integrated encoder.< / div >
< / td >
< / tr >
< tr id = "i8" class = "altColor" >
< td class = "colFirst" > < code > static edu.wpi.first.math.geometry.Translation2d< / code > < / td >
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< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" > limitVelocity< / a > < / span > ​ (edu.wpi.first.math.geometry.Translation2d commandedVelocity,
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edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity,
edu.wpi.first.math.geometry.Pose2d robotPose,
double loopTime,
double chassisMass,
double robotMass,
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
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< a href = "../parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > config)< / code > < / th >
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< td class = "colLast" >
< div class = "block" > Limits a commanded velocity to prevent exceeding the maximum acceleration given by
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< a href = "#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" > < code > calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)< / code > < / a > .< / div >
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< h4 > SwerveMath< / h4 >
< pre > public SwerveMath()< / pre >
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< h4 > calculateAngleKV< / h4 >
< pre class = "methodSignature" > public static double calculateAngleKV​ (double optimalVoltage,
double motorFreeSpeedRPM,
double angleGearRatio)< / pre >
< div class = "block" > Calculate the angle kV which will be multiplied by the radians per second for the feedforward. Volt * seconds /
degree < => (maxVolts) / (maxSpeed)< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > optimalVoltage< / code > - Optimal voltage to use when calculating the angle kV.< / dd >
< dd > < code > motorFreeSpeedRPM< / code > - Motor free speed in Rotations per Minute.< / dd >
< dd > < code > angleGearRatio< / code > - Angle gear ratio, the amount of times the motor as to turn for the wheel rotation.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > angle kV for feedforward.< / dd >
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< a id = "calculateMetersPerRotation(double,double,double)" >
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< h4 > calculateMetersPerRotation< / h4 >
< pre class = "methodSignature" > public static double calculateMetersPerRotation​ (double wheelDiameter,
double driveGearRatio,
double pulsePerRotation)< / pre >
< div class = "block" > Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels * pi [circumfrence]
/ gear ratio.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > wheelDiameter< / code > - Wheel diameter in meters.< / dd >
< dd > < code > driveGearRatio< / code > - The gear ratio of the drive motor.< / dd >
< dd > < code > pulsePerRotation< / code > - The number of encoder pulses per rotation. 1 if using an integrated encoder.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > Meters per rotation for the drive motor.< / dd >
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< h4 > applyDeadband< / h4 >
< pre class = "methodSignature" > public static double applyDeadband​ (double value,
boolean scaled,
double deadband)< / pre >
< div class = "block" > Algebraically apply a deadband using a piece wise function.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > value< / code > - value to apply deadband to.< / dd >
< dd > < code > scaled< / code > - Use algebra to determine deadband by starting the value at 0 past deadband.< / dd >
< dd > < code > deadband< / code > - The deadbnad to apply.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > Value with deadband applied.< / dd >
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< a id = "calculateDegreesPerSteeringRotation(double,double)" >
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< h4 > calculateDegreesPerSteeringRotation< / h4 >
< pre class = "methodSignature" > public static double calculateDegreesPerSteeringRotation​ (double angleGearRatio,
double pulsePerRotation)< / pre >
< div class = "block" > Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts
motor rotations to linear wheel distance and steering converts motor rotations to module azimuth.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > angleGearRatio< / code > - The gear ratio of the steering motor.< / dd >
< dd > < code > pulsePerRotation< / code > - The number of pulses in a complete rotation for the encoder, 1 if integrated.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > Degrees per steering rotation for the angle motor.< / dd >
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< a id = "calculateMaxAngularVelocity(double,double,double)" >
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< h4 > calculateMaxAngularVelocity< / h4 >
< pre class = "methodSignature" > public static double calculateMaxAngularVelocity​ (double maxSpeed,
double furthestModuleX,
double furthestModuleY)< / pre >
< div class = "block" > Calculate the maximum angular velocity.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > maxSpeed< / code > - Max speed of the robot in meters per second.< / dd >
< dd > < code > furthestModuleX< / code > - X of the furthest module in meters.< / dd >
< dd > < code > furthestModuleY< / code > - Y of the furthest module in meters.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > Maximum angular velocity in rad/s.< / dd >
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< a id = "calculateMaxAcceleration(double)" >
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< h4 > calculateMaxAcceleration< / h4 >
< pre class = "methodSignature" > public static double calculateMaxAcceleration​ (double cof)< / pre >
< div class = "block" > Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > cof< / code > - Coefficient of Friction of the wheel grip tape.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > Practical maximum acceleration in m/s/s.< / dd >
< / dl >
< / li >
< / ul >
< a id = "calculateMaxAcceleration(double,double,double,double,double)" >
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< h4 > calculateMaxAcceleration< / h4 >
< pre class = "methodSignature" > public static double calculateMaxAcceleration​ (double stallTorqueNm,
double gearRatio,
double moduleCount,
double wheelDiameter,
double robotMass)< / pre >
< div class = "block" > Calculate the maximum theoretical acceleration without friction.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > stallTorqueNm< / code > - Stall torque of driving motor in nM.< / dd >
< dd > < code > gearRatio< / code > - Gear ratio for driving motor number of motor rotations until one wheel rotation.< / dd >
< dd > < code > moduleCount< / code > - Number of swerve modules.< / dd >
< dd > < code > wheelDiameter< / code > - Wheel diameter in meters.< / dd >
< dd > < code > robotMass< / code > - Mass of the robot in kg.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > Theoretical maximum acceleration in m/s/s.< / dd >
< / dl >
< / li >
< / ul >
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< a id = "calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" >
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< h4 > calcMaxAccel< / h4 >
< pre class = "methodSignature" > private static double calcMaxAccel​ (edu.wpi.first.math.geometry.Rotation2d angle,
double chassisMass,
double robotMass,
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
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< a href = "../parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > config)< / pre >
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< div class = "block" > Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from
NetworkTables and is passed the direction in question.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > angle< / code > - The direction in which to calculate max acceleration, as a Rotation2d. Note that this
is robot-relative.< / dd >
< dd > < code > chassisMass< / code > - Chassis mass in kg. (The weight of just the chassis not anything else)< / dd >
< dd > < code > robotMass< / code > - The weight of the robot in kg. (Including manipulators, etc).< / dd >
< dd > < code > chassisCenterOfGravity< / code > - Chassis center of gravity.< / dd >
< dd > < code > config< / code > - The swerve drive configuration.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > Maximum acceleration allowed in the robot direction.< / dd >
< / dl >
< / li >
< / ul >
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< a id = "limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" >
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< h4 > limitVelocity< / h4 >
< pre class = "methodSignature" > public static edu.wpi.first.math.geometry.Translation2d limitVelocity​ (edu.wpi.first.math.geometry.Translation2d commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity,
edu.wpi.first.math.geometry.Pose2d robotPose,
double loopTime,
double chassisMass,
double robotMass,
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
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< a href = "../parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > config)< / pre >
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< div class = "block" > Limits a commanded velocity to prevent exceeding the maximum acceleration given by
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< a href = "#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" > < code > calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)< / code > < / a > . Note that
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this takes and returns field-relative velocities.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > commandedVelocity< / code > - The desired velocity< / dd >
< dd > < code > fieldVelocity< / code > - The velocity of the robot within a field relative state.< / dd >
< dd > < code > robotPose< / code > - The current pose of the robot.< / dd >
< dd > < code > loopTime< / code > - The time it takes to update the velocity in seconds. < b > Note: this should include the
100ms that it takes for a SparkMax velocity to update.< / b > < / dd >
< dd > < code > chassisMass< / code > - Chassis mass in kg. (The weight of just the chassis not anything else)< / dd >
< dd > < code > robotMass< / code > - The weight of the robot in kg. (Including manipulators, etc).< / dd >
< dd > < code > chassisCenterOfGravity< / code > - Chassis center of gravity.< / dd >
< dd > < code > config< / code > - The swerve drive configuration.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable
velocity.< / dd >
< / dl >
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