2023-02-13 14:37:05 -06:00
<!DOCTYPE HTML>
< html lang = "en" >
< head >
2024-06-14 12:58:48 -05:00
<!-- Generated by javadoc (17) on Fri Jun 14 12:58:30 CDT 2024 -->
2024-01-15 14:39:17 -06:00
< title > SwerveDrive< / title >
2023-02-14 22:03:02 -06:00
< meta name = "viewport" content = "width=device-width, initial-scale=1" >
2023-02-13 14:37:05 -06:00
< meta http-equiv = "Content-Type" content = "text/html; charset=utf-8" >
2024-06-14 12:58:48 -05:00
< meta name = "dc.created" content = "2024-06-14" >
2023-02-14 22:03:02 -06:00
< meta name = "description" content = "declaration: package: swervelib, class: SwerveDrive" >
< meta name = "generator" content = "javadoc/ClassWriterImpl" >
2023-02-13 15:03:55 -06:00
< link rel = "stylesheet" type = "text/css" href = "../stylesheet.css" title = "Style" >
2023-02-14 22:03:02 -06:00
< link rel = "stylesheet" type = "text/css" href = "../script-dir/jquery-ui.min.css" title = "Style" >
2023-02-13 15:03:55 -06:00
< link rel = "stylesheet" type = "text/css" href = "../jquery-ui.overrides.css" title = "Style" >
< script type = "text/javascript" src = "../script.js" > < / script >
2024-01-15 14:39:17 -06:00
< script type = "text/javascript" src = "../script-dir/jquery-3.5.1.min.js" > < / script >
2023-02-14 22:03:02 -06:00
< script type = "text/javascript" src = "../script-dir/jquery-ui.min.js" > < / script >
2023-02-13 14:37:05 -06:00
< / head >
2023-02-14 22:03:02 -06:00
< body class = "class-declaration-page" >
< script type = "text/javascript" > v a r e v e n R o w C o l o r = " e v e n - r o w - c o l o r " ;
var oddRowColor = "odd-row-color";
var tableTab = "table-tab";
var activeTableTab = "active-table-tab";
2023-02-13 15:03:55 -06:00
var pathtoroot = "../";
2023-02-13 14:37:05 -06:00
loadScripts(document, 'script');< / script >
< noscript >
< div > JavaScript is disabled on your browser.< / div >
< / noscript >
2023-02-14 22:03:02 -06:00
< div class = "flex-box" >
< header role = "banner" class = "flex-header" >
2023-02-13 14:37:05 -06:00
< nav role = "navigation" >
<!-- ========= START OF TOP NAVBAR ======= -->
2023-02-14 22:03:02 -06:00
< 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" >
2023-02-13 15:03:55 -06:00
< li > < a href = "../index.html" > Overview< / a > < / li >
2023-02-13 14:37:05 -06:00
< li > < a href = "package-summary.html" > Package< / a > < / li >
2023-02-14 22:03:02 -06:00
< li class = "nav-bar-cell1-rev" > Class< / li >
2023-02-13 14:37:05 -06:00
< li > < a href = "package-tree.html" > Tree< / a > < / li >
2024-01-15 14:39:17 -06:00
< li > < a href = "../index-files/index-1.html" > Index< / a > < / li >
2023-02-14 22:03:02 -06:00
< li > < a href = "../help-doc.html#class" > Help< / a > < / li >
2023-02-13 14:37:05 -06:00
< / ul >
< / div >
2023-02-14 22:03:02 -06:00
< div class = "sub-nav" >
2023-02-13 14:37:05 -06:00
< div >
2023-02-14 22:03:02 -06:00
< ul class = "sub-nav-list" >
2023-02-13 14:37:05 -06:00
< li > Summary: < / li >
< li > Nested | < / li >
2023-02-14 22:03:02 -06:00
< li > < a href = "#field-summary" > Field< / a > | < / li >
< li > < a href = "#constructor-summary" > Constr< / a > | < / li >
< li > < a href = "#method-summary" > Method< / a > < / li >
2023-02-13 14:37:05 -06:00
< / ul >
2023-02-14 22:03:02 -06:00
< ul class = "sub-nav-list" >
2023-02-13 14:37:05 -06:00
< li > Detail: < / li >
2023-02-14 22:03:02 -06:00
< li > < a href = "#field-detail" > Field< / a > | < / li >
< li > < a href = "#constructor-detail" > Constr< / a > | < / li >
< li > < a href = "#method-detail" > Method< / a > < / li >
2023-02-13 14:37:05 -06:00
< / ul >
< / div >
2023-02-14 22:03:02 -06:00
< 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 >
2023-02-13 14:37:05 -06:00
< / div >
2023-02-14 22:03:02 -06:00
<!-- ========= END OF TOP NAVBAR ========= -->
< span class = "skip-nav" id = "skip-navbar-top" > < / span > < / nav >
2023-02-13 14:37:05 -06:00
< / header >
2023-02-14 22:03:02 -06:00
< div class = "flex-content" >
2023-02-13 14:37:05 -06:00
< main role = "main" >
2023-02-14 22:03:02 -06:00
<!-- ======== START OF CLASS DATA ======== -->
2023-02-13 14:37:05 -06:00
< div class = "header" >
2023-02-14 22:03:02 -06:00
< div class = "sub-title" > < span class = "package-label-in-type" > Package< / span > < a href = "package-summary.html" > swervelib< / a > < / div >
< h1 title = "Class SwerveDrive" class = "title" > Class SwerveDrive< / h1 >
2023-02-13 14:37:05 -06:00
< / div >
2023-02-14 22:03:02 -06:00
< 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.SwerveDrive< / div >
< / div >
< section class = "class-description" id = "class-description" >
2023-02-13 14:37:05 -06:00
< hr >
2023-02-14 22:03:02 -06:00
< div class = "type-signature" > < span class = "modifiers" > public class < / span > < span class = "element-name type-name-label" > SwerveDrive< / 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 >
2023-02-13 14:37:05 -06:00
< div class = "block" > Swerve Drive class representing and controlling the swerve drive.< / div >
2023-02-14 22:03:02 -06:00
< / section >
< section class = "summary" >
< ul class = "summary-list" >
2023-02-13 14:37:05 -06:00
<!-- =========== FIELD SUMMARY =========== -->
2023-02-14 22:03:02 -06:00
< 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 >
2024-01-15 14:39:17 -06:00
< div class = "col-first even-row-color" > < code > private double< / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#attainableMaxRotationalVelocityRadiansPerSecond" class = "member-name-link" > attainableMaxRotationalVelocityRadiansPerSecond< / a > < / code > < / div >
< div class = "col-last even-row-color" >
< div class = "block" > The absolute max speed the robot can reach while rotating radians per second.< / div >
< / div >
< div class = "col-first odd-row-color" > < code > private double< / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#attainableMaxTranslationalSpeedMetersPerSecond" class = "member-name-link" > attainableMaxTranslationalSpeedMetersPerSecond< / a > < / code > < / div >
< div class = "col-last odd-row-color" >
< div class = "block" > The absolute max speed that your robot can reach while translating in meters per second.< / div >
< / div >
2023-04-08 13:33:02 -05:00
< div class = "col-first even-row-color" > < code > boolean< / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#chassisVelocityCorrection" class = "member-name-link" > chassisVelocityCorrection< / a > < / code > < / div >
2023-02-14 22:03:02 -06:00
< div class = "col-last even-row-color" >
2023-08-29 19:59:07 -05:00
< div class = "block" > Correct chassis velocity in < a href = "#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)" > < code > drive(Translation2d, double, boolean, boolean)< / code > < / a > using 254's
correction.< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color" > < code > private double< / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#discretizationdtSeconds" class = "member-name-link" > discretizationdtSeconds< / a > < / code > < / div >
2023-02-14 22:03:02 -06:00
< div class = "col-last odd-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Amount of seconds the duration of the timestep the speeds should be applied for.< / div >
2024-01-15 14:39:17 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color" > < code > edu.wpi.first.wpilibj.smartdashboard.Field2d< / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#field" class = "member-name-link" > field< / a > < / code > < / div >
2024-01-15 14:39:17 -06:00
< div class = "col-last even-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Field object.< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color" > < code > private double< / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#HEADING_CORRECTION_DEADBAND" class = "member-name-link" > HEADING_CORRECTION_DEADBAND< / a > < / code > < / div >
2024-01-15 14:39:17 -06:00
< div class = "col-last odd-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Deadband for speeds in heading correction.< / div >
2024-01-15 14:39:17 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color" > < code > boolean< / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#headingCorrection" class = "member-name-link" > headingCorrection< / a > < / code > < / div >
2023-02-14 22:03:02 -06:00
< div class = "col-last even-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Whether to correct heading when driving translationally.< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color" > < code > private < a href = "imu/SwerveIMU.html" title = "class in swervelib.imu" > SwerveIMU< / a > < / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#imu" class = "member-name-link" > imu< / a > < / code > < / div >
2023-02-27 21:45:50 -06:00
< div class = "col-last odd-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Swerve IMU device for sensing the heading of the robot.< / div >
2023-08-29 19:59:07 -05:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color" > < code > final < a href = "parser/Cache.html" title = "class in swervelib.parser" > Cache< / a > < edu.wpi.first.math.geometry.Rotation3d> < / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#imuReadingCache" class = "member-name-link" > imuReadingCache< / a > < / code > < / div >
2023-08-29 19:59:07 -05:00
< div class = "col-last even-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > IMU reading cache for robot readings.< / div >
2023-08-29 21:03:58 -05:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color" > < code > final edu.wpi.first.math.kinematics.SwerveDriveKinematics< / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#kinematics" class = "member-name-link" > kinematics< / a > < / code > < / div >
2023-08-29 21:03:58 -05:00
< div class = "col-last odd-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Swerve Kinematics object.< / div >
2023-02-23 22:46:43 -06:00
< / div >
2024-02-02 18:55:29 -06:00
< div class = "col-first even-row-color" > < code > private double< / code > < / div >
2024-06-13 17:10:51 -05:00
< div class = "col-second even-row-color" > < code > < a href = "#lastHeadingRadians" class = "member-name-link" > lastHeadingRadians< / a > < / code > < / div >
2024-01-26 11:29:15 -06:00
< div class = "col-last even-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > The last heading set in radians.< / div >
2024-01-15 14:39:17 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color" > < code > private double< / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#maxSpeedMPS" class = "member-name-link" > maxSpeedMPS< / a > < / code > < / div >
2024-01-26 11:29:15 -06:00
< div class = "col-last odd-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Maximum speed of the robot in meters per second.< / div >
2023-02-24 19:11:05 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color" > < code > private int< / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#moduleSynchronizationCounter" class = "member-name-link" > moduleSynchronizationCounter< / a > < / code > < / div >
2024-01-26 11:29:15 -06:00
< div class = "col-last even-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Counter to synchronize the modules relative encoder with absolute encoder when not moving.< / div >
2024-01-15 14:39:17 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color" > < code > private final < a href = "https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/concurrent/locks/Lock.html" title = "class or interface in java.util.concurrent.locks" class = "external-link" > Lock< / a > < / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#odometryLock" class = "member-name-link" > odometryLock< / a > < / code > < / div >
2024-01-26 11:29:15 -06:00
< div class = "col-last odd-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Odometry lock to ensure thread safety.< / div >
2024-01-15 14:39:17 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color" > < code > private final edu.wpi.first.wpilibj.Notifier< / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#odometryThread" class = "member-name-link" > odometryThread< / a > < / code > < / div >
2024-01-26 11:29:15 -06:00
< div class = "col-last even-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > WPILib < code > Notifier< / code > to keep odometry up to date.< / div >
2024-01-15 14:39:17 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color" > < code > private < a href = "simulation/SwerveIMUSimulation.html" title = "class in swervelib.simulation" > SwerveIMUSimulation< / a > < / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#simIMU" class = "member-name-link" > simIMU< / a > < / code > < / div >
2024-01-26 11:29:15 -06:00
< div class = "col-last odd-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Simulation of the swerve drive.< / div >
2024-01-15 14:39:17 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color" > < code > < a href = "SwerveController.html" title = "class in swervelib" > SwerveController< / a > < / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#swerveController" class = "member-name-link" > swerveController< / a > < / code > < / div >
2024-01-26 11:29:15 -06:00
< div class = "col-last even-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Swerve controller for controlling heading of the robot.< / div >
2023-08-29 19:59:07 -05:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color" > < code > final < a href = "parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > < / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#swerveDriveConfiguration" class = "member-name-link" > swerveDriveConfiguration< / a > < / code > < / div >
2024-01-26 11:29:15 -06:00
< div class = "col-last odd-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Swerve drive configuration.< / div >
2024-01-15 14:39:17 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color" > < code > final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator< / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#swerveDrivePoseEstimator" class = "member-name-link" > swerveDrivePoseEstimator< / a > < / code > < / div >
2024-01-26 11:29:15 -06:00
< div class = "col-last even-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Swerve odometry.< / div >
2024-02-02 18:55:29 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color" > < code > private final < a href = "SwerveModule.html" title = "class in swervelib" > SwerveModule< / a > []< / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#swerveModules" class = "member-name-link" > swerveModules< / a > < / code > < / div >
2024-02-02 18:55:29 -06:00
< div class = "col-last odd-row-color" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Swerve modules.< / div >
< / div >
< div class = "col-first even-row-color" > < code > private final < a href = "telemetry/Alert.html" title = "class in swervelib.telemetry" > Alert< / a > < / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#tunerXRecommendation" class = "member-name-link" > tunerXRecommendation< / a > < / code > < / div >
< div class = "col-last even-row-color" >
2024-01-18 12:09:37 -06:00
< div class = "block" > Alert to recommend Tuner X if the configuration is compatible.< / div >
< / div >
2023-02-14 22:03:02 -06:00
< / div >
2023-02-13 14:37:05 -06:00
< / section >
2023-02-14 22:03:02 -06:00
< / li >
2023-02-13 14:37:05 -06:00
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
2023-02-14 22:03:02 -06:00
< 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 >
2023-11-09 18:54:46 -06:00
< div class = "col-constructor-name even-row-color" > < code > < a href = "#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.SwerveControllerConfiguration,double)" class = "member-name-link" > SwerveDrive< / a > < wbr > (< a href = "parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > config,
< a href = "parser/SwerveControllerConfiguration.html" title = "class in swervelib.parser" > SwerveControllerConfiguration< / a > controllerConfig,
double maxSpeedMPS)< / code > < / div >
2023-02-14 22:03:02 -06:00
< div class = "col-last even-row-color" >
2023-02-13 14:37:05 -06:00
< div class = "block" > Creates a new swerve drivebase subsystem.< / div >
2023-02-14 22:03:02 -06:00
< / div >
< / div >
2023-02-13 14:37:05 -06:00
< / section >
2023-02-14 22:03:02 -06:00
< / li >
2023-02-13 14:37:05 -06:00
<!-- ========== METHOD SUMMARY =========== -->
2023-02-14 22:03:02 -06:00
< 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 > void< / code > < / div >
2023-11-09 18:54:46 -06:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)" class = "member-name-link" > addVisionMeasurement< / a > < wbr > (edu.wpi.first.math.geometry.Pose2d robotPose,
double timestamp)< / code > < / div >
2023-02-14 22:37:45 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2023-08-29 19:59:07 -05:00
< div class = "block" > Add a vision measurement to the < code > SwerveDrivePoseEstimator< / code > and update the < a href = "imu/SwerveIMU.html" title = "class in swervelib.imu" > < code > SwerveIMU< / code > < / a > gyro reading with
the given timestamp of the vision measurement.< / div >
2023-02-14 22:37:45 -06:00
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2023-11-09 18:54:46 -06:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)" class = "member-name-link" > addVisionMeasurement< / a > < wbr > (edu.wpi.first.math.geometry.Pose2d robotPose,
2023-03-28 10:15:48 -05:00
double timestamp,
edu.wpi.first.math.Matrix< edu.wpi.first.math.numbers.N3,< wbr > edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)< / code > < / div >
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2023-08-29 19:59:07 -05:00
< div class = "block" > Add a vision measurement to the < code > SwerveDrivePoseEstimator< / code > and update the < a href = "imu/SwerveIMU.html" title = "class in swervelib.imu" > < code > SwerveIMU< / code > < / a > gyro reading with
the given timestamp of the vision measurement.< / div >
2023-03-28 10:15:48 -05:00
< / div >
2024-01-18 12:09:37 -06:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > private void< / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#checkIfTunerXCompatible()" class = "member-name-link" > checkIfTunerXCompatible< / a > ()< / code > < / div >
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
< div class = "block" > Check all components to ensure that Tuner X Swerve Generator is recommended instead.< / div >
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)" class = "member-name-link" > drive< / a > < wbr > (edu.wpi.first.math.geometry.Translation2d translation,
2023-02-14 22:03:02 -06:00
double rotation,
boolean fieldRelative,
boolean isOpenLoop)< / code > < / div >
2024-01-18 12:09:37 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2023-02-24 19:11:05 -06:00
< div class = "block" > The primary method for controlling the drivebase.< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-01-18 12:09:37 -06:00
< 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 = "#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean,edu.wpi.first.math.geometry.Translation2d)" class = "member-name-link" > drive< / a > < wbr > (edu.wpi.first.math.geometry.Translation2d translation,
2023-11-09 20:53:40 -06:00
double rotation,
boolean fieldRelative,
boolean isOpenLoop,
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)< / code > < / div >
2024-01-18 12:09:37 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2023-11-09 20:53:40 -06:00
< div class = "block" > The primary method for controlling the drivebase.< / div >
2023-04-08 13:33:02 -05:00
< / div >
2024-01-18 12:09:37 -06:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#drive(edu.wpi.first.math.kinematics.ChassisSpeeds)" class = "member-name-link" > drive< / a > < wbr > (edu.wpi.first.math.kinematics.ChassisSpeeds velocity)< / code > < / div >
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
< div class = "block" > Secondary method for controlling the drivebase.< / div >
< / div >
2023-04-08 13:33:02 -05:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-01-18 12:09:37 -06:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#drive(edu.wpi.first.math.kinematics.ChassisSpeeds,boolean,edu.wpi.first.math.geometry.Translation2d)" class = "member-name-link" > drive< / a > < wbr > (edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
boolean isOpenLoop,
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)< / code > < / div >
2023-03-28 10:15:48 -05:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-01-18 12:09:37 -06:00
< div class = "block" > The primary method for controlling the drivebase.< / div >
2023-11-09 20:53:40 -06:00
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-01-18 12:09:37 -06:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#drive(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)" class = "member-name-link" > drive< / a > < wbr > (edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
2023-11-09 20:53:40 -06:00
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)< / code > < / div >
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-01-18 12:09:37 -06:00
< div class = "block" > Secondary method for controlling the drivebase.< / div >
2023-02-14 22:03:02 -06:00
< / div >
2023-11-09 20:53:40 -06:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-01-18 12:09:37 -06:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds)" class = "member-name-link" > driveFieldOriented< / a > < wbr > (edu.wpi.first.math.kinematics.ChassisSpeeds velocity)< / code > < / div >
2023-11-09 20:53:40 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-01-18 12:09:37 -06:00
< div class = "block" > Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.< / div >
2023-11-09 20:53:40 -06:00
< / div >
2023-11-09 18:54:46 -06:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-01-18 12:09:37 -06:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)" class = "member-name-link" > driveFieldOriented< / a > < wbr > (edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)< / code > < / div >
2023-03-28 10:15:48 -05:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2023-11-09 18:54:46 -06:00
< div class = "block" > Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< 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 = "#driveFieldOrientedandRobotOriented(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.kinematics.ChassisSpeeds)" class = "member-name-link" > driveFieldOrientedandRobotOriented< / a > < wbr > (edu.wpi.first.math.kinematics.ChassisSpeeds fieldOrientedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds robotOrientedVelocity)< / code > < / div >
2023-03-28 10:15:48 -05:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same
time.< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title = "class or interface in java.util" class = "external-link" > Optional< / a > < edu.wpi.first.math.geometry.Translation3d> < / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getAccel()" class = "member-name-link" > getAccel< / a > ()< / code > < / div >
2023-03-28 10:15:48 -05:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Gets current acceleration of the robot in m/s/s.< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > edu.wpi.first.math.kinematics.ChassisSpeeds< / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getFieldVelocity()" class = "member-name-link" > getFieldVelocity< / a > ()< / code > < / div >
2023-03-28 10:15:48 -05:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Gets the current field-relative velocity (x, y and omega) of the robot< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "imu/SwerveIMU.html" title = "class in swervelib.imu" > SwerveIMU< / a > < / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getGyro()" class = "member-name-link" > getGyro< / a > ()< / code > < / div >
2023-03-28 10:15:48 -05:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Getter for the < a href = "imu/SwerveIMU.html" title = "class in swervelib.imu" > < code > SwerveIMU< / code > < / a > .< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > edu.wpi.first.math.geometry.Rotation3d< / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getGyroRotation3d()" class = "member-name-link" > getGyroRotation3d< / a > ()< / code > < / div >
2023-03-28 10:15:48 -05:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Gets the current gyro < code > Rotation3d< / code > of the robot, as reported by the imu.< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-01-26 11:29:15 -06:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > double< / code > < / div >
2024-06-13 17:10:51 -05:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getMaximumAngularVelocity()" class = "member-name-link" > getMaximumAngularVelocity< / a > ()< / code > < / div >
2023-03-28 10:15:48 -05:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Get the maximum angular velocity, either < a href = "#attainableMaxRotationalVelocityRadiansPerSecond" > < code > attainableMaxRotationalVelocityRadiansPerSecond< / code > < / a > or
< a href = "parser/SwerveControllerConfiguration.html#maxAngularVelocity" > < code > SwerveControllerConfiguration.maxAngularVelocity< / code > < / a > .< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > double< / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getMaximumVelocity()" class = "member-name-link" > getMaximumVelocity< / a > ()< / code > < / div >
2023-03-28 10:15:48 -05:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Get the maximum velocity from < a href = "#attainableMaxTranslationalSpeedMetersPerSecond" > < code > attainableMaxTranslationalSpeedMetersPerSecond< / code > < / a > or
< a href = "#maxSpeedMPS" > < code > maxSpeedMPS< / code > < / a > whichever is higher.< / div >
2023-03-20 19:20:26 -05:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Map.html" title = "class or interface in java.util" class = "external-link" > Map< / a > < < a href = "https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title = "class or interface in java.lang" class = "external-link" > String< / a > ,< wbr > < a href = "SwerveModule.html" title = "class in swervelib" > SwerveModule< / a > > < / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getModuleMap()" class = "member-name-link" > getModuleMap< / a > ()< / code > < / div >
2023-03-28 10:15:48 -05:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Get the < a href = "SwerveModule.html" title = "class in swervelib" > < code > SwerveModule< / code > < / a > 's as a < a href = "https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/HashMap.html" title = "class or interface in java.util" class = "external-link" > < code > HashMap< / code > < / a > where the key is the swerve module configuration name.< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< 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 = "#getModulePositions()" class = "member-name-link" > getModulePositions< / a > ()< / code > < / div >
2023-03-28 10:15:48 -05:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Gets the current module positions (azimuth and wheel position (meters)).< / div >
2023-04-08 13:33:02 -05:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "SwerveModule.html" title = "class in swervelib" > SwerveModule< / a > []< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getModules()" class = "member-name-link" > getModules< / a > ()< / code > < / div >
2023-04-08 13:33:02 -05:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Get the < a href = "SwerveModule.html" title = "class in swervelib" > < code > SwerveModule< / code > < / a > s associated with the < a href = "SwerveDrive.html" title = "class in swervelib" > < code > SwerveDrive< / code > < / a > .< / div >
2023-03-20 19:20:26 -05:00
< / div >
2024-02-02 18:55:29 -06:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > edu.wpi.first.math.geometry.Rotation2d< / code > < / div >
2024-06-13 17:10:51 -05:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getOdometryHeading()" class = "member-name-link" > getOdometryHeading< / a > ()< / code > < / div >
2023-03-06 20:45:54 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Fetch the latest odometry heading, should be trusted over < a href = "#getYaw()" > < code > getYaw()< / code > < / a > .< / div >
2023-11-09 20:53:40 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > edu.wpi.first.math.geometry.Rotation2d< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getPitch()" class = "member-name-link" > getPitch< / a > ()< / code > < / div >
2023-11-09 20:53:40 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Gets the current pitch angle of the robot, as reported by the imu.< / div >
2024-01-18 12:09:37 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > edu.wpi.first.math.geometry.Pose2d< / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getPose()" class = "member-name-link" > getPose< / a > ()< / code > < / div >
2024-01-18 12:09:37 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Gets the current pose (position and rotation) of the robot, as reported by odometry.< / div >
2024-01-22 15:11:18 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > edu.wpi.first.math.kinematics.ChassisSpeeds< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getRobotVelocity()" class = "member-name-link" > getRobotVelocity< / a > ()< / code > < / div >
2024-01-22 15:11:18 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Gets the current robot-relative velocity (x, y and omega) of the robot< / div >
2024-01-26 11:29:15 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > edu.wpi.first.math.geometry.Rotation2d< / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getRoll()" class = "member-name-link" > getRoll< / a > ()< / code > < / div >
2024-01-26 11:29:15 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Gets the current roll angle of the robot, as reported by the imu.< / div >
2024-02-02 18:55:29 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > edu.wpi.first.math.kinematics.SwerveModuleState[]< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getStates()" class = "member-name-link" > getStates< / a > ()< / code > < / div >
2024-02-02 18:55:29 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Gets the current module states (azimuth and velocity)< / div >
< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "SwerveController.html" title = "class in swervelib" > SwerveController< / a > < / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getSwerveController()" class = "member-name-link" > getSwerveController< / a > ()< / code > < / div >
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2023-08-29 19:59:07 -05:00
< div class = "block" > Helper function to get the < a href = "#swerveController" > < code > swerveController< / code > < / a > for the < a href = "SwerveDrive.html" title = "class in swervelib" > < code > SwerveDrive< / code > < / a > which can be used to
generate < code > ChassisSpeeds< / code > for the robot to orient it correctly given axis or angles, and apply
< code > SlewRateLimiter< / code > to given inputs.< / div >
2023-03-06 20:45:54 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > edu.wpi.first.math.geometry.Pose2d[]< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class = "member-name-link" > getSwerveModulePoses< / a > < wbr > (edu.wpi.first.math.geometry.Pose2d robotPose)< / code > < / div >
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-02 18:55:29 -06:00
< div class = "block" > Get the swerve module poses and on the field relative to the robot.< / div >
2023-02-14 22:03:02 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > edu.wpi.first.math.geometry.Rotation2d< / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#getYaw()" class = "member-name-link" > getYaw< / a > ()< / code > < / div >
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-02 18:55:29 -06:00
< div class = "block" > Gets the current yaw angle of the robot, as reported by the imu.< / div >
2023-12-12 10:48:54 -06:00
< / div >
2024-06-13 17:10:51 -05:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#lockPose()" class = "member-name-link" > lockPose< / a > ()< / code > < / div >
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
< div class = "block" > Point all modules toward the robot center, thus making the robot very difficult to move.< / div >
< / div >
2023-12-12 10:48:54 -06:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-06-13 17:10:51 -05:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class = "member-name-link" > postTrajectory< / a > < wbr > (edu.wpi.first.math.trajectory.Trajectory trajectory)< / code > < / div >
2023-12-12 10:48:54 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Post the trajectory to the field< / div >
2023-02-14 22:03:02 -06:00
< / div >
2023-12-12 10:48:54 -06:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-06-13 17:10:51 -05:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#pushOffsetsToEncoders()" class = "member-name-link" > pushOffsetsToEncoders< / a > ()< / code > < / div >
2023-12-12 10:48:54 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.< / div >
2023-12-12 10:48:54 -06:00
< / div >
2023-02-14 22:03:02 -06:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-06-13 17:10:51 -05:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class = "member-name-link" > replaceSwerveModuleFeedforward< / a > < wbr > (edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)< / code > < / div >
2023-11-09 18:54:46 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Setup the swerve module feedforward.< / div >
2023-11-09 18:54:46 -06:00
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-06-13 17:10:51 -05:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#resetDriveEncoders()" class = "member-name-link" > resetDriveEncoders< / a > ()< / code > < / div >
2023-11-09 18:54:46 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in
autonomous.< / div >
2023-11-09 18:54:46 -06:00
< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-06-13 17:10:51 -05:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class = "member-name-link" > resetOdometry< / a > < wbr > (edu.wpi.first.math.geometry.Pose2d pose)< / code > < / div >
2023-02-14 22:03:02 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Resets odometry to the given pose.< / div >
2023-02-14 22:03:02 -06:00
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-06-13 17:10:51 -05:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#restoreInternalOffset()" class = "member-name-link" > restoreInternalOffset< / a > ()< / code > < / div >
2023-02-14 22:03:02 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0< / div >
2023-02-14 22:03:02 -06:00
< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-06-13 17:10:51 -05:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setAngleMotorConversionFactor(double)" class = "member-name-link" > setAngleMotorConversionFactor< / a > < wbr > (double conversionFactor)< / code > < / div >
2023-03-29 07:24:24 -05:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Set the conversion factor for the angle/azimuth motor controller.< / div >
2023-04-08 13:33:02 -05:00
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-06-13 17:10:51 -05:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setChassisDiscretization(boolean,double)" class = "member-name-link" > setChassisDiscretization< / a > < wbr > (boolean enable,
double dtSeconds)< / code > < / div >
2023-04-08 13:33:02 -05:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-06-13 17:10:51 -05:00
< div class = "block" > Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction< / div >
2023-03-29 07:24:24 -05:00
< / div >
2023-04-08 13:33:02 -05:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-02 18:55:29 -06:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class = "member-name-link" > setChassisSpeeds< / a > < wbr > (edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)< / code > < / div >
2023-04-08 13:33:02 -05:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-02 18:55:29 -06:00
< div class = "block" > Set chassis speeds with closed-loop velocity control.< / div >
2023-11-09 20:53:40 -06:00
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setCosineCompensator(boolean)" class = "member-name-link" > setCosineCompensator< / a > < wbr > (boolean enabled)< / code > < / div >
2023-11-09 20:53:40 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Enable or disable the < a href = "parser/SwerveModuleConfiguration.html#useCosineCompensator" > < code > SwerveModuleConfiguration.useCosineCompensator< / code > < / a > for all
< a href = "SwerveModule.html" title = "class in swervelib" > < code > SwerveModule< / code > < / a > 's in the swerve drive.< / div >
2024-01-18 12:09:37 -06:00
< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setDriveMotorConversionFactor(double)" class = "member-name-link" > setDriveMotorConversionFactor< / a > < wbr > (double conversionFactor)< / code > < / div >
2024-01-18 12:09:37 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Set the conversion factor for the drive motor controller.< / div >
2024-01-18 15:37:24 -06:00
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setGyro(edu.wpi.first.math.geometry.Rotation3d)" class = "member-name-link" > setGyro< / a > < wbr > (edu.wpi.first.math.geometry.Rotation3d gyro)< / code > < / div >
2024-01-18 15:37:24 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Set the expected gyroscope angle using a < code > Rotation3d< / code > object.< / div >
2024-01-22 15:11:18 -06:00
< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setGyroOffset(edu.wpi.first.math.geometry.Rotation3d)" class = "member-name-link" > setGyroOffset< / a > < wbr > (edu.wpi.first.math.geometry.Rotation3d offset)< / code > < / div >
2024-01-22 15:11:18 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Set the gyro scope offset to a desired known rotation.< / div >
2024-01-26 11:29:15 -06:00
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setHeadingCorrection(boolean)" class = "member-name-link" > setHeadingCorrection< / a > < wbr > (boolean state)< / code > < / div >
2024-01-26 11:29:15 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-02 18:55:29 -06:00
< div class = "block" > Set the heading correction capabilities of YAGSL.< / div >
< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setHeadingCorrection(boolean,double)" class = "member-name-link" > setHeadingCorrection< / a > < wbr > (boolean state,
double deadband)< / code > < / div >
2024-02-02 18:55:29 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Set the heading correction capabilities of YAGSL.< / div >
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setMaximumSpeed(double)" class = "member-name-link" > setMaximumSpeed< / a > < wbr > (double maximumSpeed)< / code > < / div >
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-01-15 14:39:17 -06:00
< div class = "block" > Set the maximum speed of the drive motors, modified < a href = "#maxSpeedMPS" > < code > maxSpeedMPS< / code > < / a > which is used for the
< a href = "#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" > < code > setRawModuleStates(SwerveModuleState[], boolean)< / code > < / a > function and
2023-03-29 07:24:24 -05:00
< a href = "SwerveController.html#getTargetSpeeds(double,double,double,double,double)" > < code > SwerveController.getTargetSpeeds(double, double, double, double, double)< / code > < / a > functions.< / div >
< / div >
2024-02-06 16:03:08 -06:00
< 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 = "#setMaximumSpeed(double,boolean,double)" class = "member-name-link" > setMaximumSpeed< / a > < wbr > (double maximumSpeed,
2023-11-09 18:54:46 -06:00
boolean updateModuleFeedforward,
double optimalVoltage)< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-01-15 14:39:17 -06:00
< div class = "block" > Set the maximum speed of the drive motors, modified < a href = "#maxSpeedMPS" > < code > maxSpeedMPS< / code > < / a > which is used for the
< a href = "#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" > < code > setRawModuleStates(SwerveModuleState[], boolean)< / code > < / a > function and
2023-11-09 18:54:46 -06:00
< a href = "SwerveController.html#getTargetSpeeds(double,double,double,double,double)" > < code > SwerveController.getTargetSpeeds(double, double, double, double, double)< / code > < / a > functions.< / div >
2023-02-15 00:08:44 -06:00
< / div >
2024-02-06 16:03:08 -06:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setMaximumSpeeds(double,double,double)" class = "member-name-link" > setMaximumSpeeds< / a > < wbr > (double attainableMaxModuleSpeedMetersPerSecond,
2023-11-09 18:54:46 -06:00
double attainableMaxTranslationalSpeedMetersPerSecond,
double attainableMaxRotationalVelocityRadiansPerSecond)< / code > < / div >
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Set the maximum speeds for desaturation.< / div >
2023-11-09 20:53:40 -06:00
< / div >
2024-01-26 11:29:15 -06:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class = "member-name-link" > setModuleStates< / a > < wbr > (edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
boolean isOpenLoop)< / code > < / div >
2023-11-09 20:53:40 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Set the module states (azimuth and velocity) directly.< / div >
2024-02-02 18:55:29 -06:00
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setMotorIdleMode(boolean)" class = "member-name-link" > setMotorIdleMode< / a > < wbr > (boolean brake)< / code > < / div >
2024-02-02 18:55:29 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Sets the drive motors to brake/coast mode.< / div >
2024-01-15 14:39:17 -06:00
< / div >
2024-02-06 16:03:08 -06:00
< 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 = "#setOdometryPeriod(double)" class = "member-name-link" > setOdometryPeriod< / a > < wbr > (double period)< / code > < / div >
2024-02-02 18:55:29 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Set the odometry update period in seconds.< / div >
2024-01-18 12:09:37 -06:00
< / div >
2024-02-06 16:03:08 -06:00
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > private void< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class = "member-name-link" > setRawModuleStates< / a > < wbr > (edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
boolean isOpenLoop)< / code > < / div >
2024-02-02 18:55:29 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Set the module states (azimuth and velocity) directly.< / div >
2024-02-02 18:55:29 -06:00
< / div >
2024-01-18 12:09:37 -06:00
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#stopOdometryThread()" class = "member-name-link" > stopOdometryThread< / a > ()< / code > < / div >
2024-01-18 12:09:37 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Stop the odometry thread in favor of manually updating odometry.< / div >
2024-01-18 15:37:24 -06:00
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#synchronizeModuleEncoders()" class = "member-name-link" > synchronizeModuleEncoders< / a > ()< / code > < / div >
2024-01-18 15:37:24 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Synchronize angle motor integrated encoders with data from absolute encoders.< / div >
2024-01-22 15:11:18 -06:00
< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#updateCacheValidityPeriods(long,long,long)" class = "member-name-link" > updateCacheValidityPeriods< / a > < wbr > (long imu,
long driveMotor,
long absoluteEncoder)< / code > < / div >
2024-01-22 15:11:18 -06:00
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Update the cache validity period for the robot.< / div >
2024-01-26 11:29:15 -06:00
< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
2024-02-06 16:03:08 -06:00
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#updateOdometry()" class = "member-name-link" > updateOdometry< / a > ()< / code > < / div >
2024-01-26 11:29:15 -06:00
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2024-02-06 16:03:08 -06:00
< div class = "block" > Update odometry should be run every loop.< / 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 = "#zeroGyro()" class = "member-name-link" > zeroGyro< / a > ()< / code > < / div >
< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
2023-02-13 14:37:05 -06:00
< div class = "block" > Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.< / div >
2023-02-14 22:03:02 -06:00
< / div >
< / div >
< / div >
< / div >
< div class = "inherited-list" >
< h3 id = "methods-inherited-from-class-java.lang.Object" > Methods inherited from class 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 >
2023-02-13 14:37:05 -06:00
< / section >
< / li >
< / ul >
2023-02-14 22:03:02 -06:00
< / section >
< section class = "details" >
< ul class = "details-list" >
2023-02-13 14:37:05 -06:00
<!-- ============ FIELD DETAIL =========== -->
2023-02-14 22:03:02 -06:00
< li >
< section class = "field-details" id = "field-detail" >
< h2 > Field Details< / h2 >
< ul class = "member-list" >
< li >
< section class = "detail" id = "kinematics" >
< h3 > kinematics< / h3 >
2023-08-29 21:03:58 -05:00
< div class = "member-signature" > < span class = "modifiers" > public final< / span > < span class = "return-type" > edu.wpi.first.math.kinematics.SwerveDriveKinematics< / span > < span class = "element-name" > kinematics< / span > < / div >
2023-11-09 18:54:46 -06:00
< div class = "block" > Swerve Kinematics object.< / div >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "swerveDriveConfiguration" >
< h3 > swerveDriveConfiguration< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public final< / span > < span class = "return-type" > < a href = "parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > < / span > < span class = "element-name" > swerveDriveConfiguration< / span > < / div >
2023-02-13 14:37:05 -06:00
< div class = "block" > Swerve drive configuration.< / div >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "swerveDrivePoseEstimator" >
< h3 > swerveDrivePoseEstimator< / h3 >
2023-08-29 21:03:58 -05:00
< div class = "member-signature" > < span class = "modifiers" > public final< / span > < span class = "return-type" > edu.wpi.first.math.estimator.SwerveDrivePoseEstimator< / span > < span class = "element-name" > swerveDrivePoseEstimator< / span > < / div >
2023-02-13 14:37:05 -06:00
< div class = "block" > Swerve odometry.< / div >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
2024-02-02 18:55:29 -06:00
< section class = "detail" id = "imuReadingCache" >
< h3 > imuReadingCache< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public final< / span > < span class = "return-type" > < a href = "parser/Cache.html" title = "class in swervelib.parser" > Cache< / a > < edu.wpi.first.math.geometry.Rotation3d> < / span > < span class = "element-name" > imuReadingCache< / span > < / div >
< div class = "block" > IMU reading cache for robot readings.< / div >
< / section >
< / li >
< li >
2024-01-15 14:39:17 -06:00
< section class = "detail" id = "swerveModules" >
< h3 > swerveModules< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private final< / span > < span class = "return-type" > < a href = "SwerveModule.html" title = "class in swervelib" > SwerveModule< / a > []< / span > < span class = "element-name" > swerveModules< / span > < / div >
< div class = "block" > Swerve modules.< / div >
< / section >
< / li >
< li >
< section class = "detail" id = "odometryThread" >
< h3 > odometryThread< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private final< / span > < span class = "return-type" > edu.wpi.first.wpilibj.Notifier< / span > < span class = "element-name" > odometryThread< / span > < / div >
< div class = "block" > WPILib < code > Notifier< / code > to keep odometry up to date.< / div >
< / section >
< / li >
< li >
< section class = "detail" id = "odometryLock" >
< h3 > odometryLock< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private final< / span > < span class = "return-type" > < a href = "https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/concurrent/locks/Lock.html" title = "class or interface in java.util.concurrent.locks" class = "external-link" > Lock< / a > < / span > < span class = "element-name" > odometryLock< / span > < / div >
< div class = "block" > Odometry lock to ensure thread safety.< / div >
< / section >
< / li >
< li >
2024-01-22 15:11:18 -06:00
< section class = "detail" id = "tunerXRecommendation" >
< h3 > tunerXRecommendation< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private final< / span > < span class = "return-type" > < a href = "telemetry/Alert.html" title = "class in swervelib.telemetry" > Alert< / a > < / span > < span class = "element-name" > tunerXRecommendation< / span > < / div >
< div class = "block" > Alert to recommend Tuner X if the configuration is compatible.< / div >
2024-01-17 09:18:38 -06:00
< / section >
< / li >
< li >
2023-02-14 22:03:02 -06:00
< section class = "detail" id = "field" >
< h3 > field< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.wpilibj.smartdashboard.Field2d< / span > < span class = "element-name" > field< / span > < / div >
2023-02-13 14:37:05 -06:00
< div class = "block" > Field object.< / div >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "swerveController" >
< h3 > swerveController< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > < a href = "SwerveController.html" title = "class in swervelib" > SwerveController< / a > < / span > < span class = "element-name" > swerveController< / span > < / div >
2023-02-13 14:37:05 -06:00
< div class = "block" > Swerve controller for controlling heading of the robot.< / div >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
2023-04-08 13:33:02 -05:00
< section class = "detail" id = "chassisVelocityCorrection" >
< h3 > chassisVelocityCorrection< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > boolean< / span > < span class = "element-name" > chassisVelocityCorrection< / span > < / div >
2023-08-29 19:59:07 -05:00
< div class = "block" > Correct chassis velocity in < a href = "#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)" > < code > drive(Translation2d, double, boolean, boolean)< / code > < / a > using 254's
correction.< / div >
< / section >
< / li >
< li >
2023-11-09 18:54:46 -06:00
< section class = "detail" id = "headingCorrection" >
< h3 > headingCorrection< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > boolean< / span > < span class = "element-name" > headingCorrection< / span > < / div >
< div class = "block" > Whether to correct heading when driving translationally. Set to true to enable.< / div >
< / section >
< / li >
2024-01-15 14:39:17 -06:00
< li >
2024-06-13 17:10:51 -05:00
< section class = "detail" id = "discretizationdtSeconds" >
< h3 > discretizationdtSeconds< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private< / span > < span class = "return-type" > double< / span > < span class = "element-name" > discretizationdtSeconds< / span > < / div >
< div class = "block" > Amount of seconds the duration of the timestep the speeds should be applied for.< / div >
< / section >
< / li >
< li >
2024-01-22 15:11:18 -06:00
< section class = "detail" id = "HEADING_CORRECTION_DEADBAND" >
< h3 > HEADING_CORRECTION_DEADBAND< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private< / span > < span class = "return-type" > double< / span > < span class = "element-name" > HEADING_CORRECTION_DEADBAND< / span > < / div >
< div class = "block" > Deadband for speeds in heading correction.< / div >
< / section >
< / li >
< li >
2024-01-15 14:39:17 -06:00
< section class = "detail" id = "imu" >
< h3 > imu< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private< / span > < span class = "return-type" > < a href = "imu/SwerveIMU.html" title = "class in swervelib.imu" > SwerveIMU< / a > < / span > < span class = "element-name" > imu< / span > < / div >
< div class = "block" > Swerve IMU device for sensing the heading of the robot.< / div >
< / section >
< / li >
< li >
< section class = "detail" id = "simIMU" >
< h3 > simIMU< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private< / span > < span class = "return-type" > < a href = "simulation/SwerveIMUSimulation.html" title = "class in swervelib.simulation" > SwerveIMUSimulation< / a > < / span > < span class = "element-name" > simIMU< / span > < / div >
< div class = "block" > Simulation of the swerve drive.< / div >
< / section >
< / li >
< li >
< section class = "detail" id = "moduleSynchronizationCounter" >
< h3 > moduleSynchronizationCounter< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private< / span > < span class = "return-type" > int< / span > < span class = "element-name" > moduleSynchronizationCounter< / span > < / div >
< div class = "block" > Counter to synchronize the modules relative encoder with absolute encoder when not moving.< / div >
< / section >
< / li >
< li >
< section class = "detail" id = "lastHeadingRadians" >
< h3 > lastHeadingRadians< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private< / span > < span class = "return-type" > double< / span > < span class = "element-name" > lastHeadingRadians< / span > < / div >
< div class = "block" > The last heading set in radians.< / div >
< / section >
< / li >
< li >
< section class = "detail" id = "attainableMaxTranslationalSpeedMetersPerSecond" >
< h3 > attainableMaxTranslationalSpeedMetersPerSecond< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private< / span > < span class = "return-type" > double< / span > < span class = "element-name" > attainableMaxTranslationalSpeedMetersPerSecond< / span > < / div >
< div class = "block" > The absolute max speed that your robot can reach while translating in meters per second.< / div >
< / section >
< / li >
< li >
< section class = "detail" id = "attainableMaxRotationalVelocityRadiansPerSecond" >
< h3 > attainableMaxRotationalVelocityRadiansPerSecond< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private< / span > < span class = "return-type" > double< / span > < span class = "element-name" > attainableMaxRotationalVelocityRadiansPerSecond< / span > < / div >
< div class = "block" > The absolute max speed the robot can reach while rotating radians per second.< / div >
< / section >
< / li >
< li >
< section class = "detail" id = "maxSpeedMPS" >
< h3 > maxSpeedMPS< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private< / span > < span class = "return-type" > double< / span > < span class = "element-name" > maxSpeedMPS< / span > < / div >
< div class = "block" > Maximum speed of the robot in meters per second.< / div >
< / section >
< / li >
2023-02-13 14:37:05 -06:00
< / ul >
< / section >
2023-02-14 22:03:02 -06:00
< / li >
2023-02-13 14:37:05 -06:00
<!-- ========= CONSTRUCTOR DETAIL ======== -->
2023-02-14 22:03:02 -06:00
< li >
< section class = "constructor-details" id = "constructor-detail" >
< h2 > Constructor Details< / h2 >
< ul class = "member-list" >
< li >
2023-11-09 18:54:46 -06:00
< section class = "detail" id = "<init>(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.SwerveControllerConfiguration,double)" >
2023-02-14 22:03:02 -06:00
< h3 > SwerveDrive< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "element-name" > SwerveDrive< / span > < wbr > < span class = "parameters" > (< a href = "parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > config,
2023-11-09 18:54:46 -06:00
< a href = "parser/SwerveControllerConfiguration.html" title = "class in swervelib.parser" > SwerveControllerConfiguration< / a > controllerConfig,
double maxSpeedMPS)< / span > < / div >
< div class = "block" > Creates a new swerve drivebase subsystem. Robot is controlled via the < a href = "#drive(edu.wpi.first.math.kinematics.ChassisSpeeds)" > < code > drive(edu.wpi.first.math.kinematics.ChassisSpeeds)< / code > < / a > method, or via the
2024-01-15 14:39:17 -06:00
< a href = "#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" > < code > setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[], boolean)< / code > < / a > method. The < a href = "#drive(edu.wpi.first.math.kinematics.ChassisSpeeds)" > < code > drive(edu.wpi.first.math.kinematics.ChassisSpeeds)< / code > < / a > method incorporates kinematics-- it
2023-08-29 19:59:07 -05:00
takes a translation and rotation, as well as parameters for field-centric and closed-loop velocity control.
2024-01-15 14:39:17 -06:00
< a href = "#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" > < code > setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[], boolean)< / code > < / a > takes a list of SwerveModuleStates and directly passes them to the modules.
2023-08-29 19:59:07 -05:00
This subsystem also handles odometry.< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Parameters:< / dt >
2023-08-29 19:59:07 -05:00
< dd > < code > config< / code > - The < a href = "parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > < code > SwerveDriveConfiguration< / code > < / a > configuration to base the swerve drive off of.< / dd >
2023-02-14 22:03:02 -06:00
< dd > < code > controllerConfig< / code > - The < a href = "parser/SwerveControllerConfiguration.html" title = "class in swervelib.parser" > < code > SwerveControllerConfiguration< / code > < / a > to use when creating the
2023-08-29 19:59:07 -05:00
< a href = "SwerveController.html" title = "class in swervelib" > < code > SwerveController< / code > < / a > .< / dd >
2023-11-09 18:54:46 -06:00
< dd > < code > maxSpeedMPS< / code > - Maximum speed in meters per second, remember to use < code > Units.feetToMeters(double)< / code > if
you have feet per second!< / dd >
2023-02-14 22:03:02 -06:00
< / dl >
< / section >
2023-02-13 14:37:05 -06:00
< / li >
< / ul >
< / section >
2023-02-14 22:03:02 -06:00
< / li >
2023-02-13 14:37:05 -06:00
<!-- ============ METHOD DETAIL ========== -->
2023-02-14 22:03:02 -06:00
< li >
< section class = "method-details" id = "method-detail" >
< h2 > Method Details< / h2 >
< ul class = "member-list" >
< li >
2024-02-02 18:55:29 -06:00
< section class = "detail" id = "updateCacheValidityPeriods(long,long,long)" >
< h3 > updateCacheValidityPeriods< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > updateCacheValidityPeriods< / span > < wbr > < span class = "parameters" > (long imu,
long driveMotor,
long absoluteEncoder)< / span > < / div >
< div class = "block" > Update the cache validity period for the robot.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > imu< / code > - IMU reading cache validity period in milliseconds.< / dd >
< dd > < code > driveMotor< / code > - Drive motor reading cache in milliseconds.< / dd >
< dd > < code > absoluteEncoder< / code > - Absolute encoder reading cache in milliseconds.< / dd >
< / dl >
< / section >
< / li >
< li >
2024-01-18 12:09:37 -06:00
< section class = "detail" id = "checkIfTunerXCompatible()" >
< h3 > checkIfTunerXCompatible< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private< / span > < span class = "return-type" > void< / span > < span class = "element-name" > checkIfTunerXCompatible< / span > ()< / div >
< div class = "block" > Check all components to ensure that Tuner X Swerve Generator is recommended instead.< / div >
< / section >
< / li >
< li >
2023-08-29 21:03:58 -05:00
< section class = "detail" id = "setOdometryPeriod(double)" >
< h3 > setOdometryPeriod< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setOdometryPeriod< / span > < wbr > < span class = "parameters" > (double period)< / span > < / div >
< div class = "block" > Set the odometry update period in seconds.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > period< / code > - period in seconds.< / dd >
< / dl >
< / section >
< / li >
< li >
< section class = "detail" id = "stopOdometryThread()" >
< h3 > stopOdometryThread< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > stopOdometryThread< / span > ()< / div >
< div class = "block" > Stop the odometry thread in favor of manually updating odometry.< / div >
< / section >
< / li >
< li >
2023-11-09 18:54:46 -06:00
< section class = "detail" id = "setAngleMotorConversionFactor(double)" >
< h3 > setAngleMotorConversionFactor< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setAngleMotorConversionFactor< / span > < wbr > < span class = "parameters" > (double conversionFactor)< / span > < / div >
< div class = "block" > Set the conversion factor for the angle/azimuth motor controller.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > conversionFactor< / code > - Angle motor conversion factor for PID, should be generated from
< a href = "math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)" > < code > SwerveMath.calculateDegreesPerSteeringRotation(double, double)< / code > < / a > or calculated.< / dd >
< / dl >
< / section >
< / li >
< li >
< section class = "detail" id = "setDriveMotorConversionFactor(double)" >
< h3 > setDriveMotorConversionFactor< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setDriveMotorConversionFactor< / span > < wbr > < span class = "parameters" > (double conversionFactor)< / span > < / div >
< div class = "block" > Set the conversion factor for the drive motor controller.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > conversionFactor< / code > - Drive motor conversion factor for PID, should be generated from
< a href = "math/SwerveMath.html#calculateMetersPerRotation(double,double,double)" > < code > SwerveMath.calculateMetersPerRotation(double, double, double)< / code > < / a > or calculated.< / dd >
< / dl >
< / section >
< / li >
< li >
2024-01-22 15:11:18 -06:00
< section class = "detail" id = "getOdometryHeading()" >
< h3 > getOdometryHeading< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.geometry.Rotation2d< / span > < span class = "element-name" > getOdometryHeading< / span > ()< / div >
< div class = "block" > Fetch the latest odometry heading, should be trusted over < a href = "#getYaw()" > < code > getYaw()< / code > < / a > .< / div >
< dl class = "notes" >
< dt > Returns:< / dt >
< dd > < code > Rotation2d< / code > of the robot heading.< / dd >
< / dl >
< / section >
< / li >
< li >
2023-11-09 18:54:46 -06:00
< section class = "detail" id = "setHeadingCorrection(boolean)" >
< h3 > setHeadingCorrection< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setHeadingCorrection< / span > < wbr > < span class = "parameters" > (boolean state)< / span > < / div >
< div class = "block" > Set the heading correction capabilities of YAGSL.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > state< / code > - < a href = "#headingCorrection" > < code > headingCorrection< / code > < / a > state.< / dd >
< / dl >
< / section >
< / li >
< li >
2024-01-18 15:37:24 -06:00
< section class = "detail" id = "setHeadingCorrection(boolean,double)" >
< h3 > setHeadingCorrection< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setHeadingCorrection< / span > < wbr > < span class = "parameters" > (boolean state,
double deadband)< / span > < / div >
< div class = "block" > Set the heading correction capabilities of YAGSL.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > state< / code > - < a href = "#headingCorrection" > < code > headingCorrection< / code > < / a > state.< / dd >
< dd > < code > deadband< / code > - < a href = "#HEADING_CORRECTION_DEADBAND" > < code > HEADING_CORRECTION_DEADBAND< / code > < / a > deadband.< / dd >
< / dl >
< / section >
< / li >
< li >
2024-06-13 17:10:51 -05:00
< section class = "detail" id = "driveFieldOrientedandRobotOriented(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.kinematics.ChassisSpeeds)" >
< h3 > driveFieldOrientedandRobotOriented< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > driveFieldOrientedandRobotOriented< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.kinematics.ChassisSpeeds fieldOrientedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds robotOrientedVelocity)< / span > < / div >
< div class = "block" > Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same
time. The inputs are added together so this is not intneded to be used to give the driver both methods of control.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > fieldOrientedVelocity< / code > - The field oriented velocties to use< / dd >
< dd > < code > robotOrientedVelocity< / code > - The robot oriented velocties to use< / dd >
< / dl >
< / section >
< / li >
< li >
2023-11-09 18:54:46 -06:00
< section class = "detail" id = "driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds)" >
< h3 > driveFieldOriented< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > driveFieldOriented< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.kinematics.ChassisSpeeds velocity)< / span > < / div >
< div class = "block" > Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > velocity< / code > - Velocity of the robot desired.< / dd >
< / dl >
< / section >
< / li >
< li >
2023-11-09 20:53:40 -06:00
< section class = "detail" id = "driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)" >
< h3 > driveFieldOriented< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > driveFieldOriented< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)< / span > < / div >
< div class = "block" > Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > velocity< / code > - Velocity of the robot desired.< / dd >
< dd > < code > centerOfRotationMeters< / code > - The center of rotation in meters, 0 is the center of the robot.< / dd >
< / dl >
< / section >
< / li >
< li >
2023-11-09 18:54:46 -06:00
< section class = "detail" id = "drive(edu.wpi.first.math.kinematics.ChassisSpeeds)" >
2023-02-14 22:03:02 -06:00
< h3 > drive< / h3 >
2023-11-09 18:54:46 -06:00
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > drive< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.kinematics.ChassisSpeeds velocity)< / span > < / div >
< div class = "block" > Secondary method for controlling the drivebase. Given a simple < code > ChassisSpeeds< / code > set the swerve module states,
to achieve the goal.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > velocity< / code > - The desired robot-oriented < code > ChassisSpeeds< / code > for the robot to achieve.< / dd >
< / dl >
< / section >
< / li >
< li >
2023-11-09 20:53:40 -06:00
< section class = "detail" id = "drive(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)" >
2023-11-09 18:54:46 -06:00
< h3 > drive< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > drive< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
2023-11-09 20:53:40 -06:00
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)< / span > < / div >
< div class = "block" > Secondary method for controlling the drivebase. Given a simple < code > ChassisSpeeds< / code > set the swerve module states,
to achieve the goal.< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Parameters:< / dt >
2023-11-09 20:53:40 -06:00
< dd > < code > velocity< / code > - The desired robot-oriented < code > ChassisSpeeds< / code > for the robot to achieve.< / dd >
< dd > < code > centerOfRotationMeters< / code > - The center of rotation in meters, 0 is the center of the robot.< / dd >
< / dl >
< / section >
< / li >
< li >
< section class = "detail" id = "drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean,edu.wpi.first.math.geometry.Translation2d)" >
< h3 > drive< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > drive< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.geometry.Translation2d translation,
double rotation,
boolean fieldRelative,
boolean isOpenLoop,
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)< / span > < / div >
< div class = "block" > The primary method for controlling the drivebase. Takes a < code > Translation2d< / code > and a rotation rate, and calculates
and commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > translation< / code > - < code > Translation2d< / code > that is the commanded linear velocity of the robot, in meters
per second. In robot-relative mode, positive x is torwards the bow (front) and
positive y is torwards port (left). In field-relative mode, positive x is away from
the alliance wall (field North) and positive y is torwards the left wall when looking
through the driver station glass (field West).< / dd >
< dd > < code > rotation< / code > - Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
relativity.< / dd >
< dd > < code > fieldRelative< / code > - Drive mode. True for field-relative, false for robot-relative.< / dd >
2023-08-29 19:59:07 -05:00
< dd > < code > isOpenLoop< / code > - Whether to use closed-loop velocity control. Set to true to disable closed-loop.< / dd >
2023-11-09 20:53:40 -06:00
< dd > < code > centerOfRotationMeters< / code > - The center of rotation in meters, 0 is the center of the robot.< / dd >
2023-02-13 14:37:05 -06:00
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
2023-11-09 18:54:46 -06:00
< section class = "detail" id = "drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)" >
2023-02-24 19:11:05 -06:00
< h3 > drive< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > drive< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.geometry.Translation2d translation,
double rotation,
boolean fieldRelative,
2023-11-09 18:54:46 -06:00
boolean isOpenLoop)< / span > < / div >
< div class = "block" > The primary method for controlling the drivebase. Takes a < code > Translation2d< / code > and a rotation rate, and calculates
and commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
2023-08-29 19:59:07 -05:00
velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.< / div >
2023-02-24 19:11:05 -06:00
< dl class = "notes" >
< dt > Parameters:< / dt >
2023-08-29 19:59:07 -05:00
< dd > < code > translation< / code > - < code > Translation2d< / code > that is the commanded linear velocity of the robot, in meters per
2023-11-09 18:54:46 -06:00
second. In robot-relative mode, positive x is torwards the bow (front) and positive y is
torwards port (left). In field-relative mode, positive x is away from the alliance wall (field
North) and positive y is torwards the left wall when looking through the driver station glass
(field West).< / dd >
2023-08-29 19:59:07 -05:00
< dd > < code > rotation< / code > - Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
2023-11-09 18:54:46 -06:00
relativity.< / dd >
2023-02-24 19:11:05 -06:00
< dd > < code > fieldRelative< / code > - Drive mode. True for field-relative, false for robot-relative.< / dd >
2023-08-29 19:59:07 -05:00
< dd > < code > isOpenLoop< / code > - Whether to use closed-loop velocity control. Set to true to disable closed-loop.< / dd >
2023-02-24 19:11:05 -06:00
< / dl >
< / section >
< / li >
< li >
2023-11-09 20:53:40 -06:00
< section class = "detail" id = "drive(edu.wpi.first.math.kinematics.ChassisSpeeds,boolean,edu.wpi.first.math.geometry.Translation2d)" >
< h3 > drive< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > drive< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
boolean isOpenLoop,
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)< / span > < / div >
< div class = "block" > The primary method for controlling the drivebase. Takes a < code > ChassisSpeeds< / code > , and calculates and commands module
2024-02-28 13:25:59 -06:00
states accordingly. Can use either open-loop or closed-loop velocity control for the wheel velocities. Applies
heading correction if enabled and necessary.< / div >
2023-11-09 20:53:40 -06:00
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > velocity< / code > - The chassis speeds to set the robot to achieve.< / dd >
< dd > < code > isOpenLoop< / code > - Whether to use closed-loop velocity control. Set to true to disable closed-loop.< / dd >
< dd > < code > centerOfRotationMeters< / code > - The center of rotation in meters, 0 is the center of the robot.< / dd >
< / dl >
< / section >
< / li >
< li >
2023-04-05 09:03:10 -05:00
< section class = "detail" id = "setMaximumSpeeds(double,double,double)" >
< h3 > setMaximumSpeeds< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setMaximumSpeeds< / span > < wbr > < span class = "parameters" > (double attainableMaxModuleSpeedMetersPerSecond,
double attainableMaxTranslationalSpeedMetersPerSecond,
double attainableMaxRotationalVelocityRadiansPerSecond)< / span > < / div >
< div class = "block" > Set the maximum speeds for desaturation.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
2023-08-29 19:59:07 -05:00
< dd > < code > attainableMaxModuleSpeedMetersPerSecond< / code > - The absolute max speed that a module can reach in meters per
second.< / dd >
< dd > < code > attainableMaxTranslationalSpeedMetersPerSecond< / code > - The absolute max speed that your robot can reach while
translating in meters per second.< / dd >
< dd > < code > attainableMaxRotationalVelocityRadiansPerSecond< / code > - The absolute max speed the robot can reach while rotating in
radians per second.< / dd >
< / dl >
< / section >
< / li >
< li >
2024-01-18 12:09:37 -06:00
< section class = "detail" id = "getMaximumVelocity()" >
< h3 > getMaximumVelocity< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > double< / span > < span class = "element-name" > getMaximumVelocity< / span > ()< / div >
< div class = "block" > Get the maximum velocity from < a href = "#attainableMaxTranslationalSpeedMetersPerSecond" > < code > attainableMaxTranslationalSpeedMetersPerSecond< / code > < / a > or
< a href = "#maxSpeedMPS" > < code > maxSpeedMPS< / code > < / a > whichever is higher.< / div >
< dl class = "notes" >
< dt > Returns:< / dt >
< dd > Maximum speed in meters/second.< / dd >
< / dl >
< / section >
< / li >
< li >
< section class = "detail" id = "getMaximumAngularVelocity()" >
< h3 > getMaximumAngularVelocity< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > double< / span > < span class = "element-name" > getMaximumAngularVelocity< / span > ()< / div >
< div class = "block" > Get the maximum angular velocity, either < a href = "#attainableMaxRotationalVelocityRadiansPerSecond" > < code > attainableMaxRotationalVelocityRadiansPerSecond< / code > < / a > or
< a href = "parser/SwerveControllerConfiguration.html#maxAngularVelocity" > < code > SwerveControllerConfiguration.maxAngularVelocity< / code > < / a > .< / div >
< dl class = "notes" >
< dt > Returns:< / dt >
< dd > Maximum angular velocity in radians per second.< / dd >
< / dl >
< / section >
< / li >
< li >
2024-01-15 14:39:17 -06:00
< section class = "detail" id = "setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[],boolean)" >
< h3 > setRawModuleStates< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setRawModuleStates< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
boolean isOpenLoop)< / span > < / div >
2024-02-28 13:25:59 -06:00
< div class = "block" > Set the module states (azimuth and velocity) directly.< / div >
2024-01-15 14:39:17 -06:00
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > desiredStates< / code > - A list of SwerveModuleStates to send to the modules.< / dd >
< dd > < code > isOpenLoop< / code > - Whether to use closed-loop velocity control. Set to true to disable closed-loop.< / dd >
< / dl >
< / section >
< / li >
< li >
2023-08-29 21:03:58 -05:00
< section class = "detail" id = "setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[],boolean)" >
2023-02-14 22:03:02 -06:00
< h3 > setModuleStates< / h3 >
2023-08-29 21:03:58 -05:00
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setModuleStates< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
2023-02-14 22:03:02 -06:00
boolean isOpenLoop)< / span > < / div >
2023-03-15 21:49:24 -05:00
< div class = "block" > Set the module states (azimuth and velocity) directly. Used primarily for auto paths.< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Parameters:< / dt >
2023-02-13 14:37:05 -06:00
< dd > < code > desiredStates< / code > - A list of SwerveModuleStates to send to the modules.< / dd >
2023-08-29 19:59:07 -05:00
< dd > < code > isOpenLoop< / code > - Whether to use closed-loop velocity control. Set to true to disable closed-loop.< / dd >
2023-02-13 14:37:05 -06:00
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" >
< h3 > setChassisSpeeds< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setChassisSpeeds< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)< / span > < / div >
2023-11-09 18:54:46 -06:00
< div class = "block" > Set chassis speeds with closed-loop velocity control.< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Parameters:< / dt >
2023-02-15 00:08:44 -06:00
< dd > < code > chassisSpeeds< / code > - Chassis speeds to set.< / dd >
2023-02-13 14:37:05 -06:00
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "getPose()" >
< h3 > getPose< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.geometry.Pose2d< / span > < span class = "element-name" > getPose< / span > ()< / div >
2023-02-13 14:37:05 -06:00
< div class = "block" > Gets the current pose (position and rotation) of the robot, as reported by odometry.< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Returns:< / dt >
2023-02-13 14:37:05 -06:00
< dd > The robot's pose< / dd >
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "getFieldVelocity()" >
< h3 > getFieldVelocity< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.kinematics.ChassisSpeeds< / span > < span class = "element-name" > getFieldVelocity< / span > ()< / div >
2023-02-13 14:37:05 -06:00
< div class = "block" > Gets the current field-relative velocity (x, y and omega) of the robot< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Returns:< / dt >
2023-02-13 14:37:05 -06:00
< dd > A ChassisSpeeds object of the current field-relative velocity< / dd >
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "getRobotVelocity()" >
< h3 > getRobotVelocity< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.kinematics.ChassisSpeeds< / span > < span class = "element-name" > getRobotVelocity< / span > ()< / div >
2023-02-13 14:37:05 -06:00
< div class = "block" > Gets the current robot-relative velocity (x, y and omega) of the robot< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Returns:< / dt >
2023-02-13 14:37:05 -06:00
< dd > A ChassisSpeeds object of the current robot-relative velocity< / dd >
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "resetOdometry(edu.wpi.first.math.geometry.Pose2d)" >
< h3 > resetOdometry< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > resetOdometry< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.geometry.Pose2d pose)< / span > < / div >
2023-08-29 19:59:07 -05:00
< div class = "block" > Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this
method. However, if either gyro angle or module position is reset, this must be called in order for odometry to
keep working.< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Parameters:< / dt >
2023-02-13 14:37:05 -06:00
< dd > < code > pose< / code > - The pose to set the odometry to< / dd >
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
2023-02-15 00:08:44 -06:00
< section class = "detail" id = "postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" >
< h3 > postTrajectory< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > postTrajectory< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.trajectory.Trajectory trajectory)< / span > < / div >
< div class = "block" > Post the trajectory to the field< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > trajectory< / code > - the trajectory to post.< / dd >
< / dl >
< / section >
< / li >
< li >
2023-02-14 22:03:02 -06:00
< section class = "detail" id = "getStates()" >
< h3 > getStates< / h3 >
2023-08-29 21:03:58 -05:00
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.kinematics.SwerveModuleState[]< / span > < span class = "element-name" > getStates< / span > ()< / div >
2023-02-13 14:37:05 -06:00
< div class = "block" > Gets the current module states (azimuth and velocity)< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Returns:< / dt >
2023-02-13 14:37:05 -06:00
< dd > A list of SwerveModuleStates containing the current module states< / dd >
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "getModulePositions()" >
< h3 > getModulePositions< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.kinematics.SwerveModulePosition[]< / span > < span class = "element-name" > getModulePositions< / span > ()< / div >
2024-01-22 15:11:18 -06:00
< div class = "block" > Gets the current module positions (azimuth and wheel position (meters)).< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Returns:< / dt >
2023-02-13 14:37:05 -06:00
< dd > A list of SwerveModulePositions containg the current module positions< / dd >
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
2024-01-26 11:29:15 -06:00
< section class = "detail" id = "getGyro()" >
< h3 > getGyro< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > < a href = "imu/SwerveIMU.html" title = "class in swervelib.imu" > SwerveIMU< / a > < / span > < span class = "element-name" > getGyro< / span > ()< / div >
< div class = "block" > Getter for the < a href = "imu/SwerveIMU.html" title = "class in swervelib.imu" > < code > SwerveIMU< / code > < / a > .< / div >
< dl class = "notes" >
< dt > Returns:< / dt >
< dd > generated < a href = "imu/SwerveIMU.html" title = "class in swervelib.imu" > < code > SwerveIMU< / code > < / a > < / dd >
< / dl >
< / section >
< / li >
< li >
< section class = "detail" id = "setGyro(edu.wpi.first.math.geometry.Rotation3d)" >
< h3 > setGyro< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setGyro< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.geometry.Rotation3d gyro)< / span > < / div >
< div class = "block" > Set the expected gyroscope angle using a < code > Rotation3d< / code > object. To reset gyro, set to a new < code > Rotation3d< / code >
subtracted from the current gyroscopic readings < a href = "imu/SwerveIMU.html#getRotation3d()" > < code > SwerveIMU.getRotation3d()< / code > < / a > .< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > gyro< / code > - expected gyroscope angle as < code > Rotation3d< / code > .< / dd >
< / dl >
< / section >
< / li >
< li >
2023-02-14 22:03:02 -06:00
< section class = "detail" id = "zeroGyro()" >
< h3 > zeroGyro< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > zeroGyro< / span > ()< / div >
2023-02-13 14:37:05 -06:00
< div class = "block" > Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.< / div >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "getYaw()" >
< h3 > getYaw< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.geometry.Rotation2d< / span > < span class = "element-name" > getYaw< / span > ()< / div >
2023-02-20 22:04:54 -06:00
< div class = "block" > Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Returns:< / dt >
2023-02-13 14:37:05 -06:00
< dd > The yaw as a < code > Rotation2d< / code > angle< / dd >
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "getPitch()" >
< h3 > getPitch< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.geometry.Rotation2d< / span > < span class = "element-name" > getPitch< / span > ()< / div >
< div class = "block" > Gets the current pitch angle of the robot, as reported by the imu.< / div >
< dl class = "notes" >
< dt > Returns:< / dt >
2023-02-13 14:37:05 -06:00
< dd > The heading as a < code > Rotation2d< / code > angle< / dd >
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "getRoll()" >
< h3 > getRoll< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.geometry.Rotation2d< / span > < span class = "element-name" > getRoll< / span > ()< / div >
< div class = "block" > Gets the current roll angle of the robot, as reported by the imu.< / div >
< dl class = "notes" >
< dt > Returns:< / dt >
< dd > The heading as a < code > Rotation2d< / code > angle< / dd >
< / dl >
< / section >
< / li >
< li >
< section class = "detail" id = "getGyroRotation3d()" >
< h3 > getGyroRotation3d< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.geometry.Rotation3d< / span > < span class = "element-name" > getGyroRotation3d< / span > ()< / div >
2023-02-15 22:18:27 -06:00
< div class = "block" > Gets the current gyro < code > Rotation3d< / code > of the robot, as reported by the imu.< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Returns:< / dt >
< dd > The heading as a < code > Rotation3d< / code > angle< / dd >
< / dl >
< / section >
< / li >
< li >
2023-03-06 20:45:54 -06:00
< section class = "detail" id = "getAccel()" >
< h3 > getAccel< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > < a href = "https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title = "class or interface in java.util" class = "external-link" > Optional< / a > < edu.wpi.first.math.geometry.Translation3d> < / span > < span class = "element-name" > getAccel< / span > ()< / div >
< div class = "block" > Gets current acceleration of the robot in m/s/s. If gyro unsupported returns empty.< / div >
< dl class = "notes" >
< dt > Returns:< / dt >
< dd > acceleration of the robot as a < code > Translation3d< / code > < / dd >
< / dl >
< / section >
< / li >
< li >
2023-02-14 22:58:34 -06:00
< section class = "detail" id = "setMotorIdleMode(boolean)" >
< h3 > setMotorIdleMode< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setMotorIdleMode< / span > < wbr > < span class = "parameters" > (boolean brake)< / span > < / div >
2023-02-13 14:37:05 -06:00
< div class = "block" > Sets the drive motors to brake/coast mode.< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Parameters:< / dt >
2023-02-13 14:37:05 -06:00
< dd > < code > brake< / code > - True to set motors to brake mode, false for coast.< / dd >
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
2023-11-09 18:54:46 -06:00
< section class = "detail" id = "setMaximumSpeed(double,boolean,double)" >
2023-03-29 07:24:24 -05:00
< h3 > setMaximumSpeed< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setMaximumSpeed< / span > < wbr > < span class = "parameters" > (double maximumSpeed,
2023-11-09 18:54:46 -06:00
boolean updateModuleFeedforward,
double optimalVoltage)< / span > < / div >
2024-01-15 14:39:17 -06:00
< div class = "block" > Set the maximum speed of the drive motors, modified < a href = "#maxSpeedMPS" > < code > maxSpeedMPS< / code > < / a > which is used for the
< a href = "#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" > < code > setRawModuleStates(SwerveModuleState[], boolean)< / code > < / a > function and
2023-08-29 19:59:07 -05:00
< a href = "SwerveController.html#getTargetSpeeds(double,double,double,double,double)" > < code > SwerveController.getTargetSpeeds(double, double, double, double, double)< / code > < / a > functions. This function overrides
what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates.< / div >
2023-03-29 07:24:24 -05:00
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > maximumSpeed< / code > - Maximum speed for the drive motors in meters / second.< / dd >
2023-08-29 19:59:07 -05:00
< dd > < code > updateModuleFeedforward< / code > - Update the swerve module feedforward to account for the new maximum speed. This
should be true unless you have replaced the drive motor feedforward with
< a href = "#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" > < code > replaceSwerveModuleFeedforward(SimpleMotorFeedforward)< / code > < / a > < / dd >
2023-11-09 18:54:46 -06:00
< dd > < code > optimalVoltage< / code > - Optimal voltage to use for the feedforward.< / dd >
2023-03-29 07:24:24 -05:00
< / dl >
< / section >
< / li >
< li >
< section class = "detail" id = "setMaximumSpeed(double)" >
< h3 > setMaximumSpeed< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setMaximumSpeed< / span > < wbr > < span class = "parameters" > (double maximumSpeed)< / span > < / div >
2024-01-15 14:39:17 -06:00
< div class = "block" > Set the maximum speed of the drive motors, modified < a href = "#maxSpeedMPS" > < code > maxSpeedMPS< / code > < / a > which is used for the
< a href = "#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" > < code > setRawModuleStates(SwerveModuleState[], boolean)< / code > < / a > function and
2023-08-29 19:59:07 -05:00
< a href = "SwerveController.html#getTargetSpeeds(double,double,double,double,double)" > < code > SwerveController.getTargetSpeeds(double, double, double, double, double)< / code > < / a > functions. This function overrides
what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates. Overwrites the
2024-02-28 13:25:59 -06:00
< a href = "SwerveModule.html#setFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" > < code > SwerveModule.setFeedforward(SimpleMotorFeedforward)< / code > < / a > .< / div >
2023-03-29 07:24:24 -05:00
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > maximumSpeed< / code > - Maximum speed for the drive motors in meters / second.< / dd >
< / dl >
< / section >
< / li >
< li >
2023-02-15 22:18:27 -06:00
< section class = "detail" id = "lockPose()" >
< h3 > lockPose< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > lockPose< / span > ()< / div >
2023-08-29 19:59:07 -05:00
< div class = "block" > Point all modules toward the robot center, thus making the robot very difficult to move. Forcing the robot to keep
the current pose.< / div >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" >
< h3 > getSwerveModulePoses< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.geometry.Pose2d[]< / span > < span class = "element-name" > getSwerveModulePoses< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.geometry.Pose2d robotPose)< / span > < / div >
2023-02-13 14:37:05 -06:00
< div class = "block" > Get the swerve module poses and on the field relative to the robot.< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Parameters:< / dt >
2023-02-13 14:37:05 -06:00
< dd > < code > robotPose< / code > - Robot pose.< / dd >
2023-02-14 22:03:02 -06:00
< dt > Returns:< / dt >
2023-02-13 14:37:05 -06:00
< dd > Swerve module poses.< / dd >
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" >
< h3 > replaceSwerveModuleFeedforward< / h3 >
2024-02-28 13:25:59 -06:00
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > replaceSwerveModuleFeedforward< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)< / span > < / div >
2023-02-13 14:37:05 -06:00
< div class = "block" > Setup the swerve module feedforward.< / div >
2023-02-14 22:03:02 -06:00
< dl class = "notes" >
< dt > Parameters:< / dt >
2024-02-28 13:25:59 -06:00
< dd > < code > driveFeedforward< / code > - Feedforward for the drive motor on swerve modules.< / dd >
2023-02-13 14:37:05 -06:00
< / dl >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "updateOdometry()" >
< h3 > updateOdometry< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > updateOdometry< / span > ()< / div >
2023-08-29 19:59:07 -05:00
< div class = "block" > Update odometry should be run every loop. Synchronizes module absolute encoders with relative encoders
periodically. In simulation mode will also post the pose of each module. Updates SmartDashboard with module encoder
readings and states.< / div >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:03:02 -06:00
< li >
< section class = "detail" id = "synchronizeModuleEncoders()" >
< h3 > synchronizeModuleEncoders< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > synchronizeModuleEncoders< / span > ()< / div >
< div class = "block" > Synchronize angle motor integrated encoders with data from absolute encoders.< / div >
< / section >
2023-02-13 14:37:05 -06:00
< / li >
2023-02-14 22:37:45 -06:00
< li >
2023-08-09 16:23:30 -05:00
< section class = "detail" id = "setGyroOffset(edu.wpi.first.math.geometry.Rotation3d)" >
< h3 > setGyroOffset< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setGyroOffset< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.geometry.Rotation3d offset)< / span > < / div >
2023-08-29 19:59:07 -05:00
< div class = "block" > Set the gyro scope offset to a desired known rotation. Unlike < a href = "#setGyro(edu.wpi.first.math.geometry.Rotation3d)" > < code > setGyro(Rotation3d)< / code > < / a > it DOES NOT
take the current rotation into account.< / div >
2023-08-09 16:23:30 -05:00
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > offset< / code > - < code > Rotation3d< / code > known offset of the robot for gyroscope to use.< / dd >
< / dl >
< / section >
< / li >
< li >
2023-11-09 18:54:46 -06:00
< section class = "detail" id = "addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)" >
2023-03-28 10:15:48 -05:00
< h3 > addVisionMeasurement< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > addVisionMeasurement< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.geometry.Pose2d robotPose,
double timestamp,
edu.wpi.first.math.Matrix< edu.wpi.first.math.numbers.N3,< wbr > edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)< / span > < / div >
2023-08-29 19:59:07 -05:00
< div class = "block" > Add a vision measurement to the < code > SwerveDrivePoseEstimator< / code > and update the < a href = "imu/SwerveIMU.html" title = "class in swervelib.imu" > < code > SwerveIMU< / code > < / a > gyro reading with
the given timestamp of the vision measurement.< / div >
2023-03-28 10:15:48 -05:00
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > robotPose< / code > - Robot < code > Pose2d< / code > as measured by vision.< / dd >
2023-08-29 19:59:07 -05:00
< dd > < code > timestamp< / code > - Timestamp the measurement was taken as time since startup, should be taken from
< code > Timer.getFPGATimestamp()< / code > or similar sources.< / dd >
2023-03-28 10:15:48 -05:00
< dd > < code > visionMeasurementStdDevs< / code > - Vision measurement standard deviation that will be sent to the
2023-11-09 18:54:46 -06:00
< code > SwerveDrivePoseEstimator< / code > .The standard deviation of the vision measurement,
for best accuracy calculate the standard deviation at 2 or more points and fit a
line to it with the calculated optimal standard deviation. (Units should be meters
per pixel). By optimizing this you can get * vision accurate to inches instead of
feet.< / dd >
2023-03-28 10:15:48 -05:00
< / dl >
< / section >
< / li >
< li >
2024-01-22 15:11:18 -06:00
< section class = "detail" id = "addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)" >
< h3 > addVisionMeasurement< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > addVisionMeasurement< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.geometry.Pose2d robotPose,
double timestamp)< / span > < / div >
< div class = "block" > Add a vision measurement to the < code > SwerveDrivePoseEstimator< / code > and update the < a href = "imu/SwerveIMU.html" title = "class in swervelib.imu" > < code > SwerveIMU< / code > < / a > gyro reading with
2024-01-23 20:53:17 -06:00
the given timestamp of the vision measurement.< / div >
2024-01-22 15:11:18 -06:00
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > robotPose< / code > - Robot < code > Pose2d< / code > as measured by vision.< / dd >
< dd > < code > timestamp< / code > - Timestamp the measurement was taken as time since startup, should be taken from
< code > Timer.getFPGATimestamp()< / code > or similar sources.< / dd >
< / dl >
< / section >
< / li >
< li >
2023-03-20 19:20:26 -05:00
< section class = "detail" id = "getSwerveController()" >
< h3 > getSwerveController< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > < a href = "SwerveController.html" title = "class in swervelib" > SwerveController< / a > < / span > < span class = "element-name" > getSwerveController< / span > ()< / div >
2023-08-29 19:59:07 -05:00
< div class = "block" > Helper function to get the < a href = "#swerveController" > < code > swerveController< / code > < / a > for the < a href = "SwerveDrive.html" title = "class in swervelib" > < code > SwerveDrive< / code > < / a > which can be used to
generate < code > ChassisSpeeds< / code > for the robot to orient it correctly given axis or angles, and apply
< code > SlewRateLimiter< / code > to given inputs. Important functions to look at are
2023-11-09 18:54:46 -06:00
< a href = "SwerveController.html#getTargetSpeeds(double,double,double,double,double)" > < code > SwerveController.getTargetSpeeds(double, double, double, double, double)< / code > < / a > ,
2023-08-29 19:59:07 -05:00
< a href = "SwerveController.html#addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter)" > < code > SwerveController.addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter)< / code > < / a > ,
< a href = "SwerveController.html#getRawTargetSpeeds(double,double,double)" > < code > SwerveController.getRawTargetSpeeds(double, double, double)< / code > < / a > .< / div >
2023-03-20 19:20:26 -05:00
< dl class = "notes" >
< dt > Returns:< / dt >
< dd > < a href = "SwerveController.html" title = "class in swervelib" > < code > SwerveController< / code > < / a > for the < a href = "SwerveDrive.html" title = "class in swervelib" > < code > SwerveDrive< / code > < / a > .< / dd >
< / dl >
< / section >
< / li >
< li >
< section class = "detail" id = "getModules()" >
< h3 > getModules< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > < a href = "SwerveModule.html" title = "class in swervelib" > SwerveModule< / a > []< / span > < span class = "element-name" > getModules< / span > ()< / div >
< div class = "block" > Get the < a href = "SwerveModule.html" title = "class in swervelib" > < code > SwerveModule< / code > < / a > s associated with the < a href = "SwerveDrive.html" title = "class in swervelib" > < code > SwerveDrive< / code > < / a > .< / div >
< dl class = "notes" >
< dt > Returns:< / dt >
< dd > < a href = "SwerveModule.html" title = "class in swervelib" > < code > SwerveModule< / code > < / a > array specified by configurations.< / dd >
< / dl >
< / section >
< / li >
< li >
2024-02-02 18:55:29 -06:00
< section class = "detail" id = "getModuleMap()" >
< h3 > getModuleMap< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > < a href = "https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Map.html" title = "class or interface in java.util" class = "external-link" > Map< / a > < < a href = "https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title = "class or interface in java.lang" class = "external-link" > String< / a > ,< wbr > < a href = "SwerveModule.html" title = "class in swervelib" > SwerveModule< / a > > < / span > < span class = "element-name" > getModuleMap< / span > ()< / div >
< div class = "block" > Get the < a href = "SwerveModule.html" title = "class in swervelib" > < code > SwerveModule< / code > < / a > 's as a < a href = "https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/HashMap.html" title = "class or interface in java.util" class = "external-link" > < code > HashMap< / code > < / a > where the key is the swerve module configuration name.< / div >
< dl class = "notes" >
< dt > Returns:< / dt >
< dd > < a href = "https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/HashMap.html" title = "class or interface in java.util" class = "external-link" > < code > HashMap< / code > < / a > (Module Name, SwerveModule)< / dd >
< / dl >
< / section >
< / li >
< li >
2024-01-15 14:37:13 -06:00
< section class = "detail" id = "resetDriveEncoders()" >
< h3 > resetDriveEncoders< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > resetDriveEncoders< / span > ()< / div >
2023-08-29 19:59:07 -05:00
< div class = "block" > Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in
autonomous.< / div >
2023-08-09 16:23:30 -05:00
< / section >
< / li >
< li >
2024-06-13 17:10:51 -05:00
< section class = "detail" id = "pushOffsetsToEncoders()" >
< h3 > pushOffsetsToEncoders< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > pushOffsetsToEncoders< / span > ()< / div >
2023-12-12 10:48:54 -06:00
< div class = "block" > Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type. Also removes the
internal offsets to prevent double offsetting.< / div >
< / section >
< / li >
< li >
< section class = "detail" id = "restoreInternalOffset()" >
< h3 > restoreInternalOffset< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > restoreInternalOffset< / span > ()< / div >
< div class = "block" > Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0< / div >
< / section >
< / li >
2024-02-06 16:03:08 -06:00
< li >
< section class = "detail" id = "setCosineCompensator(boolean)" >
< h3 > setCosineCompensator< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setCosineCompensator< / span > < wbr > < span class = "parameters" > (boolean enabled)< / span > < / div >
< div class = "block" > Enable or disable the < a href = "parser/SwerveModuleConfiguration.html#useCosineCompensator" > < code > SwerveModuleConfiguration.useCosineCompensator< / code > < / a > for all
< a href = "SwerveModule.html" title = "class in swervelib" > < code > SwerveModule< / code > < / a > 's in the swerve drive. The cosine compensator will slow down or speed up modules that are
close to their desired state in theory.< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > enabled< / code > - Usage of the cosine compensator.< / dd >
< / dl >
< / section >
< / li >
2024-06-13 17:10:51 -05:00
< li >
< section class = "detail" id = "setChassisDiscretization(boolean,double)" >
< h3 > setChassisDiscretization< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > void< / span > < span class = "element-name" > setChassisDiscretization< / span > < wbr > < span class = "parameters" > (boolean enable,
double dtSeconds)< / span > < / div >
< div class = "block" > Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > enable< / code > - Enable chassis velocity correction, which will use
< code > ChassisSpeeds.discretize(ChassisSpeeds, double)< / code > with the following.< / dd >
< dd > < code > dtSeconds< / code > - The duration of the timestep the speeds should be applied for.< / dd >
< / dl >
< / section >
< / li >
2023-02-13 14:37:05 -06:00
< / ul >
< / section >
< / li >
< / ul >
2023-02-14 22:03:02 -06:00
< / section >
2023-02-13 14:37:05 -06:00
<!-- ========= END OF CLASS DATA ========= -->
2023-02-14 22:03:02 -06:00
< / main >
2023-02-13 14:37:05 -06:00
< / div >
< / div >
< / body >
< / html >
