Team2890/YAGSL
4
0
Fork 0
mirror of https://github.com/BroncBotz3481/YAGSL synced 2026-06-19 06:21:40 +00:00
Code Issues Packages Projects Releases Wiki Activity
Files
69edd17103540cddde3b795346983dac1b431555
YAGSL/docs/swervelib/simulation/SwerveModuleSimulation.html

295 lines
17 KiB
HTML
Raw Normal View History

Updated docs, renamed SwerveDrive lock function and setBrake function
2023-02-15 22:18:27 -06:00
<!DOCTYPE HTML>
<html lang="en">
<head>
Updated swervelib telemetry configurability. Reliable gyroscope modulo
2023-02-24 19:11:05 -06:00
<!-- Generated by javadoc (17) on Fri Feb 24 19:09:47 CST 2023 -->
Updated docs, renamed SwerveDrive lock function and setBrake function
2023-02-15 22:18:27 -06:00
<title>SwerveModuleSimulation</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
Updated swervelib telemetry configurability. Reliable gyroscope modulo
2023-02-24 19:11:05 -06:00
<meta name="dc.created" content="2023-02-24">
Updated docs, renamed SwerveDrive lock function and setBrake function
2023-02-15 22:18:27 -06:00
<meta name="description" content="declaration: package: swervelib.simulation, class: SwerveModuleSimulation">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
<link rel="stylesheet" type="text/css" href="../../script-dir/jquery-ui.min.css" title="Style">
<link rel="stylesheet" type="text/css" href="../../jquery-ui.overrides.css" title="Style">
<script type="text/javascript" src="../../script.js"></script>
<script type="text/javascript" src="../../script-dir/jquery-3.5.1.min.js"></script>
<script type="text/javascript" src="../../script-dir/jquery-ui.min.js"></script>
</head>
<body class="class-declaration-page">
<script type="text/javascript">var evenRowColor = "even-row-color";
var oddRowColor = "odd-row-color";
var tableTab = "table-tab";
var activeTableTab = "active-table-tab";
var pathtoroot = "../../";
loadScripts(document, 'script');</script>
<noscript>
<div>JavaScript is disabled on your browser.</div>
</noscript>
<div class="flex-box">
<header role="banner" class="flex-header">
<nav role="navigation">
<!-- ========= START OF TOP NAVBAR ======= -->
<div class="top-nav" id="navbar-top">
<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
<ul id="navbar-top-firstrow" class="nav-list" title="Navigation">
<li><a href="../../index.html">Overview</a></li>
<li><a href="package-summary.html">Package</a></li>
<li class="nav-bar-cell1-rev">Class</li>
<li><a href="package-tree.html">Tree</a></li>
<li><a href="../../index-files/index-1.html">Index</a></li>
<li><a href="../../help-doc.html#class">Help</a></li>
</ul>
</div>
<div class="sub-nav">
<div>
<ul class="sub-nav-list">
<li>Summary:&nbsp;</li>
<li>Nested&nbsp;|&nbsp;</li>
<li><a href="#field-summary">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method-summary">Method</a></li>
</ul>
<ul class="sub-nav-list">
<li>Detail:&nbsp;</li>
<li><a href="#field-detail">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method-detail">Method</a></li>
</ul>
</div>
<div class="nav-list-search"><label for="search-input">SEARCH:</label>
<input type="text" id="search-input" value="search" disabled="disabled">
<input type="reset" id="reset-button" value="reset" disabled="disabled">
</div>
</div>
<!-- ========= END OF TOP NAVBAR ========= -->
<span class="skip-nav" id="skip-navbar-top"></span></nav>
</header>
<div class="flex-content">
<main role="main">
<!-- ======== START OF CLASS DATA ======== -->
<div class="header">
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.simulation</a></div>
<h1 title="Class SwerveModuleSimulation" class="title">Class SwerveModuleSimulation</h1>
</div>
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance">swervelib.simulation.SwerveModuleSimulation</div>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveModuleSimulation</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Class to hold simulation data for <a href="../SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a></div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>private double</code></div>
<div class="col-second even-row-color"><code><a href="#dt" class="member-name-link">dt</a></code></div>
<div class="col-last even-row-color">
<div class="block">Time delta since last update</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#fakePos" class="member-name-link">fakePos</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Fake motor position.</div>
</div>
<div class="col-first even-row-color"><code>private double</code></div>
<div class="col-second even-row-color"><code><a href="#fakeSpeed" class="member-name-link">fakeSpeed</a></code></div>
<div class="col-last even-row-color">
<div class="block">The fake speed of the previous state, used to calculate <a href="#fakePos"><code>fakePos</code></a>.</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#lastTime" class="member-name-link">lastTime</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Last time queried.</div>
</div>
<div class="col-first even-row-color"><code>private <a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-second even-row-color"><code><a href="#state" class="member-name-link">state</a></code></div>
<div class="col-last even-row-color">
<div class="block">Current simulated swerve module state.</div>
</div>
<div class="col-first odd-row-color"><code>private final edu.wpi.first.wpilibj.Timer</code></div>
<div class="col-second odd-row-color"><code><a href="#timer" class="member-name-link">timer</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Main timer to simulate the passage of time.</div>
</div>
</div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">SwerveModuleSimulation</a>()</code></div>
<div class="col-last even-row-color">
<div class="block">Create simulation class and initialize module at 0.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPosition()" class="member-name-link">getPosition</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the simulated swerve module position.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getState()" class="member-name-link">getState</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the <a href="../math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> of the simulated module.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateStateAndPosition(swervelib.math.SwerveModuleState2)" class="member-name-link">updateStateAndPosition</a><wbr>(<a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Update the position and state of the module.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="timer">
<h3>timer</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj.Timer</span>&nbsp;<span class="element-name">timer</span></div>
<div class="block">Main timer to simulate the passage of time.</div>
</section>
</li>
<li>
<section class="detail" id="dt">
<h3>dt</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">dt</span></div>
<div class="block">Time delta since last update</div>
</section>
</li>
<li>
<section class="detail" id="fakePos">
<h3>fakePos</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">fakePos</span></div>
<div class="block">Fake motor position.</div>
</section>
</li>
<li>
<section class="detail" id="fakeSpeed">
<h3>fakeSpeed</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">fakeSpeed</span></div>
<div class="block">The fake speed of the previous state, used to calculate <a href="#fakePos"><code>fakePos</code></a>.</div>
</section>
</li>
<li>
<section class="detail" id="lastTime">
<h3>lastTime</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">lastTime</span></div>
<div class="block">Last time queried.</div>
</section>
</li>
<li>
<section class="detail" id="state">
<h3>state</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type"><a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">state</span></div>
<div class="block">Current simulated swerve module state.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;()">
<h3>SwerveModuleSimulation</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleSimulation</span>()</div>
<div class="block">Create simulation class and initialize module at 0.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ============ METHOD DETAIL ========== -->
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="updateStateAndPosition(swervelib.math.SwerveModuleState2)">
<h3>updateStateAndPosition</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">updateStateAndPosition</span><wbr><span class="parameters">(<a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState)</span></div>
<div class="block">Update the position and state of the module. Called from <a href="../SwerveModule.html#setDesiredState(swervelib.math.SwerveModuleState2,boolean)"><code>SwerveModule.setDesiredState(swervelib.math.SwerveModuleState2, boolean)</code></a> function
when simulated.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>desiredState</code> - State the swerve module is set to.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getPosition()">
<h3>getPosition</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModulePosition</span>&nbsp;<span class="element-name">getPosition</span>()</div>
<div class="block">Get the simulated swerve module position.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><code>SwerveModulePosition</code> of the simulated module.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getState()">
<h3>getState</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">getState</span>()</div>
<div class="block">Get the <a href="../math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> of the simulated module.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><a href="../math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> of the simulated module.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
<!-- ========= END OF CLASS DATA ========= -->
</main>
</div>
</div>
</body>
</html>
Reference in New Issue Copy Permalink