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<!-- ======== START OF CLASS DATA ======== -->
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< div class = "sub-title" > < span class = "package-label-in-type" > Package< / span > < a href = "package-summary.html" > swervelib.math< / a > < / div >
< h1 title = "Class SwerveMath" class = "title" > Class SwerveMath< / h1 >
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< / div >
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< 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.math.SwerveMath< / div >
< / div >
< section class = "class-description" id = "class-description" >
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< hr >
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< div class = "type-signature" > < span class = "modifiers" > public class < / span > < span class = "element-name type-name-label" > SwerveMath< / 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 >
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< div class = "block" > Mathematical functions which pertain to swerve drive.< / div >
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< / section >
< section class = "summary" >
< ul class = "summary-list" >
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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< h2 > Constructor Summary< / h2 >
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< div class = "table-header col-first" > Constructor< / div >
< div class = "table-header col-last" > Description< / div >
< div class = "col-constructor-name even-row-color" > < code > < a href = "#%3Cinit%3E()" class = "member-name-link" > SwerveMath< / a > ()< / code > < / div >
< div class = "col-last even-row-color" > < / div >
< / div >
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< / section >
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< / li >
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<!-- ========== METHOD SUMMARY =========== -->
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< div id = "method-summary-table" >
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< 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-tab1 method-summary-table-tab4" > < code > static double< / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > < a href = "#applyDeadband(double,boolean,double)" class = "member-name-link" > applyDeadband< / a > < wbr > (double value,
boolean scaled,
double deadband)< / code > < / div >
< div class = "col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" >
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< div class = "block" > Algebraically apply a deadband using a piece wise function.< / div >
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< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > private static double< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > < a href = "#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" class = "member-name-link" > calcMaxAccel< / a > < wbr > (edu.wpi.first.math.geometry.Rotation2d angle,
double chassisMass,
double robotMass,
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
< a href = "../parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > config)< / code > < / div >
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" >
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< div class = "block" > Calculates the maximum acceleration allowed in a direction without tipping the robot.< / div >
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< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > static double< / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > < a href = "#calculateAngleKV(double,double,double)" class = "member-name-link" > calculateAngleKV< / a > < wbr > (double optimalVoltage,
double motorFreeSpeedRPM,
double angleGearRatio)< / code > < / div >
< div class = "col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" >
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< div class = "block" > Calculate the angle kV which will be multiplied by the radians per second for the feedforward.< / div >
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< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > static double< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > < a href = "#calculateDegreesPerSteeringRotation(double,double)" class = "member-name-link" > calculateDegreesPerSteeringRotation< / a > < wbr > (double angleGearRatio,
double pulsePerRotation)< / code > < / div >
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" >
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< div class = "block" > Calculate the degrees per steering rotation for the integrated encoder.< / div >
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< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > static double< / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > < a href = "#calculateMaxAcceleration(double)" class = "member-name-link" > calculateMaxAcceleration< / a > < wbr > (double cof)< / code > < / div >
< div class = "col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" >
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< div class = "block" > Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.< / div >
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< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > static double< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > < a href = "#calculateMaxAcceleration(double,double,double,double,double)" class = "member-name-link" > calculateMaxAcceleration< / a > < wbr > (double stallTorqueNm,
double gearRatio,
double moduleCount,
double wheelDiameter,
double robotMass)< / code > < / div >
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" >
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< div class = "block" > Calculate the maximum theoretical acceleration without friction.< / div >
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< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > static double< / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > < a href = "#calculateMaxAngularVelocity(double,double,double)" class = "member-name-link" > calculateMaxAngularVelocity< / a > < wbr > (double maxSpeed,
double furthestModuleX,
double furthestModuleY)< / code > < / div >
< div class = "col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" >
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< div class = "block" > Calculate the maximum angular velocity.< / div >
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< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > static double< / code > < / div >
< div class = "col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > < a href = "#calculateMetersPerRotation(double,double,double)" class = "member-name-link" > calculateMetersPerRotation< / a > < wbr > (double wheelDiameter,
double driveGearRatio,
double pulsePerRotation)< / code > < / div >
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" >
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< div class = "block" > Calculate the meters per rotation for the integrated encoder.< / div >
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< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > static edu.wpi.first.math.geometry.Translation2d< / code > < / div >
< div class = "col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" > < code > < a href = "#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" class = "member-name-link" > limitVelocity< / a > < wbr > (edu.wpi.first.math.geometry.Translation2d commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity,
edu.wpi.first.math.geometry.Pose2d robotPose,
double loopTime,
double chassisMass,
double robotMass,
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
< a href = "../parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > config)< / code > < / div >
< div class = "col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4" >
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< div class = "block" > Limits a commanded velocity to prevent exceeding the maximum acceleration given by
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< a href = "#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" > < code > calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)< / code > < / a > .< / div >
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< / 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 >
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< / section >
< / li >
< / ul >
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< / section >
< section class = "details" >
< ul class = "details-list" >
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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< li >
< section class = "constructor-details" id = "constructor-detail" >
< h2 > Constructor Details< / h2 >
< ul class = "member-list" >
< li >
< section class = "detail" id = "<init>()" >
< h3 > SwerveMath< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "element-name" > SwerveMath< / span > ()< / div >
< / section >
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< / li >
< / ul >
< / section >
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< / li >
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<!-- ============ METHOD DETAIL ========== -->
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< li >
< section class = "method-details" id = "method-detail" >
< h2 > Method Details< / h2 >
< ul class = "member-list" >
< li >
< section class = "detail" id = "calculateAngleKV(double,double,double)" >
< h3 > calculateAngleKV< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public static< / span > < span class = "return-type" > double< / span > < span class = "element-name" > calculateAngleKV< / span > < wbr > < span class = "parameters" > (double optimalVoltage,
double motorFreeSpeedRPM,
double angleGearRatio)< / span > < / div >
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< div class = "block" > Calculate the angle kV which will be multiplied by the radians per second for the feedforward. Volt * seconds /
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degree < => (maxVolts) / (maxSpeed)< / div >
< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > optimalVoltage< / code > - Optimal voltage to use when calculating the angle kV.< / dd >
< dd > < code > motorFreeSpeedRPM< / code > - Motor free speed in Rotations per Minute.< / dd >
< dd > < code > angleGearRatio< / code > - Angle gear ratio, the amount of times the motor as to turn for the wheel rotation.< / dd >
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< dt > Returns:< / dt >
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< dd > angle kV for feedforward.< / dd >
< / dl >
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< / section >
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< / li >
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< li >
< section class = "detail" id = "calculateMetersPerRotation(double,double,double)" >
< h3 > calculateMetersPerRotation< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public static< / span > < span class = "return-type" > double< / span > < span class = "element-name" > calculateMetersPerRotation< / span > < wbr > < span class = "parameters" > (double wheelDiameter,
double driveGearRatio,
double pulsePerRotation)< / span > < / div >
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< div class = "block" > Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels * pi [circumfrence]
/ gear ratio.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > wheelDiameter< / code > - Wheel diameter in meters.< / dd >
< dd > < code > driveGearRatio< / code > - The gear ratio of the drive motor.< / dd >
< dd > < code > pulsePerRotation< / code > - The number of encoder pulses per rotation. 1 if using an integrated encoder.< / dd >
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< dt > Returns:< / dt >
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< dd > Meters per rotation for the drive motor.< / dd >
< / dl >
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< / section >
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< / li >
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< li >
< section class = "detail" id = "applyDeadband(double,boolean,double)" >
< h3 > applyDeadband< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public static< / span > < span class = "return-type" > double< / span > < span class = "element-name" > applyDeadband< / span > < wbr > < span class = "parameters" > (double value,
boolean scaled,
double deadband)< / span > < / div >
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< div class = "block" > Algebraically apply a deadband using a piece wise function.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > value< / code > - value to apply deadband to.< / dd >
< dd > < code > scaled< / code > - Use algebra to determine deadband by starting the value at 0 past deadband.< / dd >
< dd > < code > deadband< / code > - The deadbnad to apply.< / dd >
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< dt > Returns:< / dt >
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< dd > Value with deadband applied.< / dd >
< / dl >
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< / section >
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< / li >
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< li >
< section class = "detail" id = "calculateDegreesPerSteeringRotation(double,double)" >
< h3 > calculateDegreesPerSteeringRotation< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public static< / span > < span class = "return-type" > double< / span > < span class = "element-name" > calculateDegreesPerSteeringRotation< / span > < wbr > < span class = "parameters" > (double angleGearRatio,
double pulsePerRotation)< / span > < / div >
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< div class = "block" > Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts
motor rotations to linear wheel distance and steering converts motor rotations to module azimuth.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > angleGearRatio< / code > - The gear ratio of the steering motor.< / dd >
< dd > < code > pulsePerRotation< / code > - The number of pulses in a complete rotation for the encoder, 1 if integrated.< / dd >
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< dt > Returns:< / dt >
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< dd > Degrees per steering rotation for the angle motor.< / dd >
< / dl >
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< / section >
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< / li >
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< li >
< section class = "detail" id = "calculateMaxAngularVelocity(double,double,double)" >
< h3 > calculateMaxAngularVelocity< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public static< / span > < span class = "return-type" > double< / span > < span class = "element-name" > calculateMaxAngularVelocity< / span > < wbr > < span class = "parameters" > (double maxSpeed,
double furthestModuleX,
double furthestModuleY)< / span > < / div >
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< div class = "block" > Calculate the maximum angular velocity.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > maxSpeed< / code > - Max speed of the robot in meters per second.< / dd >
< dd > < code > furthestModuleX< / code > - X of the furthest module in meters.< / dd >
< dd > < code > furthestModuleY< / code > - Y of the furthest module in meters.< / dd >
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< dt > Returns:< / dt >
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< dd > Maximum angular velocity in rad/s.< / dd >
< / dl >
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< / section >
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< / li >
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< li >
< section class = "detail" id = "calculateMaxAcceleration(double)" >
< h3 > calculateMaxAcceleration< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public static< / span > < span class = "return-type" > double< / span > < span class = "element-name" > calculateMaxAcceleration< / span > < wbr > < span class = "parameters" > (double cof)< / span > < / div >
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< div class = "block" > Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > cof< / code > - Coefficient of Friction of the wheel grip tape.< / dd >
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< dt > Returns:< / dt >
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< dd > Practical maximum acceleration in m/s/s.< / dd >
< / dl >
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< / section >
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< / li >
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< li >
< section class = "detail" id = "calculateMaxAcceleration(double,double,double,double,double)" >
< h3 > calculateMaxAcceleration< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public static< / span > < span class = "return-type" > double< / span > < span class = "element-name" > calculateMaxAcceleration< / span > < wbr > < span class = "parameters" > (double stallTorqueNm,
double gearRatio,
double moduleCount,
double wheelDiameter,
double robotMass)< / span > < / div >
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< div class = "block" > Calculate the maximum theoretical acceleration without friction.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > stallTorqueNm< / code > - Stall torque of driving motor in nM.< / dd >
< dd > < code > gearRatio< / code > - Gear ratio for driving motor number of motor rotations until one wheel rotation.< / dd >
< dd > < code > moduleCount< / code > - Number of swerve modules.< / dd >
< dd > < code > wheelDiameter< / code > - Wheel diameter in meters.< / dd >
< dd > < code > robotMass< / code > - Mass of the robot in kg.< / dd >
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< dt > Returns:< / dt >
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< dd > Theoretical maximum acceleration in m/s/s.< / dd >
< / dl >
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< / section >
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< / li >
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< li >
< section class = "detail" id = "calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" >
< h3 > calcMaxAccel< / h3 >
< div class = "member-signature" > < span class = "modifiers" > private static< / span > < span class = "return-type" > double< / span > < span class = "element-name" > calcMaxAccel< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.geometry.Rotation2d angle,
double chassisMass,
double robotMass,
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
< a href = "../parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > config)< / span > < / div >
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< div class = "block" > Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from
NetworkTables and is passed the direction in question.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > angle< / code > - The direction in which to calculate max acceleration, as a Rotation2d. Note that this
is robot-relative.< / dd >
< dd > < code > chassisMass< / code > - Chassis mass in kg. (The weight of just the chassis not anything else)< / dd >
< dd > < code > robotMass< / code > - The weight of the robot in kg. (Including manipulators, etc).< / dd >
< dd > < code > chassisCenterOfGravity< / code > - Chassis center of gravity.< / dd >
< dd > < code > config< / code > - The swerve drive configuration.< / dd >
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< dt > Returns:< / dt >
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< dd > Maximum acceleration allowed in the robot direction.< / dd >
< / dl >
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< / section >
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< / li >
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< li >
< section class = "detail" id = "limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" >
< h3 > limitVelocity< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public static< / span > < span class = "return-type" > edu.wpi.first.math.geometry.Translation2d< / span > < span class = "element-name" > limitVelocity< / span > < wbr > < span class = "parameters" > (edu.wpi.first.math.geometry.Translation2d commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity,
edu.wpi.first.math.geometry.Pose2d robotPose,
double loopTime,
double chassisMass,
double robotMass,
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
< a href = "../parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > config)< / span > < / div >
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< div class = "block" > Limits a commanded velocity to prevent exceeding the maximum acceleration given by
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< a href = "#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" > < code > calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)< / code > < / a > . Note that
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this takes and returns field-relative velocities.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > commandedVelocity< / code > - The desired velocity< / dd >
< dd > < code > fieldVelocity< / code > - The velocity of the robot within a field relative state.< / dd >
< dd > < code > robotPose< / code > - The current pose of the robot.< / dd >
< dd > < code > loopTime< / code > - The time it takes to update the velocity in seconds. < b > Note: this should include the
100ms that it takes for a SparkMax velocity to update.< / b > < / dd >
< dd > < code > chassisMass< / code > - Chassis mass in kg. (The weight of just the chassis not anything else)< / dd >
< dd > < code > robotMass< / code > - The weight of the robot in kg. (Including manipulators, etc).< / dd >
< dd > < code > chassisCenterOfGravity< / code > - Chassis center of gravity.< / dd >
< dd > < code > config< / code > - The swerve drive configuration.< / dd >
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< dt > Returns:< / dt >
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< dd > The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable
velocity.< / dd >
< / dl >
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< / section >
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< / li >
< / ul >
< / section >
< / li >
< / ul >
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< / section >
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<!-- ========= END OF CLASS DATA ========= -->
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< / main >
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< / div >
< / div >
< / body >
< / html >
