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https://github.com/BroncBotz3481/YAGSL
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib</a></div>
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<h2 title="Class SwerveController" class="title">Class SwerveController</h2>
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<ul class="inheritance">
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<li>frc.robot.subsystems.swervedrive2.swervelib.SwerveController</li>
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<pre>public class <span class="typeNameLabel">SwerveController</span>
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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">Controller class used to convert raw inputs into robot speeds.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Field</th>
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<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code><a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.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 frc.robot.subsystems.swervedrive2.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>
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</td>
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#lastAngle">lastAngle</a></span></code></th>
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<div class="block">Last angle to robot was set to.</div>
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<td class="colFirst"><code>private edu.wpi.first.math.controller.PIDController</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#thetaController">thetaController</a></span></code></th>
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<td class="colLast">
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<div class="block">PID Controller for the robot heading.</div>
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</td>
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</table>
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<h3>Constructor Summary</h3>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colLast" scope="col">Description</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveControllerConfiguration)">SwerveController</a></span>​(<a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a> cfg)</code></th>
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<td class="colLast">
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<div class="block">Construct the SwerveController object which is used for determining the speeds of the robot based on controller
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input.</div>
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</table>
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<h3>Method Summary</h3>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTargetSpeeds(double,double,double,double)">getTargetSpeeds</a></span>​(double xInput,
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double yInput,
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double angle,
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double currentHeadingAngleRadians)</code></th>
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<td class="colLast">
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<div class="block">Get the chassis speeds based on controller input of 1 joystick and a angle.</div>
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</td>
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<tr id="i1" class="rowColor">
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<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTargetSpeeds(double,double,double,double,double)">getTargetSpeeds</a></span>​(double xInput,
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double yInput,
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double headingX,
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double headingY,
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double currentHeadingAngleRadians)</code></th>
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<td class="colLast">
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<div class="block">Get the chassis speeds based on controller input of 2 joysticks.</div>
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</td>
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<tr id="i2" class="altColor">
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<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="#getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)">getTranslation2d</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)</code></th>
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<td class="colLast">
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<div class="block">Helper function to get the <code>Translation2d</code> of the chassis speeds given the <code>ChassisSpeeds</code>.</div>
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<td class="colFirst"><code>boolean</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#withinHypotDeadband(double,double)">withinHypotDeadband</a></span>​(double x,
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double y)</code></th>
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<td class="colLast">
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<div class="block">Calculate the hypot deadband and check if the joystick is within it.</div>
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<h3>Methods inherited from class java.lang.<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></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h4>config</h4>
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<pre>public final <a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a> config</pre>
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<div class="block"><a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.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>
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<a id="thetaController">
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<h4>thetaController</h4>
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<pre>private final edu.wpi.first.math.controller.PIDController thetaController</pre>
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<div class="block">PID Controller for the robot heading.</div>
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</li>
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<a id="lastAngle">
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<h4>lastAngle</h4>
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<pre>public double lastAngle</pre>
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<div class="block">Last angle to robot was set to.</div>
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</li>
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</ul>
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</li>
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</ul>
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</section>
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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<h3>Constructor Detail</h3>
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<a id="<init>(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveControllerConfiguration)">
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<h4>SwerveController</h4>
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<pre>public SwerveController​(<a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.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
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input.</div>
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<!-- ============ METHOD DETAIL ========== -->
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<h3>Method Detail</h3>
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<a id="getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)">
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<h4>getTranslation2d</h4>
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<pre class="methodSignature">public static edu.wpi.first.math.geometry.Translation2d getTranslation2d​(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)</pre>
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<div class="block">Helper function to get the <code>Translation2d</code> of the chassis speeds given the <code>ChassisSpeeds</code>.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>speeds</code> - Chassis speeds.</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd><code>Translation2d</code> of the speed the robot is going in.</dd>
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</dl>
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</li>
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</ul>
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<a id="withinHypotDeadband(double,double)">
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<h4>withinHypotDeadband</h4>
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<pre class="methodSignature">public boolean withinHypotDeadband​(double x,
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double y)</pre>
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<div class="block">Calculate the hypot deadband and check if the joystick is within it.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
|
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<dd><code>x</code> - The x value for the joystick in which the deadband should be applied.</dd>
|
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<dd><code>y</code> - The y value for the joystick in which the deadband should be applied.</dd>
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</dl>
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</li>
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</ul>
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<a id="getTargetSpeeds(double,double,double,double)">
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<h4>getTargetSpeeds</h4>
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<pre class="methodSignature">public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds​(double xInput,
|
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double yInput,
|
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double angle,
|
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|
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double currentHeadingAngleRadians)</pre>
|
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<div class="block">Get the chassis speeds based on controller input of 1 joystick and a angle.</div>
|
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<dl>
|
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<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
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<dd><code>xInput</code> - X joystick input for the robot to move in the X direction.</dd>
|
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<dd><code>yInput</code> - Y joystick input for the robot to move in the Y direction.</dd>
|
||
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<dd><code>angle</code> - The desired angle of the robot in radians.</dd>
|
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|
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<dd><code>currentHeadingAngleRadians</code> - The current robot heading in radians.</dd>
|
||
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<dt><span class="returnLabel">Returns:</span></dt>
|
||
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<dd><code>ChassisSpeeds</code> which can be sent to th Swerve Drive.</dd>
|
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</dl>
|
||
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</li>
|
||
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</ul>
|
||
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<a id="getTargetSpeeds(double,double,double,double,double)">
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<h4>getTargetSpeeds</h4>
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<pre class="methodSignature">public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds​(double xInput,
|
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double yInput,
|
||
|
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double headingX,
|
||
|
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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>
|
||
|
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<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>
|
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</li>
|
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</ul>
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</li>
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</ul>
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</section>
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