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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.math</a></div>
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<h2 title="Class SwerveMath" class="title">Class SwerveMath</h2>
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<pre>public class <span class="typeNameLabel">SwerveMath</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">Mathematical functions which pertain to swerve drive.</div>
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<h3>Constructor Summary</h3>
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
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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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</tr>
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<tr class="altColor">
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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="colLast"> </td>
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</tr>
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</table>
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<!-- ========== METHOD SUMMARY =========== -->
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<section>
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<h3>Method Summary</h3>
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<table class="memberSummary">
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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="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Method</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tr id="i0" class="altColor">
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<td class="colFirst"><code>static double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#applyDeadband(double,boolean,double)">applyDeadband</a></span>​(double value,
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boolean scaled,
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double deadband)</code></th>
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<td class="colLast">
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<div class="block">Algebraically apply a deadband using a piece wise function.</div>
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</td>
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</tr>
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<tr id="i1" class="rowColor">
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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,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)">calcMaxAccel</a></span>​(edu.wpi.first.math.geometry.Rotation2d angle,
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double chassisMass,
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double robotMass,
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edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
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<a href="../parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> config)</code></th>
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<td class="colLast">
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<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot.</div>
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</td>
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</tr>
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<tr id="i2" class="altColor">
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<td class="colFirst"><code>static double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateAngleKV(double,double,double)">calculateAngleKV</a></span>​(double optimalVoltage,
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double motorFreeSpeedRPM,
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double angleGearRatio)</code></th>
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<td class="colLast">
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<div class="block">Calculate the angle kV which will be multiplied by the radians per second for the feedforward.</div>
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</td>
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</tr>
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<tr id="i3" class="rowColor">
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<td class="colFirst"><code>static double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateDegreesPerSteeringRotation(double,double)">calculateDegreesPerSteeringRotation</a></span>​(double angleGearRatio,
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double pulsePerRotation)</code></th>
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<td class="colLast">
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<div class="block">Calculate the degrees per steering rotation for the integrated encoder.</div>
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</td>
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</tr>
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<tr id="i4" class="altColor">
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<td class="colFirst"><code>static double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMaxAcceleration(double)">calculateMaxAcceleration</a></span>​(double cof)</code></th>
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<td class="colLast">
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<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.</div>
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</td>
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</tr>
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<tr id="i5" class="rowColor">
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<td class="colFirst"><code>static double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMaxAcceleration(double,double,double,double,double)">calculateMaxAcceleration</a></span>​(double stallTorqueNm,
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double gearRatio,
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double moduleCount,
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double wheelDiameter,
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double robotMass)</code></th>
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<td class="colLast">
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<div class="block">Calculate the maximum theoretical acceleration without friction.</div>
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</td>
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</tr>
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<tr id="i6" class="altColor">
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<td class="colFirst"><code>static double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMaxAngularVelocity(double,double,double)">calculateMaxAngularVelocity</a></span>​(double maxSpeed,
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double furthestModuleX,
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double furthestModuleY)</code></th>
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<td class="colLast">
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<div class="block">Calculate the maximum angular velocity.</div>
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</td>
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</tr>
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<tr id="i7" class="rowColor">
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<td class="colFirst"><code>static double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMetersPerRotation(double,double,double)">calculateMetersPerRotation</a></span>​(double wheelDiameter,
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double driveGearRatio,
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double pulsePerRotation)</code></th>
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<td class="colLast">
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<div class="block">Calculate the meters per rotation for the integrated encoder.</div>
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</td>
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</tr>
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<tr id="i8" 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="#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,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)">limitVelocity</a></span>​(edu.wpi.first.math.geometry.Translation2d commandedVelocity,
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edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity,
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edu.wpi.first.math.geometry.Pose2d robotPose,
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double loopTime,
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double chassisMass,
|
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double robotMass,
|
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edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
|
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<a href="../parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> config)</code></th>
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<td class="colLast">
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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,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>.</div>
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</td>
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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>SwerveMath</h4>
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<pre>public SwerveMath()</pre>
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<h3>Method Detail</h3>
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<a id="calculateAngleKV(double,double,double)">
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<h4>calculateAngleKV</h4>
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<pre class="methodSignature">public static double calculateAngleKV​(double optimalVoltage,
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double motorFreeSpeedRPM,
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double angleGearRatio)</pre>
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<div class="block">Calculate the angle kV which will be multiplied by the radians per second for the feedforward. Volt * seconds /
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degree <=> (maxVolts) / (maxSpeed)</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
|
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<dd><code>optimalVoltage</code> - Optimal voltage to use when calculating the angle kV.</dd>
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<dd><code>motorFreeSpeedRPM</code> - Motor free speed in Rotations per Minute.</dd>
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<dd><code>angleGearRatio</code> - Angle gear ratio, the amount of times the motor as to turn for the wheel rotation.</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>angle kV for feedforward.</dd>
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</dl>
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<a id="calculateMetersPerRotation(double,double,double)">
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<h4>calculateMetersPerRotation</h4>
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<pre class="methodSignature">public static double calculateMetersPerRotation​(double wheelDiameter,
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double driveGearRatio,
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double pulsePerRotation)</pre>
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<div class="block">Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels * pi [circumfrence]
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/ gear ratio.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
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<dd><code>driveGearRatio</code> - The gear ratio of the drive motor.</dd>
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<dd><code>pulsePerRotation</code> - The number of encoder pulses per rotation. 1 if using an integrated encoder.</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>Meters per rotation for the drive motor.</dd>
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</dl>
|
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</li>
|
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</ul>
|
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<a id="applyDeadband(double,boolean,double)">
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|
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<h4>applyDeadband</h4>
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<pre class="methodSignature">public static double applyDeadband​(double value,
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boolean scaled,
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double deadband)</pre>
|
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<div class="block">Algebraically apply a deadband using a piece wise function.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
|
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<dd><code>value</code> - value to apply deadband to.</dd>
|
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<dd><code>scaled</code> - Use algebra to determine deadband by starting the value at 0 past deadband.</dd>
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<dd><code>deadband</code> - The deadbnad to apply.</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
|
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<dd>Value with deadband applied.</dd>
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</dl>
|
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</li>
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</ul>
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<a id="calculateDegreesPerSteeringRotation(double,double)">
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<h4>calculateDegreesPerSteeringRotation</h4>
|
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<pre class="methodSignature">public static double calculateDegreesPerSteeringRotation​(double angleGearRatio,
|
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|
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double pulsePerRotation)</pre>
|
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<div class="block">Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts
|
||
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motor rotations to linear wheel distance and steering converts motor rotations to module azimuth.</div>
|
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<dl>
|
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<dt><span class="paramLabel">Parameters:</span></dt>
|
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<dd><code>angleGearRatio</code> - The gear ratio of the steering motor.</dd>
|
||
|
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<dd><code>pulsePerRotation</code> - The number of pulses in a complete rotation for the encoder, 1 if integrated.</dd>
|
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<dt><span class="returnLabel">Returns:</span></dt>
|
||
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<dd>Degrees per steering rotation for the angle motor.</dd>
|
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</dl>
|
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</li>
|
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</ul>
|
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<a id="calculateMaxAngularVelocity(double,double,double)">
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<h4>calculateMaxAngularVelocity</h4>
|
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<pre class="methodSignature">public static double calculateMaxAngularVelocity​(double maxSpeed,
|
||
|
|
double furthestModuleX,
|
||
|
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double furthestModuleY)</pre>
|
||
|
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<div class="block">Calculate the maximum angular velocity.</div>
|
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<dl>
|
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<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
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<dd><code>maxSpeed</code> - Max speed of the robot in meters per second.</dd>
|
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<dd><code>furthestModuleX</code> - X of the furthest module in meters.</dd>
|
||
|
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<dd><code>furthestModuleY</code> - Y of the furthest module in meters.</dd>
|
||
|
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<dt><span class="returnLabel">Returns:</span></dt>
|
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|
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<dd>Maximum angular velocity in rad/s.</dd>
|
||
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</dl>
|
||
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</li>
|
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</ul>
|
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<a id="calculateMaxAcceleration(double)">
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<h4>calculateMaxAcceleration</h4>
|
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<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>
|
||
|
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</li>
|
||
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</ul>
|
||
|
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<a id="calculateMaxAcceleration(double,double,double,double,double)">
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|
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<h4>calculateMaxAcceleration</h4>
|
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|
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<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>
|
||
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</ul>
|
||
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<a id="calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)">
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<h4>calcMaxAccel</h4>
|
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<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,
|
||
|
|
<a href="../parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> config)</pre>
|
||
|
|
<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>
|
||
|
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</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,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)">
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<h4>limitVelocity</h4>
|
||
|
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<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,
|
||
|
|
<a href="../parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> config)</pre>
|
||
|
|
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by
|
||
|
|
<a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>. Note that
|
||
|
|
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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|
|
</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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</li>
|
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</ul>
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