mirror of
https://github.com/BroncBotz3481/YAGSL
synced 2026-06-19 06:21:40 +00:00
473 lines
20 KiB
HTML
473 lines
20 KiB
HTML
|
<!DOCTYPE HTML>
|
||
|
|
<!-- NewPage -->
|
||
|
|
<html lang="en">
|
||
|
|
<head>
|
||
|
|
<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
|
||
|
|
<title>SwerveDrive.SwerveModuleConfig</title>
|
||
|
|
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
|
||
|
|
<meta name="dc.created" content="2023-01-29">
|
||
|
|
<link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
|
||
|
|
<link rel="stylesheet" type="text/css" href="../../../../../jquery/jquery-ui.css" title="Style">
|
||
|
|
<script type="text/javascript" src="../../../../../script.js"></script>
|
||
|
|
<script type="text/javascript" src="../../../../../jquery/jszip/dist/jszip.min.js"></script>
|
||
|
|
<script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
|
||
|
|
<!--[if IE]>
|
||
|
|
<script type="text/javascript" src="../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
|
||
|
|
<![endif]-->
|
||
|
|
<script type="text/javascript" src="../../../../../jquery/jquery-3.5.1.js"></script>
|
||
|
|
<script type="text/javascript" src="../../../../../jquery/jquery-ui.js"></script>
|
||
|
|
</head>
|
||
|
|
<body>
|
||
|
|
<script type="text/javascript"><!--
|
||
|
|
try {
|
||
|
|
if (location.href.indexOf('is-external=true') == -1) {
|
||
|
|
parent.document.title="SwerveDrive.SwerveModuleConfig";
|
||
|
|
}
|
||
|
|
}
|
||
|
|
catch(err) {
|
||
|
|
}
|
||
|
|
//-->
|
||
|
|
var data = {"i0":10};
|
||
|
|
var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
|
||
|
|
var altColor = "altColor";
|
||
|
|
var rowColor = "rowColor";
|
||
|
|
var tableTab = "tableTab";
|
||
|
|
var activeTableTab = "activeTableTab";
|
||
|
|
var pathtoroot = "../../../../../";
|
||
|
|
var useModuleDirectories = true;
|
||
|
|
loadScripts(document, 'script');</script>
|
||
|
|
<noscript>
|
||
|
|
<div>JavaScript is disabled on your browser.</div>
|
||
|
|
</noscript>
|
||
|
|
<header role="banner">
|
||
|
|
<nav role="navigation">
|
||
|
|
<div class="fixedNav">
|
||
|
|
<!-- ========= START OF TOP NAVBAR ======= -->
|
||
|
|
<div class="topNav"><a id="navbar.top">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
|
||
|
|
<a id="navbar.top.firstrow">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="navList" title="Navigation">
|
||
|
|
<li><a href="../../../../../index.html">Overview</a></li>
|
||
|
|
<li><a href="package-summary.html">Package</a></li>
|
||
|
|
<li class="navBarCell1Rev">Class</li>
|
||
|
|
<li><a href="package-tree.html">Tree</a></li>
|
||
|
|
<li><a href="../../../../../deprecated-list.html">Deprecated</a></li>
|
||
|
|
<li><a href="../../../../../index-files/index-1.html">Index</a></li>
|
||
|
|
<li><a href="../../../../../help-doc.html">Help</a></li>
|
||
|
|
</ul>
|
||
|
|
</div>
|
||
|
|
<div class="subNav">
|
||
|
|
<ul class="navList" id="allclasses_navbar_top">
|
||
|
|
<li><a href="../../../../../allclasses.html">All Classes</a></li>
|
||
|
|
</ul>
|
||
|
|
<ul class="navListSearch">
|
||
|
|
<li><label for="search">SEARCH:</label>
|
||
|
|
<input type="text" id="search" value="search" disabled="disabled">
|
||
|
|
<input type="reset" id="reset" value="reset" disabled="disabled">
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<div>
|
||
|
|
<script type="text/javascript"><!--
|
||
|
|
allClassesLink = document.getElementById("allclasses_navbar_top");
|
||
|
|
if(window==top) {
|
||
|
|
allClassesLink.style.display = "block";
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
allClassesLink.style.display = "none";
|
||
|
|
}
|
||
|
|
//-->
|
||
|
|
</script>
|
||
|
|
<noscript>
|
||
|
|
<div>JavaScript is disabled on your browser.</div>
|
||
|
|
</noscript>
|
||
|
|
</div>
|
||
|
|
<div>
|
||
|
|
<ul class="subNavList">
|
||
|
|
<li>Summary: </li>
|
||
|
|
<li>Nested | </li>
|
||
|
|
<li><a href="#field.summary">Field</a> | </li>
|
||
|
|
<li><a href="#constructor.summary">Constr</a> | </li>
|
||
|
|
<li><a href="#method.summary">Method</a></li>
|
||
|
|
</ul>
|
||
|
|
<ul class="subNavList">
|
||
|
|
<li>Detail: </li>
|
||
|
|
<li><a href="#field.detail">Field</a> | </li>
|
||
|
|
<li><a href="#constructor.detail">Constr</a> | </li>
|
||
|
|
<li><a href="#method.detail">Method</a></li>
|
||
|
|
</ul>
|
||
|
|
</div>
|
||
|
|
<a id="skip.navbar.top">
|
||
|
|
<!-- -->
|
||
|
|
</a></div>
|
||
|
|
<!-- ========= END OF TOP NAVBAR ========= -->
|
||
|
|
</div>
|
||
|
|
<div class="navPadding"> </div>
|
||
|
|
<script type="text/javascript"><!--
|
||
|
|
$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
|
||
|
|
//-->
|
||
|
|
</script>
|
||
|
|
</nav>
|
||
|
|
</header>
|
||
|
|
<!-- ======== START OF CLASS DATA ======== -->
|
||
|
|
<main role="main">
|
||
|
|
<div class="header">
|
||
|
|
<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
|
||
|
|
<h2 title="Class SwerveDrive.SwerveModuleConfig" class="title">Class SwerveDrive.SwerveModuleConfig<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder></h2>
|
||
|
|
</div>
|
||
|
|
<div class="contentContainer">
|
||
|
|
<ul class="inheritance">
|
||
|
|
<li>java.lang.Object</li>
|
||
|
|
<li>
|
||
|
|
<ul class="inheritance">
|
||
|
|
<li>frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig<DriveMotorType,​SteeringMotorType,​AbsoluteEncoder></li>
|
||
|
|
</ul>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<div class="description">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Type Parameters:</span></dt>
|
||
|
|
<dd><code>DriveMotorType</code> - The motor type for the drive motor on the swerve moduule.</dd>
|
||
|
|
<dd><code>SteeringMotorType</code> - The motor type for the steering motor on the module.</dd>
|
||
|
|
<dd><code>AbsoluteEncoder</code> - The absolute encoder type.</dd>
|
||
|
|
</dl>
|
||
|
|
<dl>
|
||
|
|
<dt>Enclosing class:</dt>
|
||
|
|
<dd><a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dd>
|
||
|
|
</dl>
|
||
|
|
<hr>
|
||
|
|
<pre>public static class <span class="typeNameLabel">SwerveDrive.SwerveModuleConfig<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder></span>
|
||
|
|
extends java.lang.Object</pre>
|
||
|
|
<div class="block">Helper class for easier swerve module creation</div>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</div>
|
||
|
|
<div class="summary">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<!-- =========== FIELD SUMMARY =========== -->
|
||
|
|
<section role="region">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList"><a id="field.summary">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<h3>Field Summary</h3>
|
||
|
|
<table class="memberSummary">
|
||
|
|
<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">
|
||
|
|
<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"> </td>
|
||
|
|
</tr>
|
||
|
|
<tr class="rowColor">
|
||
|
|
<td class="colFirst"><code><a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a></code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
|
||
|
|
<td class="colLast"> </td>
|
||
|
|
</tr>
|
||
|
|
<tr class="altColor">
|
||
|
|
<td class="colFirst"><code><a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a></code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoder">encoder</a></span></code></th>
|
||
|
|
<td class="colLast"> </td>
|
||
|
|
</tr>
|
||
|
|
<tr class="rowColor">
|
||
|
|
<td class="colFirst"><code><a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#loc">loc</a></span></code></th>
|
||
|
|
<td class="colLast"> </td>
|
||
|
|
</tr>
|
||
|
|
<tr class="altColor">
|
||
|
|
<td class="colFirst"><code><a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a></code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#steering">steering</a></span></code></th>
|
||
|
|
<td class="colLast"> </td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
|
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||
|
|
<section role="region">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList"><a id="constructor.summary">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<h3>Constructor Summary</h3>
|
||
|
|
<table class="memberSummary">
|
||
|
|
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||
|
|
<tr>
|
||
|
|
<th class="colFirst" scope="col">Constructor</th>
|
||
|
|
<th class="colLast" scope="col">Description</th>
|
||
|
|
</tr>
|
||
|
|
<tr class="altColor">
|
||
|
|
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(DriveMotorType,SteeringMotorType,AbsoluteEncoder,double,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">SwerveModuleConfig</a></span>​(<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a> driveMotor,
|
||
|
|
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a> steerMotor,
|
||
|
|
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a> encoderSteering,
|
||
|
|
double offset,
|
||
|
|
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> location)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
|
<!-- ========== METHOD SUMMARY =========== -->
|
||
|
|
<section role="region">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList"><a id="method.summary">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<h3>Method Summary</h3>
|
||
|
|
<table class="memberSummary">
|
||
|
|
<caption><span id="t0" class="activeTableTab"><span>All Methods</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>
|
||
|
|
<tr>
|
||
|
|
<th class="colFirst" scope="col">Modifier and Type</th>
|
||
|
|
<th class="colSecond" scope="col">Method</th>
|
||
|
|
<th class="colLast" scope="col">Description</th>
|
||
|
|
</tr>
|
||
|
|
<tr id="i0" class="altColor">
|
||
|
|
<td class="colFirst"><code><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>,​<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>,​<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>></code></td>
|
||
|
|
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createModule(double,double,double,double,double,double,double,double,boolean,boolean)">createModule</a></span>​(double driveGearRatio,
|
||
|
|
double steerGearRatio,
|
||
|
|
double wheelDiameterMeters,
|
||
|
|
double wheelBaseMeters,
|
||
|
|
double driveTrainWidthMeters,
|
||
|
|
double steeringMotorFreeSpeedRPM,
|
||
|
|
double maxSpeedMPS,
|
||
|
|
double maxDriveAcceleration,
|
||
|
|
boolean steeringInverted,
|
||
|
|
boolean drivingInverted)</code></th>
|
||
|
|
<td class="colLast">
|
||
|
|
<div class="block">Create the swerve module from the configuration.</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
</table>
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<h3>Methods inherited from class java.lang.Object</h3>
|
||
|
|
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
|
||
|
|
</ul>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</div>
|
||
|
|
<div class="details">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<!-- ============ FIELD DETAIL =========== -->
|
||
|
|
<section role="region">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList"><a id="field.detail">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<h3>Field Detail</h3>
|
||
|
|
<a id="drive">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>drive</h4>
|
||
|
|
<pre>public <a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController drive</pre>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="steering">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>steering</h4>
|
||
|
|
<pre>public <a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController steering</pre>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="encoder">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>encoder</h4>
|
||
|
|
<pre>public <a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a> extends com.ctre.phoenix.sensors.CANCoder encoder</pre>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="angleOffset">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>angleOffset</h4>
|
||
|
|
<pre>public double angleOffset</pre>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
<a id="loc">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="blockListLast">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>loc</h4>
|
||
|
|
<pre>public <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> loc</pre>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
|
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||
|
|
<section role="region">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList"><a id="constructor.detail">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<h3>Constructor Detail</h3>
|
||
|
|
<a id="<init>(edu.wpi.first.wpilibj.motorcontrol.MotorController,edu.wpi.first.wpilibj.motorcontrol.MotorController,com.ctre.phoenix.sensors.CANCoder,double,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">
|
||
|
|
<!-- -->
|
||
|
|
</a><a id="<init>(DriveMotorType,SteeringMotorType,AbsoluteEncoder,double,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="blockListLast">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>SwerveModuleConfig</h4>
|
||
|
|
<pre>public SwerveModuleConfig​(<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a> driveMotor,
|
||
|
|
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a> steerMotor,
|
||
|
|
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a> encoderSteering,
|
||
|
|
double offset,
|
||
|
|
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> location)</pre>
|
||
|
|
<div class="block">Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>driveMotor</code> - Drive motor for the swerve module.</dd>
|
||
|
|
<dd><code>steerMotor</code> - Steer motor for the swerve module.</dd>
|
||
|
|
<dd><code>encoderSteering</code> - CANCoder for the steering motor on the swerve module.</dd>
|
||
|
|
<dd><code>offset</code> - Absolute encoder offset.</dd>
|
||
|
|
<dd><code>location</code> - Swerve Moduule location on the chassis.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
|
<!-- ============ METHOD DETAIL ========== -->
|
||
|
|
<section role="region">
|
||
|
|
<ul class="blockList">
|
||
|
|
<li class="blockList"><a id="method.detail">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<h3>Method Detail</h3>
|
||
|
|
<a id="createModule(double,double,double,double,double,double,double,double,boolean,boolean)">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="blockListLast">
|
||
|
|
<li class="blockList">
|
||
|
|
<h4>createModule</h4>
|
||
|
|
<pre class="methodSignature">public <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>,​<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>,​<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>> createModule​(double driveGearRatio,
|
||
|
|
double steerGearRatio,
|
||
|
|
double wheelDiameterMeters,
|
||
|
|
double wheelBaseMeters,
|
||
|
|
double driveTrainWidthMeters,
|
||
|
|
double steeringMotorFreeSpeedRPM,
|
||
|
|
double maxSpeedMPS,
|
||
|
|
double maxDriveAcceleration,
|
||
|
|
boolean steeringInverted,
|
||
|
|
boolean drivingInverted)</pre>
|
||
|
|
<div class="block">Create the swerve module from the configuration.</div>
|
||
|
|
<dl>
|
||
|
|
<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>driveGearRatio</code> - Drive gear ratio in form of (rotation:1 AKA rotations/1) to get the encoder
|
||
|
|
ticks per rotation.</dd>
|
||
|
|
<dd><code>steerGearRatio</code> - Steering motor gear ratio (usually 12.8:1 for MK4 in form of rotations:1 or
|
||
|
|
rotations/1), only applied if using Neo's.</dd>
|
||
|
|
<dd><code>wheelDiameterMeters</code> - The wheel diameter of the swerve drive module in meters.</dd>
|
||
|
|
<dd><code>wheelBaseMeters</code> - The Distance between front and back wheels of the robot in meters.</dd>
|
||
|
|
<dd><code>driveTrainWidthMeters</code> - The Distance between centers of right and left wheels in meters.</dd>
|
||
|
|
<dd><code>steeringMotorFreeSpeedRPM</code> - The RPM free speed of the steering motor.</dd>
|
||
|
|
<dd><code>maxSpeedMPS</code> - The maximum drive speed in meters per second.</dd>
|
||
|
|
<dd><code>maxDriveAcceleration</code> - The maximum drive acceleration in meters^2 per second.</dd>
|
||
|
|
<dd><code>steeringInverted</code> - The steering motor is inverted.</dd>
|
||
|
|
<dd><code>drivingInverted</code> - The driving motor is inverted.</dd>
|
||
|
|
<dt><span class="returnLabel">Returns:</span></dt>
|
||
|
|
<dd>The Swerve Module.</dd>
|
||
|
|
</dl>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</section>
|
||
|
|
</li>
|
||
|
|
</ul>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</main>
|
||
|
|
<!-- ========= END OF CLASS DATA ========= -->
|
||
|
|
<footer role="contentinfo">
|
||
|
|
<nav role="navigation">
|
||
|
|
<!-- ======= START OF BOTTOM NAVBAR ====== -->
|
||
|
|
<div class="bottomNav"><a id="navbar.bottom">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
|
||
|
|
<a id="navbar.bottom.firstrow">
|
||
|
|
<!-- -->
|
||
|
|
</a>
|
||
|
|
<ul class="navList" title="Navigation">
|
||
|
|
<li><a href="../../../../../index.html">Overview</a></li>
|
||
|
|
<li><a href="package-summary.html">Package</a></li>
|
||
|
|
<li class="navBarCell1Rev">Class</li>
|
||
|
|
<li><a href="package-tree.html">Tree</a></li>
|
||
|
|
<li><a href="../../../../../deprecated-list.html">Deprecated</a></li>
|
||
|
|
<li><a href="../../../../../index-files/index-1.html">Index</a></li>
|
||
|
|
<li><a href="../../../../../help-doc.html">Help</a></li>
|
||
|
|
</ul>
|
||
|
|
</div>
|
||
|
|
<div class="subNav">
|
||
|
|
<ul class="navList" id="allclasses_navbar_bottom">
|
||
|
|
<li><a href="../../../../../allclasses.html">All Classes</a></li>
|
||
|
|
</ul>
|
||
|
|
<div>
|
||
|
|
<script type="text/javascript"><!--
|
||
|
|
allClassesLink = document.getElementById("allclasses_navbar_bottom");
|
||
|
|
if(window==top) {
|
||
|
|
allClassesLink.style.display = "block";
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
allClassesLink.style.display = "none";
|
||
|
|
}
|
||
|
|
//-->
|
||
|
|
</script>
|
||
|
|
<noscript>
|
||
|
|
<div>JavaScript is disabled on your browser.</div>
|
||
|
|
</noscript>
|
||
|
|
</div>
|
||
|
|
<div>
|
||
|
|
<ul class="subNavList">
|
||
|
|
<li>Summary: </li>
|
||
|
|
<li>Nested | </li>
|
||
|
|
<li><a href="#field.summary">Field</a> | </li>
|
||
|
|
<li><a href="#constructor.summary">Constr</a> | </li>
|
||
|
|
<li><a href="#method.summary">Method</a></li>
|
||
|
|
</ul>
|
||
|
|
<ul class="subNavList">
|
||
|
|
<li>Detail: </li>
|
||
|
|
<li><a href="#field.detail">Field</a> | </li>
|
||
|
|
<li><a href="#constructor.detail">Constr</a> | </li>
|
||
|
|
<li><a href="#method.detail">Method</a></li>
|
||
|
|
</ul>
|
||
|
|
</div>
|
||
|
|
<a id="skip.navbar.bottom">
|
||
|
|
<!-- -->
|
||
|
|
</a></div>
|
||
|
|
<!-- ======== END OF BOTTOM NAVBAR ======= -->
|
||
|
|
</nav>
|
||
|
|
</footer>
|
||
|
|
</body>
|
||
|
|
</html>
|