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< div class = "subTitle" > < span class = "packageLabelInType" > Package< / span > < a href = "package-summary.html" > swervelib.parser< / a > < / div >
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< h2 title = "Class SwerveModuleConfiguration" class = "title" > Class SwerveModuleConfiguration< / 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.parser.SwerveModuleConfiguration< / li >
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< pre > public class < span class = "typeNameLabel" > SwerveModuleConfiguration< / 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 >
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< div class = "block" > Swerve Module configuration class which is used to configure < a href = "../SwerveModule.html" title = "class in swervelib" > < code > SwerveModule< / code > < / a > .< / div >
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< h3 > Field Summary< / h3 >
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< caption > < span > Fields< / span > < span class = "tabEnd" > < / span > < / caption >
< tr >
< th class = "colFirst" scope = "col" > Modifier and Type< / th >
< th class = "colSecond" scope = "col" > Field< / th >
< th class = "colLast" scope = "col" > Description< / th >
< / tr >
< tr class = "altColor" >
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< td class = "colFirst" > < code > < a href = "../encoders/SwerveAbsoluteEncoder.html" title = "class in swervelib.encoders" > SwerveAbsoluteEncoder< / a > < / code > < / td >
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< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#absoluteEncoder" > absoluteEncoder< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > The Absolute Encoder for the swerve module.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
< td class = "colFirst" > < code > boolean< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#absoluteEncoderInverted" > absoluteEncoderInverted< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Whether the absolute encoder is inverted.< / div >
< / td >
< / tr >
< tr class = "altColor" >
< td class = "colFirst" > < code > double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#angleKV" > angleKV< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Angle volt-meter-per-second.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
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< td class = "colFirst" > < code > < a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > SwerveMotor< / a > < / code > < / td >
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< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#angleMotor" > angleMotor< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > The drive motor and angle motor of this swerve module.< / div >
< / td >
< / tr >
< tr class = "altColor" >
< td class = "colFirst" > < code > boolean< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#angleMotorInverted" > angleMotorInverted< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > State of inversion of the angle motor.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
< td class = "colFirst" > < code > double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#angleOffset" > angleOffset< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Angle offset in degrees for the Swerve Module.< / div >
< / td >
< / tr >
< tr class = "altColor" >
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< td class = "colFirst" > < code > < a href = "PIDFConfig.html" title = "class in swervelib.parser" > PIDFConfig< / a > < / code > < / td >
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< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#anglePIDF" > anglePIDF< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > PIDF configuration options for the angle motor closed-loop PID controller.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
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< td class = "colFirst" > < code > < a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > SwerveMotor< / a > < / code > < / td >
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< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#driveMotor" > driveMotor< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > The drive motor and angle motor of this swerve module.< / div >
< / td >
< / tr >
< tr class = "altColor" >
< td class = "colFirst" > < code > boolean< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#driveMotorInverted" > driveMotorInverted< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > State of inversion of the drive motor.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
< td class = "colFirst" > < code > double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#maxSpeed" > maxSpeed< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Maximum robot speed in meters per second.< / div >
< / td >
< / tr >
< tr class = "altColor" >
< td class = "colFirst" > < code > edu.wpi.first.math.geometry.Translation2d< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#moduleLocation" > moduleLocation< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Swerve module location relative to the robot.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
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< td class = "colFirst" > < code > < a href = "SwerveModulePhysicalCharacteristics.html" title = "class in swervelib.parser" > SwerveModulePhysicalCharacteristics< / a > < / code > < / td >
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< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#physicalCharacteristics" > physicalCharacteristics< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Physical characteristics of the swerve module.< / div >
< / td >
< / tr >
< tr class = "altColor" >
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< td class = "colFirst" > < code > < a href = "PIDFConfig.html" title = "class in swervelib.parser" > PIDFConfig< / a > < / code > < / td >
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< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#velocityPIDF" > velocityPIDF< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > PIDF configuration options for the drive motor closed-loop PID controller.< / div >
< / td >
< / tr >
< / table >
< / li >
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< / section >
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< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)" > SwerveModuleConfiguration< / a > < / span > ​ (< a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > SwerveMotor< / a > driveMotor,
< a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > SwerveMotor< / a > angleMotor,
< a href = "../encoders/SwerveAbsoluteEncoder.html" title = "class in swervelib.encoders" > SwerveAbsoluteEncoder< / a > absoluteEncoder,
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double angleOffset,
double xMeters,
double yMeters,
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< a href = "PIDFConfig.html" title = "class in swervelib.parser" > PIDFConfig< / a > anglePIDF,
< a href = "PIDFConfig.html" title = "class in swervelib.parser" > PIDFConfig< / a > velocityPIDF,
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double maxSpeed,
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< a href = "SwerveModulePhysicalCharacteristics.html" title = "class in swervelib.parser" > SwerveModulePhysicalCharacteristics< / a > physicalCharacteristics)< / code > < / th >
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< td class = "colLast" >
< div class = "block" > Construct a configuration object for swerve modules.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
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< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean)" > SwerveModuleConfiguration< / a > < / span > ​ (< a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > SwerveMotor< / a > driveMotor,
< a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > SwerveMotor< / a > angleMotor,
< a href = "../encoders/SwerveAbsoluteEncoder.html" title = "class in swervelib.encoders" > SwerveAbsoluteEncoder< / a > absoluteEncoder,
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double angleOffset,
double xMeters,
double yMeters,
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< a href = "PIDFConfig.html" title = "class in swervelib.parser" > PIDFConfig< / a > anglePIDF,
< a href = "PIDFConfig.html" title = "class in swervelib.parser" > PIDFConfig< / a > velocityPIDF,
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double maxSpeed,
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< a href = "SwerveModulePhysicalCharacteristics.html" title = "class in swervelib.parser" > SwerveModulePhysicalCharacteristics< / a > physicalCharacteristics,
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boolean absoluteEncoderInverted,
boolean driveMotorInverted,
boolean angleMotorInverted)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Construct a configuration object for swerve modules.< / div >
< / td >
< / tr >
< / table >
< / li >
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< / section >
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< tr >
< th class = "colFirst" scope = "col" > Modifier and Type< / th >
< th class = "colSecond" scope = "col" > Method< / th >
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< / tr >
< tr id = "i0" class = "altColor" >
< td class = "colFirst" > < code > edu.wpi.first.math.controller.SimpleMotorFeedforward< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#createDriveFeedforward()" > createDriveFeedforward< / a > < / span > ()< / code > < / th >
< td class = "colLast" >
< div class = "block" > Create the drive feedforward for swerve modules.< / div >
< / td >
< / tr >
< tr id = "i1" class = "rowColor" >
< td class = "colFirst" > < code > double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#getPositionEncoderConversion(boolean)" > getPositionEncoderConversion< / a > < / span > ​ (boolean isDriveMotor)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Get the encoder conversion for position encoders.< / div >
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<!-- ============ FIELD DETAIL =========== -->
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< a id = "angleOffset" >
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< h4 > angleOffset< / h4 >
< pre > public final double angleOffset< / pre >
< div class = "block" > Angle offset in degrees for the Swerve Module.< / div >
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< h4 > absoluteEncoderInverted< / h4 >
< pre > public final boolean absoluteEncoderInverted< / pre >
< div class = "block" > Whether the absolute encoder is inverted.< / div >
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< a id = "driveMotorInverted" >
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< pre > public final boolean driveMotorInverted< / pre >
< div class = "block" > State of inversion of the drive motor.< / div >
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< a id = "angleMotorInverted" >
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< pre > public final boolean angleMotorInverted< / pre >
< div class = "block" > State of inversion of the angle motor.< / div >
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< h4 > maxSpeed< / h4 >
< pre > public final double maxSpeed< / pre >
< div class = "block" > Maximum robot speed in meters per second.< / div >
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< a id = "anglePIDF" >
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< ul class = "blockList" >
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< h4 > anglePIDF< / h4 >
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< pre > public < a href = "PIDFConfig.html" title = "class in swervelib.parser" > PIDFConfig< / a > anglePIDF< / pre >
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< div class = "block" > PIDF configuration options for the angle motor closed-loop PID controller.< / div >
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< a id = "velocityPIDF" >
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< h4 > velocityPIDF< / h4 >
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< pre > public < a href = "PIDFConfig.html" title = "class in swervelib.parser" > PIDFConfig< / a > velocityPIDF< / pre >
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< div class = "block" > PIDF configuration options for the drive motor closed-loop PID controller.< / div >
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< h4 > angleKV< / h4 >
< pre > public double angleKV< / pre >
< div class = "block" > Angle volt-meter-per-second.< / div >
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< a id = "moduleLocation" >
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< h4 > moduleLocation< / h4 >
< pre > public edu.wpi.first.math.geometry.Translation2d moduleLocation< / pre >
< div class = "block" > Swerve module location relative to the robot.< / div >
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< h4 > physicalCharacteristics< / h4 >
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< pre > public < a href = "SwerveModulePhysicalCharacteristics.html" title = "class in swervelib.parser" > SwerveModulePhysicalCharacteristics< / a > physicalCharacteristics< / pre >
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< div class = "block" > Physical characteristics of the swerve module.< / div >
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< a id = "driveMotor" >
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< h4 > driveMotor< / h4 >
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< pre > public < a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > SwerveMotor< / a > driveMotor< / pre >
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< div class = "block" > The drive motor and angle motor of this swerve module.< / div >
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< a id = "angleMotor" >
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< h4 > angleMotor< / h4 >
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< pre > public < a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > SwerveMotor< / a > angleMotor< / pre >
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< div class = "block" > The drive motor and angle motor of this swerve module.< / div >
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< h4 > absoluteEncoder< / h4 >
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< pre > public < a href = "../encoders/SwerveAbsoluteEncoder.html" title = "class in swervelib.encoders" > SwerveAbsoluteEncoder< / a > absoluteEncoder< / pre >
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< div class = "block" > The Absolute Encoder for the swerve module.< / div >
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< a id = "<init>(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean)" >
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< h4 > SwerveModuleConfiguration< / h4 >
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< pre > public SwerveModuleConfiguration​ (< a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > SwerveMotor< / a > driveMotor,
< a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > SwerveMotor< / a > angleMotor,
< a href = "../encoders/SwerveAbsoluteEncoder.html" title = "class in swervelib.encoders" > SwerveAbsoluteEncoder< / a > absoluteEncoder,
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double angleOffset,
double xMeters,
double yMeters,
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< a href = "PIDFConfig.html" title = "class in swervelib.parser" > PIDFConfig< / a > anglePIDF,
< a href = "PIDFConfig.html" title = "class in swervelib.parser" > PIDFConfig< / a > velocityPIDF,
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double maxSpeed,
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< a href = "SwerveModulePhysicalCharacteristics.html" title = "class in swervelib.parser" > SwerveModulePhysicalCharacteristics< / a > physicalCharacteristics,
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boolean absoluteEncoderInverted,
boolean driveMotorInverted,
boolean angleMotorInverted)< / pre >
< div class = "block" > Construct a configuration object for swerve modules.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
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< dd > < code > driveMotor< / code > - Drive < a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > < code > SwerveMotor< / code > < / a > .< / dd >
< dd > < code > angleMotor< / code > - Angle < a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > < code > SwerveMotor< / code > < / a > < / dd >
< dd > < code > absoluteEncoder< / code > - Absolute encoder < a href = "../encoders/SwerveAbsoluteEncoder.html" title = "class in swervelib.encoders" > < code > SwerveAbsoluteEncoder< / code > < / a > .< / dd >
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< dd > < code > angleOffset< / code > - Absolute angle offset to 0.< / dd >
< dd > < code > absoluteEncoderInverted< / code > - Absolute encoder inverted.< / dd >
< dd > < code > angleMotorInverted< / code > - State of inversion of the angle motor.< / dd >
< dd > < code > driveMotorInverted< / code > - Drive motor inverted.< / dd >
< dd > < code > xMeters< / code > - Module location in meters from the center horizontally.< / dd >
< dd > < code > yMeters< / code > - Module location in meters from center vertically.< / dd >
< dd > < code > anglePIDF< / code > - Angle PIDF configuration.< / dd >
< dd > < code > velocityPIDF< / code > - Velocity PIDF configuration.< / dd >
< dd > < code > maxSpeed< / code > - Maximum speed in meters per second.< / dd >
< dd > < code > physicalCharacteristics< / code > - Physical characteristics of the swerve module.< / dd >
< / dl >
< / li >
< / ul >
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< a id = "<init>(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)" >
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< h4 > SwerveModuleConfiguration< / h4 >
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< pre > public SwerveModuleConfiguration​ (< a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > SwerveMotor< / a > driveMotor,
< a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > SwerveMotor< / a > angleMotor,
< a href = "../encoders/SwerveAbsoluteEncoder.html" title = "class in swervelib.encoders" > SwerveAbsoluteEncoder< / a > absoluteEncoder,
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double angleOffset,
double xMeters,
double yMeters,
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< a href = "PIDFConfig.html" title = "class in swervelib.parser" > PIDFConfig< / a > anglePIDF,
< a href = "PIDFConfig.html" title = "class in swervelib.parser" > PIDFConfig< / a > velocityPIDF,
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double maxSpeed,
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< a href = "SwerveModulePhysicalCharacteristics.html" title = "class in swervelib.parser" > SwerveModulePhysicalCharacteristics< / a > physicalCharacteristics)< / pre >
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< div class = "block" > Construct a configuration object for swerve modules. Assumes the absolute encoder and drive motor are not
inverted.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
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< dd > < code > driveMotor< / code > - Drive < a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > < code > SwerveMotor< / code > < / a > .< / dd >
< dd > < code > angleMotor< / code > - Angle < a href = "../motors/SwerveMotor.html" title = "class in swervelib.motors" > < code > SwerveMotor< / code > < / a > < / dd >
< dd > < code > absoluteEncoder< / code > - Absolute encoder < a href = "../encoders/SwerveAbsoluteEncoder.html" title = "class in swervelib.encoders" > < code > SwerveAbsoluteEncoder< / code > < / a > .< / dd >
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< dd > < code > angleOffset< / code > - Absolute angle offset to 0.< / dd >
< dd > < code > xMeters< / code > - Module location in meters from the center horizontally.< / dd >
< dd > < code > yMeters< / code > - Module location in meters from center vertically.< / dd >
< dd > < code > anglePIDF< / code > - Angle PIDF configuration.< / dd >
< dd > < code > velocityPIDF< / code > - Velocity PIDF configuration.< / dd >
< dd > < code > maxSpeed< / code > - Maximum robot speed in meters per second.< / dd >
< dd > < code > physicalCharacteristics< / code > - Physical characteristics of the swerve module.< / dd >
< / dl >
< / li >
< / ul >
< / li >
< / ul >
< / section >
<!-- ============ METHOD DETAIL ========== -->
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< h3 > Method Detail< / h3 >
< a id = "createDriveFeedforward()" >
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< h4 > createDriveFeedforward< / h4 >
< pre class = "methodSignature" > public edu.wpi.first.math.controller.SimpleMotorFeedforward createDriveFeedforward()< / pre >
< div class = "block" > Create the drive feedforward for swerve modules.< / div >
< dl >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > Drive feedforward for drive motor on a swerve module.< / dd >
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< a id = "getPositionEncoderConversion(boolean)" >
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< pre class = "methodSignature" > public double getPositionEncoderConversion​ (boolean isDriveMotor)< / pre >
< div class = "block" > Get the encoder conversion for position encoders.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > isDriveMotor< / code > - For the drive motor.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > Position encoder conversion factor.< / dd >
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