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<h2 title="Class SwerveParser" class="title">Class SwerveParser</h2>
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<li>swervelib.parser.SwerveParser</li>
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<pre>public class <span class="typeNameLabel">SwerveParser</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="block">Helper class used to parse the JSON directory with specified configuration options.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<td class="colFirst"><code>static <a href="json/ControllerPropertiesJson.html" title="class in swervelib.parser.json">ControllerPropertiesJson</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#controllerPropertiesJson">controllerPropertiesJson</a></span></code></th>
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<div class="block">Parsed controllerproperties.json</div>
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<td class="colFirst"><code>private static <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/HashMap.html?is-external=true" title="class or interface in java.util" class="externalLink">HashMap</a>&lt;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>,&#8203;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Integer.html?is-external=true" title="class or interface in java.lang" class="externalLink">Integer</a>&gt;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleConfigs">moduleConfigs</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<td class="colFirst"><code>static <a href="json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a>[]</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleJsons">moduleJsons</a></span></code></th>
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<div class="block">Array holding the module jsons given in <a href="json/SwerveDriveJson.html" title="class in swervelib.parser.json"><code>SwerveDriveJson</code></a>.</div>
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<td class="colFirst"><code>static <a href="json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#physicalPropertiesJson">physicalPropertiesJson</a></span></code></th>
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<div class="block">Parsed modules/physicalproperties.json</div>
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<td class="colFirst"><code>static <a href="json/PIDFPropertiesJson.html" title="class in swervelib.parser.json">PIDFPropertiesJson</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#pidfPropertiesJson">pidfPropertiesJson</a></span></code></th>
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<div class="block">Parsed modules/pidfproperties.json</div>
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<td class="colFirst"><code>static <a href="json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveDriveJson">swerveDriveJson</a></span></code></th>
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<div class="block">Parsed swervedrive.json</div>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(java.io.File)">SwerveParser</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a>&nbsp;directory)</code></th>
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<div class="block">Construct a swerve parser.</div>
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<td class="colFirst"><code>private void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkDirectory(java.io.File)">checkDirectory</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a>&nbsp;directory)</code></th>
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<div class="block">Check directory structure.</div>
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<td class="colFirst"><code><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createSwerveDrive()">createSwerveDrive</a></span>()</code></th>
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<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
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<td class="colFirst"><code>static <a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getModuleConfigurationByName(java.lang.String,swervelib.parser.SwerveDriveConfiguration)">getModuleConfigurationByName</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name,
<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</code></th>
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<div class="block">Get the swerve module by the json name.</div>
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<td class="colFirst"><code>private com.fasterxml.jackson.databind.JsonNode</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#openJson(java.io.File)">openJson</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a>&nbsp;file)</code></th>
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<div class="block">Open JSON file.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<pre>private static final&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/HashMap.html?is-external=true" title="class or interface in java.util" class="externalLink">HashMap</a>&lt;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>,&#8203;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Integer.html?is-external=true" title="class or interface in java.lang" class="externalLink">Integer</a>&gt; moduleConfigs</pre>
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<pre>public static&nbsp;<a href="json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a> swerveDriveJson</pre>
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<div class="block">Parsed swervedrive.json</div>
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<pre>public static&nbsp;<a href="json/ControllerPropertiesJson.html" title="class in swervelib.parser.json">ControllerPropertiesJson</a> controllerPropertiesJson</pre>
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<div class="block">Parsed controllerproperties.json</div>
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<pre>public static&nbsp;<a href="json/PIDFPropertiesJson.html" title="class in swervelib.parser.json">PIDFPropertiesJson</a> pidfPropertiesJson</pre>
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<div class="block">Parsed modules/pidfproperties.json</div>
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<pre>public static&nbsp;<a href="json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a> physicalPropertiesJson</pre>
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<div class="block">Parsed modules/physicalproperties.json</div>
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<pre>public static&nbsp;<a href="json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a>[] moduleJsons</pre>
<div class="block">Array holding the module jsons given in <a href="json/SwerveDriveJson.html" title="class in swervelib.parser.json"><code>SwerveDriveJson</code></a>.</div>
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<pre>public&nbsp;SwerveParser&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a>&nbsp;directory)
throws <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/IOException.html?is-external=true" title="class or interface in java.io" class="externalLink">IOException</a></pre>
<div class="block">Construct a swerve parser. Will throw an error if there is a missing file.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>directory</code> - Directory with swerve configurations.</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/IOException.html?is-external=true" title="class or interface in java.io" class="externalLink">IOException</a></code></dd>
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<h4>getModuleConfigurationByName</h4>
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<pre class="methodSignature">public static&nbsp;<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;getModuleConfigurationByName&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name,
<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</pre>
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<div class="block">Get the swerve module by the json name.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - JSON name.</dd>
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<dd><code>driveConfiguration</code> - <a href="SwerveDriveConfiguration.html" title="class in swervelib.parser"><code>SwerveDriveConfiguration</code></a> to pull from.</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd><a href="SwerveModuleConfiguration.html" title="class in swervelib.parser"><code>SwerveModuleConfiguration</code></a> based on the file.</dd>
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<h4>openJson</h4>
<pre class="methodSignature">private&nbsp;com.fasterxml.jackson.databind.JsonNode&nbsp;openJson&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a>&nbsp;file)</pre>
<div class="block">Open JSON file.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>file</code> - JSON File to open.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>JsonNode of file.</dd>
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<h4>checkDirectory</h4>
<pre class="methodSignature">private&nbsp;void&nbsp;checkDirectory&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a>&nbsp;directory)</pre>
<div class="block">Check directory structure.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>directory</code> - JSON Configuration Directory</dd>
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<h4>createSwerveDrive</h4>
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<pre class="methodSignature">public&nbsp;<a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;createSwerveDrive()</pre>
<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd><a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> instance.</dd>
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