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<!-- ======== START OF CLASS DATA ======== -->
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< div class = "header" >
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< 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 >
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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.SwerveDrive< / 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" > 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 >
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< div class = "block" > Swerve Drive class representing and controlling the swerve drive.< / div >
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< / section >
< section class = "summary" >
< ul class = "summary-list" >
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<!-- =========== FIELD SUMMARY =========== -->
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< 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 >
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< 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 >
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< div class = "col-last even-row-color" >
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< div class = "block" > Field object.< / div >
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< / div >
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< 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 >
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< div class = "col-last odd-row-color" >
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< div class = "block" > Swerve IMU device for sensing the heading of the robot.< / div >
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< / div >
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< div class = "col-first even-row-color" > < code > final < a href = "math/SwerveKinematics2.html" title = "class in swervelib.math" > SwerveKinematics2< / a > < / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#kinematics" class = "member-name-link" > kinematics< / a > < / code > < / div >
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< div class = "col-last even-row-color" >
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< div class = "block" > Swerve Kinematics object utilizing second order kinematics.< / div >
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< / div >
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< div class = "col-first odd-row-color" > < code > private double< / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#lastHeadingRadians" class = "member-name-link" > lastHeadingRadians< / a > < / code > < / div >
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< div class = "col-last odd-row-color" >
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< div class = "block" > The last heading set in radians.< / div >
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< / div >
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< 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 >
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< div class = "col-last even-row-color" >
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< div class = "block" > Counter to synchronize the modules relative encoder with absolute encoder when not moving.< / div >
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< / div >
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< 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 >
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< div class = "col-last odd-row-color" >
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< div class = "block" > Simulation of the swerve drive.< / div >
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< / div >
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< div class = "col-first even-row-color" > < code > edu.wpi.first.math.Matrix< edu.wpi.first.math.numbers.N3,< wbr > edu.wpi.first.math.numbers.N1> < / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#stateStdDevs" class = "member-name-link" > stateStdDevs< / a > < / code > < / div >
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< div class = "col-last even-row-color" >
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< div class = "block" > Trustworthiness of the internal model of how motors should be moving Measured in expected standard deviation
(meters of position and degrees of rotation)< / div >
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< / div >
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< div class = "col-first odd-row-color" > < code > < a href = "SwerveController.html" title = "class in swervelib" > SwerveController< / a > < / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#swerveController" class = "member-name-link" > swerveController< / a > < / code > < / div >
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< div class = "col-last odd-row-color" >
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< div class = "block" > Swerve controller for controlling heading of the robot.< / div >
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< / div >
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< div class = "col-first even-row-color" > < code > final < a href = "parser/SwerveDriveConfiguration.html" title = "class in swervelib.parser" > SwerveDriveConfiguration< / a > < / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#swerveDriveConfiguration" class = "member-name-link" > swerveDriveConfiguration< / a > < / code > < / div >
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< div class = "col-last even-row-color" >
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< div class = "block" > Swerve drive configuration.< / div >
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< / div >
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< div class = "col-first odd-row-color" > < code > final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator< / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#swerveDrivePoseEstimator" class = "member-name-link" > swerveDrivePoseEstimator< / a > < / code > < / div >
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< div class = "col-last odd-row-color" >
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< div class = "block" > Swerve odometry.< / div >
< / div >
< div class = "col-first even-row-color" > < code > private final < a href = "SwerveModule.html" title = "class in swervelib" > SwerveModule< / a > []< / code > < / div >
< div class = "col-second even-row-color" > < code > < a href = "#swerveModules" class = "member-name-link" > swerveModules< / a > < / code > < / div >
< div class = "col-last even-row-color" >
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< div class = "block" > Swerve modules.< / div >
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< / div >
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< div class = "col-first odd-row-color" > < code > edu.wpi.first.math.Matrix< edu.wpi.first.math.numbers.N3,< wbr > edu.wpi.first.math.numbers.N1> < / code > < / div >
< div class = "col-second odd-row-color" > < code > < a href = "#visionMeasurementStdDevs" class = "member-name-link" > visionMeasurementStdDevs< / a > < / code > < / div >
< div class = "col-last odd-row-color" >
< div class = "block" > Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of
rotation)< / div >
< / div >
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< / div >
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< / section >
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< / li >
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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< 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 >
< div class = "col-constructor-name even-row-color" > < code > < a href = "#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.SwerveControllerConfiguration)" 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)< / code > < / div >
< div class = "col-last even-row-color" >
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< div class = "block" > Creates a new swerve drivebase subsystem.< / div >
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< / div >
< / div >
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< / section >
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< / li >
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<!-- ========== METHOD SUMMARY =========== -->
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< 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 >
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< 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,boolean,double)" class = "member-name-link" > addVisionMeasurement< / a > < wbr > (edu.wpi.first.math.geometry.Pose2d robotPose,
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double timestamp,
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boolean soft,
double trustWorthiness)< / code > < / div >
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< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< 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 >
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< / 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,
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double rotation,
boolean fieldRelative,
boolean isOpenLoop)< / code > < / div >
< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > The primary method for controlling the drivebase.< / div >
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< / div >
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< 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,boolean)" class = "member-name-link" > drive< / a > < wbr > (edu.wpi.first.math.geometry.Translation2d translation,
double rotation,
boolean fieldRelative,
boolean isOpenLoop,
boolean headingCorrection)< / code > < / div >
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< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > The primary method for controlling the drivebase.< / div >
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< / div >
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< 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 = "#getFieldVelocity()" class = "member-name-link" > getFieldVelocity< / a > ()< / code > < / div >
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< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Gets the current field-relative velocity (x, y and omega) of the robot< / div >
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< / div >
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< 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 >
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< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Gets the current gyro < code > Rotation3d< / code > of the robot, as reported by the imu.< / div >
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< / div >
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< div class = "col-first odd-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 odd-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 >
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< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Gets the current module positions (azimuth and wheel position (meters))< / div >
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< / div >
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< 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 = "#getPitch()" class = "member-name-link" > getPitch< / a > ()< / code > < / div >
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< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Gets the current pitch angle of the robot, as reported by the imu.< / div >
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< / div >
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< 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 = "#getPose()" class = "member-name-link" > getPose< / a > ()< / code > < / div >
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< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Gets the current pose (position and rotation) of the robot, as reported by odometry.< / div >
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< / div >
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< 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 = "#getRobotVelocity()" class = "member-name-link" > getRobotVelocity< / a > ()< / code > < / div >
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< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Gets the current robot-relative velocity (x, y and omega) of the robot< / div >
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< / div >
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< 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 = "#getRoll()" class = "member-name-link" > getRoll< / a > ()< / code > < / div >
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< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Gets the current roll angle of the robot, as reported by the imu.< / div >
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< / div >
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< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "math/SwerveModuleState2.html" title = "class in swervelib.math" > SwerveModuleState2< / a > []< / code > < / div >
< div class = "col-second even-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 >
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< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Gets the current module states (azimuth and velocity)< / div >
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< / div >
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< 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 >
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< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Get the swerve module poses and on the field relative to the robot.< / div >
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< / div >
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< 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 >
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< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Gets the current yaw angle of the robot, as reported by the imu.< / div >
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< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
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< 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 >
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< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Point all modules toward the robot center, thus making the robot very difficult to move.< / div >
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< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
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< 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 >
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< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Post the trajectory to the field< / div >
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< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
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< div class = "col-second odd-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 feedforward)< / code > < / div >
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< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Setup the swerve module feedforward.< / div >
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< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
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< 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 >
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< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Resets odometry to the given pose.< / div >
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< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
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< div class = "col-second odd-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 >
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< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Set chassis speeds with closed-loop velocity control.< / div >
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< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
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< div class = "col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > < a href = "#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class = "member-name-link" > setModuleStates< / a > < wbr > (< a href = "math/SwerveModuleState2.html" title = "class in swervelib.math" > SwerveModuleState2< / a > [] desiredStates,
boolean isOpenLoop)< / code > < / div >
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< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Set the module states (azimuth and velocity) directly.< / div >
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< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
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< 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 >
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< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Sets the drive motors to brake/coast mode.< / div >
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< / div >
< div class = "col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
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< div class = "col-second even-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 >
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< div class = "col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< div class = "block" > Synchronize angle motor integrated encoders with data from absolute encoders.< / div >
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< / div >
< div class = "col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" > < code > void< / code > < / div >
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< 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 >
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< div class = "col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4" >
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< 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" >
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< div class = "block" > Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.< / 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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<!-- ============ FIELD DETAIL =========== -->
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< 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 >
< div class = "member-signature" > < span class = "modifiers" > public final< / span > < span class = "return-type" > < a href = "math/SwerveKinematics2.html" title = "class in swervelib.math" > SwerveKinematics2< / a > < / span > < span class = "element-name" > kinematics< / span > < / div >
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< div class = "block" > Swerve Kinematics object utilizing second order kinematics.< / div >
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< / section >
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< / li >
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< 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 >
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< div class = "block" > Swerve drive configuration.< / div >
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< / section >
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< / li >
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< li >
< section class = "detail" id = "swerveDrivePoseEstimator" >
< h3 > swerveDrivePoseEstimator< / h3 >
< 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 >
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< div class = "block" > Swerve odometry.< / div >
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< / section >
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< / li >
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< li >
< 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 >
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< div class = "block" > Swerve modules.< / div >
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< / section >
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< / li >
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< li >
< 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 >
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< div class = "block" > Field object.< / div >
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< / section >
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< / li >
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< 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 >
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< div class = "block" > Swerve controller for controlling heading of the robot.< / div >
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< / section >
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< / li >
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< li >
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< section class = "detail" id = "stateStdDevs" >
< h3 > stateStdDevs< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.Matrix< edu.wpi.first.math.numbers.N3,< wbr > edu.wpi.first.math.numbers.N1> < / span > < span class = "element-name" > stateStdDevs< / span > < / div >
< div class = "block" > Trustworthiness of the internal model of how motors should be moving Measured in expected standard deviation
(meters of position and degrees of rotation)< / div >
< / section >
< / li >
< li >
< section class = "detail" id = "visionMeasurementStdDevs" >
< h3 > visionMeasurementStdDevs< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > edu.wpi.first.math.Matrix< edu.wpi.first.math.numbers.N3,< wbr > edu.wpi.first.math.numbers.N1> < / span > < span class = "element-name" > visionMeasurementStdDevs< / span > < / div >
< div class = "block" > Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of
rotation)< / div >
< / section >
< / li >
< li >
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< 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 >
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< div class = "block" > Swerve IMU device for sensing the heading of the robot.< / div >
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< / section >
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< / li >
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< li >
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< 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 >
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< / section >
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< / li >
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< li >
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< 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 >
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< / section >
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< / li >
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< 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 >
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< / ul >
< / section >
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< / li >
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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>(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.SwerveControllerConfiguration)" >
< 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,
< a href = "parser/SwerveControllerConfiguration.html" title = "class in swervelib.parser" > SwerveControllerConfiguration< / a > controllerConfig)< / span > < / div >
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< div class = "block" > Creates a new swerve drivebase subsystem. Robot is controlled via the < a href = "#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)" > < code > drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)< / code > < / a > method, or via the
< a href = "#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" > < code > setModuleStates(swervelib.math.SwerveModuleState2[], boolean)< / code > < / a > method. The < a href = "#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)" > < code > drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)< / code > < / a > method incorporates kinematics-- it takes
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a translation and rotation, as well as parameters for field-centric and closed-loop velocity control.
< a href = "#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" > < code > setModuleStates(swervelib.math.SwerveModuleState2[], boolean)< / code > < / a > takes a list of SwerveModuleStates and directly passes them to the modules.
This subsystem also handles odometry.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
< 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 >
< dd > < code > controllerConfig< / code > - The < a href = "parser/SwerveControllerConfiguration.html" title = "class in swervelib.parser" > < code > SwerveControllerConfiguration< / code > < / a > to use when creating the
< a href = "SwerveController.html" title = "class in swervelib" > < code > SwerveController< / code > < / a > .< / dd >
< / dl >
< / 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 = "drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)" >
< 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)< / span > < / div >
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< div class = "block" > The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, and calculates and
commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
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velocities. Also has field- and robot-relative modes, which affect how the translation vector is used. This method
defaults to no heading correction.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< 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
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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
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relativity.< / dd >
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< dd > < code > fieldRelative< / code > - Drive mode. True for field-relative, false for robot-relative.< / dd >
< dd > < code > isOpenLoop< / code > - Whether to use closed-loop velocity control. Set to true to disable closed-loop.< / dd >
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< / dl >
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< / section >
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< / li >
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< li >
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< section class = "detail" id = "drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean,boolean)" >
< 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,
boolean headingCorrection)< / span > < / div >
< div class = "block" > The primary method for controlling the drivebase. Takes a Translation2d 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 >
< dd > < code > isOpenLoop< / code > - Whether to use closed-loop velocity control. Set to true to disable closed-loop.< / dd >
< dd > < code > headingCorrection< / code > - Whether to correct heading when driving translationally. Set to true to enable.< / dd >
< / dl >
< / section >
< / li >
< li >
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< section class = "detail" id = "setModuleStates(swervelib.math.SwerveModuleState2[],boolean)" >
< h3 > setModuleStates< / h3 >
< 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" > (< a href = "math/SwerveModuleState2.html" title = "class in swervelib.math" > SwerveModuleState2< / a > [] desiredStates,
boolean isOpenLoop)< / span > < / div >
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< div class = "block" > Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > desiredStates< / code > - A list of SwerveModuleStates to send to the modules.< / dd >
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< dd > < code > isOpenLoop< / code > - Whether to use closed-loop velocity control. Set to true to disable closed-loop.< / dd >
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< / dl >
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< / section >
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< / li >
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< 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 >
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< div class = "block" > Set chassis speeds with closed-loop velocity control.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > chassisSpeeds< / code > - Chassis speeds to set.< / dd >
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< / dl >
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< / section >
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< / li >
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< 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 >
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< div class = "block" > Gets the current pose (position and rotation) of the robot, as reported by odometry.< / div >
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< dl class = "notes" >
< dt > Returns:< / dt >
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< dd > The robot's pose< / dd >
< / dl >
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< / section >
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< / li >
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< 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 >
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< div class = "block" > Gets the current field-relative velocity (x, y and omega) of the robot< / div >
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< dl class = "notes" >
< dt > Returns:< / dt >
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< dd > A ChassisSpeeds object of the current field-relative velocity< / dd >
< / dl >
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< / section >
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< / li >
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< 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 >
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< div class = "block" > Gets the current robot-relative velocity (x, y and omega) of the robot< / div >
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< dl class = "notes" >
< dt > Returns:< / dt >
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< dd > A ChassisSpeeds object of the current robot-relative velocity< / dd >
< / dl >
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< / section >
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< / li >
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< 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 >
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< div class = "block" > Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this
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method. However, if either gyro angle or module position is reset, this must be called in order for odometry to
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keep working.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > pose< / code > - The pose to set the odometry to< / dd >
< / dl >
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< / section >
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< / li >
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< li >
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< 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 >
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< section class = "detail" id = "getStates()" >
< h3 > getStates< / h3 >
< div class = "member-signature" > < span class = "modifiers" > public< / span > < span class = "return-type" > < a href = "math/SwerveModuleState2.html" title = "class in swervelib.math" > SwerveModuleState2< / a > []< / span > < span class = "element-name" > getStates< / span > ()< / div >
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< div class = "block" > Gets the current module states (azimuth and velocity)< / div >
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< dl class = "notes" >
< dt > Returns:< / dt >
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< dd > A list of SwerveModuleStates containing the current module states< / dd >
< / dl >
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< / section >
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< / li >
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< 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 >
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< div class = "block" > Gets the current module positions (azimuth and wheel position (meters))< / div >
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< dl class = "notes" >
< dt > Returns:< / dt >
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< dd > A list of SwerveModulePositions containg the current module positions< / dd >
< / dl >
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< / section >
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< / li >
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< li >
< 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 >
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< div class = "block" > Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.< / div >
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< / section >
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< / li >
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< 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 >
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< div class = "block" > Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.< / div >
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< dl class = "notes" >
< dt > Returns:< / dt >
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< dd > The yaw as a < code > Rotation2d< / code > angle< / dd >
< / dl >
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< / section >
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< / li >
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< 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 >
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< dd > The heading as a < code > Rotation2d< / code > angle< / dd >
< / dl >
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< / section >
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< / li >
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< 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 >
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< div class = "block" > Gets the current gyro < code > Rotation3d< / code > of the robot, as reported by the imu.< / div >
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< dl class = "notes" >
< dt > Returns:< / dt >
< dd > The heading as a < code > Rotation3d< / code > angle< / dd >
< / dl >
< / section >
< / li >
< li >
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< 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 >
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< div class = "block" > Sets the drive motors to brake/coast mode.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > brake< / code > - True to set motors to brake mode, false for coast.< / dd >
< / dl >
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< / section >
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< / li >
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< li >
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< 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 >
< 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 >
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< / section >
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< / li >
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< 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 >
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< div class = "block" > Get the swerve module poses and on the field relative to the robot.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > robotPose< / code > - Robot pose.< / dd >
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< dt > Returns:< / dt >
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< dd > Swerve module poses.< / dd >
< / dl >
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< / section >
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< / li >
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< li >
< section class = "detail" id = "replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" >
< h3 > replaceSwerveModuleFeedforward< / h3 >
< 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 feedforward)< / span > < / div >
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< div class = "block" > Setup the swerve module feedforward.< / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
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< dd > < code > feedforward< / code > - Feedforward for the drive motor on swerve modules.< / dd >
< / dl >
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< / section >
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< / li >
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< 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 >
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< 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 >
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< / section >
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< / li >
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< 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 >
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< / li >
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< li >
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< section class = "detail" id = "addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean,double)" >
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< 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,
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double timestamp,
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boolean soft,
double trustWorthiness)< / span > < / div >
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< 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. < b > THIS WILL BREAK IF UPDATED TOO OFTEN.< / b > < / div >
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< dl class = "notes" >
< dt > Parameters:< / dt >
< dd > < code > robotPose< / code > - Robot < code > Pose2d< / code > as measured by vision.< / dd >
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< dd > < code > timestamp< / code > - Timestamp the measurement was taken as time since startup, should be taken from
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< code > Timer.getFPGATimestamp()< / code > or similar sources.< / dd >
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< dd > < code > soft< / code > - Add vision estimate using the
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< code > SwerveDrivePoseEstimator.addVisionMeasurement(Pose2d, double)< / code > function, or hard
reset odometry with the given position with
< code > SwerveDriveOdometry.resetPosition(Rotation2d, SwerveModulePosition[], Pose2d)< / code > .< / dd >
< dd > < code > trustWorthiness< / code > - Trust level of vision reading when using a soft measurement, used to multiply the standard
deviation. Set to 1 for full trust.< / dd >
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< / dl >
< / section >
< / li >
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< / 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 >
