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< div class = "subTitle" > < span class = "packageLabelInType" > Package< / span > < a href = "package-summary.html" > frc.robot.subsystems.swervedrive.swerve< / a > < / div >
< h2 title = "Class SwerveParser" class = "title" > Class SwerveParser< / h2 >
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< ul class = "inheritance" >
< li > java.lang.Object< / li >
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< pre > public class < span class = "typeNameLabel" > SwerveParser< / span >
extends java.lang.Object< / pre >
< div class = "block" > Swerve Drive JSON parser.< / div >
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< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E()" > SwerveParser< / a > < / span > ()< / code > < / th >
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< th class = "colFirst" scope = "col" > Modifier and Type< / th >
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< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#checkDirectory(java.io.File)" > checkDirectory< / a > < / span > ​ (java.io.File directory)< / code > < / th >
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< div class = "block" > Check directory structure.< / div >
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< td class = "colFirst" > < code > private static void< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#checkMain(com.fasterxml.jackson.databind.JsonNode)" > checkMain< / a > < / span > ​ (com.fasterxml.jackson.databind.JsonNode mainJson)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Check the main json for correct attributes.< / div >
< / td >
< / tr >
< tr id = "i2" class = "altColor" >
< td class = "colFirst" > < code > private static void< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#checkModule(com.fasterxml.jackson.databind.JsonNode)" > checkModule< / a > < / span > ​ (com.fasterxml.jackson.databind.JsonNode moduleJson)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Check module JSON config for existing values.< / div >
< / td >
< / tr >
< tr id = "i3" class = "rowColor" >
< td class = "colFirst" > < code > private static java.lang.Object< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#createEncoder(com.fasterxml.jackson.databind.JsonNode)" > createEncoder< / a > < / span > ​ (com.fasterxml.jackson.databind.JsonNode encoderConfig)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Create SwerveEncoder from JSON config.< / div >
< / td >
< / tr >
< tr id = "i4" class = "altColor" >
< td class = "colFirst" > < code > private static com.ctre.phoenix.sensors.WPI_Pigeon2< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#createGyro(com.fasterxml.jackson.databind.JsonNode)" > createGyro< / a > < / span > ​ (com.fasterxml.jackson.databind.JsonNode gyroConfig)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Create the gyro object based off the configuration.< / div >
< / td >
< / tr >
< tr id = "i5" class = "rowColor" >
< td class = "colFirst" > < code > private static < a href = "SwerveModule.html" title = "class in frc.robot.subsystems.swervedrive.swerve" > SwerveModule< / a > < ?,​ ?,​ ?> < / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#createModule(com.fasterxml.jackson.databind.JsonNode,java.io.File,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)" > createModule< / a > < / span > ​ (com.fasterxml.jackson.databind.JsonNode mainJson,
java.io.File moduleFile,
< a href = "SwerveModule.SwerveModuleLocation.html" title = "enum in frc.robot.subsystems.swervedrive.swerve" > SwerveModule.SwerveModuleLocation< / a > moduleLocation)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Create SwerveModule from JSON configuration file.< / div >
< / td >
< / tr >
< tr id = "i6" class = "altColor" >
< td class = "colFirst" > < code > private static edu.wpi.first.wpilibj.motorcontrol.MotorController< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#createMotor(com.fasterxml.jackson.databind.JsonNode)" > createMotor< / a > < / span > ​ (com.fasterxml.jackson.databind.JsonNode motorConfig)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Create the motor controller based off the config.< / div >
< / td >
< / tr >
< tr id = "i7" class = "rowColor" >
< td class = "colFirst" > < code > static < a href = "SwerveDrive.html" title = "class in frc.robot.subsystems.swervedrive.swerve" > SwerveDrive< / a > < / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#fromJSONDirectory(java.io.File)" > fromJSONDirectory< / a > < / span > ​ (java.io.File directory)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Create SwerveDrive from JSON configuration directory.< / div >
< / td >
< / tr >
< tr id = "i8" class = "altColor" >
< td class = "colFirst" > < code > private static com.fasterxml.jackson.databind.JsonNode< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#openJson(java.io.File)" > openJson< / a > < / span > ​ (java.io.File file)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Open JSON file.< / div >
< / td >
< / tr >
< tr id = "i9" class = "rowColor" >
< td class = "colFirst" > < code > private static void< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#setModulePIDF(frc.robot.subsystems.swervedrive.swerve.SwerveMotor,com.fasterxml.jackson.databind.JsonNode)" > setModulePIDF< / a > < / span > ​ (< a href = "SwerveMotor.html" title = "class in frc.robot.subsystems.swervedrive.swerve" > SwerveMotor< / a > motor,
com.fasterxml.jackson.databind.JsonNode jsonPIDF)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Set the PIDF for the module if the given JSON has the paramters.< / div >
< / td >
< / tr >
< / table >
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< h4 > SwerveParser< / h4 >
< pre > public SwerveParser()< / pre >
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< h4 > openJson< / h4 >
< pre class = "methodSignature" > private static com.fasterxml.jackson.databind.JsonNode openJson​ (java.io.File file)< / pre >
< div class = "block" > Open JSON file.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > file< / code > - JSON File to open.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > JsonNode of file.< / dd >
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< h4 > checkDirectory< / h4 >
< pre class = "methodSignature" > private static void checkDirectory​ (java.io.File directory)< / pre >
< div class = "block" > Check directory structure.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > directory< / code > - JSON Configuration Directory< / dd >
< / dl >
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< a id = "createMotor(com.fasterxml.jackson.databind.JsonNode)" >
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< h4 > createMotor< / h4 >
< pre class = "methodSignature" > private static edu.wpi.first.wpilibj.motorcontrol.MotorController createMotor​ (com.fasterxml.jackson.databind.JsonNode motorConfig)< / pre >
< div class = "block" > Create the motor controller based off the config.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > motorConfig< / code > - JSON Motor config object.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > Motor Controller< / dd >
< / dl >
< / li >
< / ul >
< a id = "createEncoder(com.fasterxml.jackson.databind.JsonNode)" >
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< h4 > createEncoder< / h4 >
< pre class = "methodSignature" > private static java.lang.Object createEncoder​ (com.fasterxml.jackson.databind.JsonNode encoderConfig)< / pre >
< div class = "block" > Create SwerveEncoder from JSON config.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > encoderConfig< / code > - Swerve Encoder JSON config.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > SwerveEncoder< / dd >
< / dl >
< / li >
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< a id = "createGyro(com.fasterxml.jackson.databind.JsonNode)" >
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< h4 > createGyro< / h4 >
< pre class = "methodSignature" > private static com.ctre.phoenix.sensors.WPI_Pigeon2 createGyro​ (com.fasterxml.jackson.databind.JsonNode gyroConfig)< / pre >
< div class = "block" > Create the gyro object based off the configuration.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > gyroConfig< / code > - Gyro configuration.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > Gyro object.< / dd >
< / dl >
< / li >
< / ul >
< a id = "checkModule(com.fasterxml.jackson.databind.JsonNode)" >
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< ul class = "blockList" >
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< h4 > checkModule< / h4 >
< pre class = "methodSignature" > private static void checkModule​ (com.fasterxml.jackson.databind.JsonNode moduleJson)< / pre >
< div class = "block" > Check module JSON config for existing values.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > moduleJson< / code > - Module JSON object.< / dd >
< / dl >
< / li >
< / ul >
< a id = "checkMain(com.fasterxml.jackson.databind.JsonNode)" >
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< h4 > checkMain< / h4 >
< pre class = "methodSignature" > private static void checkMain​ (com.fasterxml.jackson.databind.JsonNode mainJson)< / pre >
< div class = "block" > Check the main json for correct attributes.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > mainJson< / code > - Main JSON.< / dd >
< / dl >
< / li >
< / ul >
< a id = "createModule(com.fasterxml.jackson.databind.JsonNode,java.io.File,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)" >
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< / a >
< ul class = "blockList" >
< li class = "blockList" >
< h4 > createModule< / h4 >
< pre class = "methodSignature" > private static < a href = "SwerveModule.html" title = "class in frc.robot.subsystems.swervedrive.swerve" > SwerveModule< / a > < ?,​ ?,​ ?> createModule​ (com.fasterxml.jackson.databind.JsonNode mainJson,
java.io.File moduleFile,
< a href = "SwerveModule.SwerveModuleLocation.html" title = "enum in frc.robot.subsystems.swervedrive.swerve" > SwerveModule.SwerveModuleLocation< / a > moduleLocation)< / pre >
< div class = "block" > Create SwerveModule from JSON configuration file.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > mainJson< / code > - Main JSON to pull from.< / dd >
< dd > < code > moduleFile< / code > - Module specific JSON data to pull from.< / dd >
< dd > < code > moduleLocation< / code > - Swerve module location that is being created.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > SwerveModule< / dd >
< / dl >
< / li >
< / ul >
< a id = "setModulePIDF(frc.robot.subsystems.swervedrive.swerve.SwerveMotor,com.fasterxml.jackson.databind.JsonNode)" >
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< / a >
< ul class = "blockList" >
< li class = "blockList" >
< h4 > setModulePIDF< / h4 >
< pre class = "methodSignature" > private static void setModulePIDF​ (< a href = "SwerveMotor.html" title = "class in frc.robot.subsystems.swervedrive.swerve" > SwerveMotor< / a > motor,
com.fasterxml.jackson.databind.JsonNode jsonPIDF)< / pre >
< div class = "block" > Set the PIDF for the module if the given JSON has the paramters.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > motor< / code > - Motor to configure.< / dd >
< dd > < code > jsonPIDF< / code > - JSON ndoe with values.< / dd >
< / dl >
< / li >
< / ul >
< a id = "fromJSONDirectory(java.io.File)" >
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< ul class = "blockListLast" >
< li class = "blockList" >
< h4 > fromJSONDirectory< / h4 >
< pre class = "methodSignature" > public static < a href = "SwerveDrive.html" title = "class in frc.robot.subsystems.swervedrive.swerve" > SwerveDrive< / a > fromJSONDirectory​ (java.io.File directory)< / pre >
< div class = "block" > Create SwerveDrive from JSON configuration directory.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > directory< / code > - JSON Configuration directory.< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > SwerveDrive< / dd >
< / dl >
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< / ul >
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