Updated to 2024.4.8.8

2026-07-05 07:31:41 +00:00 · 2024-06-13 17:10:51 -05:00
parent d308949806
commit 073ba711e0
112 changed files with 611 additions and 411 deletions
--- a/docs/swervelib/SwerveDrive.html
+++ b/docs/swervelib/SwerveDrive.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Wed Feb 28 13:21:31 CST 2024 -->
+<!-- Generated by javadoc (17) on Thu Jun 13 17:09:44 CDT 2024 -->
 <title>SwerveDrive</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2024-02-28">
+<meta name="dc.created" content="2024-06-13">
 <meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
 <meta name="generator" content="javadoc/ClassWriterImpl">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -107,89 +107,94 @@ loadScripts(document, 'script');</script>
 <div class="block">Correct chassis velocity in <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(Translation2d, double, boolean, boolean)</code></a> using 254's
 correction.</div>
 </div>
-<div class="col-first odd-row-color"><code>edu.wpi.first.wpilibj.smartdashboard.Field2d</code></div>
-<div class="col-second odd-row-color"><code><a href="#field" class="member-name-link">field</a></code></div>
+<div class="col-first odd-row-color"><code>private double</code></div>
+<div class="col-second odd-row-color"><code><a href="#discretizationdtSeconds" class="member-name-link">discretizationdtSeconds</a></code></div>
 <div class="col-last odd-row-color">
+<div class="block">Amount of seconds the duration of the timestep the speeds should be applied for.</div>
+</div>
+<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>
+<div class="col-last even-row-color">
 <div class="block">Field object.</div>
 </div>
-<div class="col-first even-row-color"><code>private double</code></div>
-<div class="col-second even-row-color"><code><a href="#HEADING_CORRECTION_DEADBAND" class="member-name-link">HEADING_CORRECTION_DEADBAND</a></code></div>
-<div class="col-last even-row-color">
+<div class="col-first odd-row-color"><code>private double</code></div>
+<div class="col-second odd-row-color"><code><a href="#HEADING_CORRECTION_DEADBAND" class="member-name-link">HEADING_CORRECTION_DEADBAND</a></code></div>
+<div class="col-last odd-row-color">
 <div class="block">Deadband for speeds in heading correction.</div>
 </div>
-<div class="col-first odd-row-color"><code>boolean</code></div>
-<div class="col-second odd-row-color"><code><a href="#headingCorrection" class="member-name-link">headingCorrection</a></code></div>
-<div class="col-last odd-row-color">
+<div class="col-first even-row-color"><code>boolean</code></div>
+<div class="col-second even-row-color"><code><a href="#headingCorrection" class="member-name-link">headingCorrection</a></code></div>
+<div class="col-last even-row-color">
 <div class="block">Whether to correct heading when driving translationally.</div>
 </div>
-<div class="col-first even-row-color"><code>private <a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
-<div class="col-second even-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
-<div class="col-last even-row-color">
+<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>
+<div class="col-last odd-row-color">
 <div class="block">Swerve IMU device for sensing the heading of the robot.</div>
 </div>
-<div class="col-first odd-row-color"><code>final <a href="parser/Cache.html" title="class in swervelib.parser">Cache</a>&lt;edu.wpi.first.math.geometry.Rotation3d&gt;</code></div>
-<div class="col-second odd-row-color"><code><a href="#imuReadingCache" class="member-name-link">imuReadingCache</a></code></div>
-<div class="col-last odd-row-color">
+<div class="col-first even-row-color"><code>final <a href="parser/Cache.html" title="class in swervelib.parser">Cache</a>&lt;edu.wpi.first.math.geometry.Rotation3d&gt;</code></div>
+<div class="col-second even-row-color"><code><a href="#imuReadingCache" class="member-name-link">imuReadingCache</a></code></div>
+<div class="col-last even-row-color">
 <div class="block">IMU reading cache for robot readings.</div>
 </div>
-<div class="col-first even-row-color"><code>final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
-<div class="col-second even-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
-<div class="col-last even-row-color">
+<div class="col-first odd-row-color"><code>final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
+<div class="col-second odd-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
+<div class="col-last odd-row-color">
 <div class="block">Swerve Kinematics object.</div>
 </div>
-<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>
-<div class="col-last odd-row-color">
+<div class="col-first even-row-color"><code>private double</code></div>
+<div class="col-second even-row-color"><code><a href="#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a></code></div>
+<div class="col-last even-row-color">
 <div class="block">The last heading set in radians.</div>
 </div>
-<div class="col-first even-row-color"><code>private double</code></div>
-<div class="col-second even-row-color"><code><a href="#maxSpeedMPS" class="member-name-link">maxSpeedMPS</a></code></div>
-<div class="col-last even-row-color">
+<div class="col-first odd-row-color"><code>private double</code></div>
+<div class="col-second odd-row-color"><code><a href="#maxSpeedMPS" class="member-name-link">maxSpeedMPS</a></code></div>
+<div class="col-last odd-row-color">
 <div class="block">Maximum speed of the robot in meters per second.</div>
 </div>
-<div class="col-first odd-row-color"><code>private int</code></div>
-<div class="col-second odd-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
-<div class="col-last odd-row-color">
+<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>
+<div class="col-last even-row-color">
 <div class="block">Counter to synchronize the modules relative encoder with absolute encoder when not moving.</div>
 </div>
-<div class="col-first even-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/concurrent/locks/Lock.html" title="class or interface in java.util.concurrent.locks" class="external-link">Lock</a></code></div>
-<div class="col-second even-row-color"><code><a href="#odometryLock" class="member-name-link">odometryLock</a></code></div>
-<div class="col-last even-row-color">
+<div class="col-first odd-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/concurrent/locks/Lock.html" title="class or interface in java.util.concurrent.locks" class="external-link">Lock</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#odometryLock" class="member-name-link">odometryLock</a></code></div>
+<div class="col-last odd-row-color">
 <div class="block">Odometry lock to ensure thread safety.</div>
 </div>
-<div class="col-first odd-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
-<div class="col-second odd-row-color"><code><a href="#odometryThread" class="member-name-link">odometryThread</a></code></div>
-<div class="col-last odd-row-color">
+<div class="col-first even-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
+<div class="col-second even-row-color"><code><a href="#odometryThread" class="member-name-link">odometryThread</a></code></div>
+<div class="col-last even-row-color">
 <div class="block">WPILib <code>Notifier</code> to keep odometry up to date.</div>
 </div>
-<div class="col-first even-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
-<div class="col-second even-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
-<div class="col-last even-row-color">
+<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>
+<div class="col-last odd-row-color">
 <div class="block">Simulation of the swerve drive.</div>
 </div>
-<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>
-<div class="col-last odd-row-color">
+<div class="col-first even-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
+<div class="col-second even-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
+<div class="col-last even-row-color">
 <div class="block">Swerve controller for controlling heading of the robot.</div>
 </div>
-<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>
-<div class="col-last even-row-color">
+<div class="col-first odd-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
+<div class="col-second odd-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
+<div class="col-last odd-row-color">
 <div class="block">Swerve drive configuration.</div>
 </div>
-<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>
-<div class="col-last odd-row-color">
+<div class="col-first even-row-color"><code>final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></div>
+<div class="col-second even-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
+<div class="col-last even-row-color">
 <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">
+<div class="col-first odd-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
+<div class="col-second odd-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
+<div class="col-last odd-row-color">
 <div class="block">Swerve modules.</div>
 </div>
-<div class="col-first odd-row-color"><code>private final <a href="telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
-<div class="col-second odd-row-color"><code><a href="#tunerXRecommendation" class="member-name-link">tunerXRecommendation</a></code></div>
-<div class="col-last odd-row-color">
+<div class="col-first even-row-color"><code>private final <a href="telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
+<div class="col-second even-row-color"><code><a href="#tunerXRecommendation" class="member-name-link">tunerXRecommendation</a></code></div>
+<div class="col-last even-row-color">
 <div class="block">Alert to recommend Tuner X if the configuration is compatible.</div>
 </div>
 </div>
@@ -289,141 +294,154 @@ loadScripts(document, 'script');</script>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#driveFieldOrientedandRobotOriented(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">driveFieldOrientedandRobotOriented</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;fieldOrientedVelocity,
+ edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;robotOrientedVelocity)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same
+ time.</div>
+</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets current acceleration of the robot in m/s/s.</div>
 </div>
-<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>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getFieldVelocity()" class="member-name-link">getFieldVelocity</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyro()" class="member-name-link">getGyro</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyro()" class="member-name-link">getGyro</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Getter for the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a>.</div>
 </div>
-<div class="col-first odd-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 odd-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>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<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>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current gyro <code>Rotation3d</code> of the robot, as reported by the imu.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumAngularVelocity()" class="member-name-link">getMaximumAngularVelocity</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumAngularVelocity()" class="member-name-link">getMaximumAngularVelocity</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Get the maximum angular velocity, either <a href="#attainableMaxRotationalVelocityRadiansPerSecond"><code>attainableMaxRotationalVelocityRadiansPerSecond</code></a> or
 <a href="parser/SwerveControllerConfiguration.html#maxAngularVelocity"><code>SwerveControllerConfiguration.maxAngularVelocity</code></a>.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumVelocity()" class="member-name-link">getMaximumVelocity</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumVelocity()" class="member-name-link">getMaximumVelocity</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Get the maximum velocity from <a href="#attainableMaxTranslationalSpeedMetersPerSecond"><code>attainableMaxTranslationalSpeedMetersPerSecond</code></a> or
 <a href="#maxSpeedMPS"><code>maxSpeedMPS</code></a> whichever is higher.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Map.html" title="class or interface in java.util" class="external-link">Map</a>&lt;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>,<wbr><a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&gt;</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModuleMap()" class="member-name-link">getModuleMap</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Map.html" title="class or interface in java.util" class="external-link">Map</a>&lt;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>,<wbr><a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&gt;</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModuleMap()" class="member-name-link">getModuleMap</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Get the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>'s as a <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/HashMap.html" title="class or interface in java.util" class="external-link"><code>HashMap</code></a> where the key is the swerve module configuration name.</div>
 </div>
-<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>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModulePositions()" class="member-name-link">getModulePositions</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current module positions (azimuth and wheel position (meters)).</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModules()" class="member-name-link">getModules</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModules()" class="member-name-link">getModules</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Get the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>s associated with the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a>.</div>
 </div>
-<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="#getOdometryHeading()" class="member-name-link">getOdometryHeading</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<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="#getOdometryHeading()" class="member-name-link">getOdometryHeading</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Fetch the latest odometry heading, should be trusted over <a href="#getYaw()"><code>getYaw()</code></a>.</div>
 </div>
-<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>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current pitch angle of the robot, as reported by the imu.</div>
 </div>
-<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>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPose()" class="member-name-link">getPose</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
 </div>
-<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>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRobotVelocity()" class="member-name-link">getRobotVelocity</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
 </div>
-<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>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current roll angle of the robot, as reported by the imu.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState[]</code></div>
-<div class="col-second 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>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState[]</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current module states (azimuth and velocity)</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveController()" class="member-name-link">getSwerveController</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveController()" class="member-name-link">getSwerveController</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Helper function to get the <a href="#swerveController"><code>swerveController</code></a> for the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> which can be used to
 generate <code>ChassisSpeeds</code> for the robot to orient it correctly given axis or angles, and apply
 <code>SlewRateLimiter</code> to given inputs.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d[]</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<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&nbsp;robotPose)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Get the swerve module poses and on the field relative to the robot.</div>
 </div>
-<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="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current yaw angle of the robot, as reported by the imu.</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="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
 </div>
-<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="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory&nbsp;trajectory)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<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="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory&nbsp;trajectory)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Post the trajectory to the field</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="#pushOffsetsToControllers()" class="member-name-link">pushOffsetsToControllers</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<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="#pushOffsetsToEncoders()" class="member-name-link">pushOffsetsToEncoders</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;driveFeedforward)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<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="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;driveFeedforward)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Setup the swerve module feedforward.</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="#resetDriveEncoders()" class="member-name-link">resetDriveEncoders</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<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="#resetDriveEncoders()" class="member-name-link">resetDriveEncoders</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in
 autonomous.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<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="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Resets odometry to the given pose.</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="#restoreInternalOffset()" class="member-name-link">restoreInternalOffset</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<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="#restoreInternalOffset()" class="member-name-link">restoreInternalOffset</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAngleMotorConversionFactor(double)" class="member-name-link">setAngleMotorConversionFactor</a><wbr>(double&nbsp;conversionFactor)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<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="#setAngleMotorConversionFactor(double)" class="member-name-link">setAngleMotorConversionFactor</a><wbr>(double&nbsp;conversionFactor)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the conversion factor for the angle/azimuth motor controller.</div>
 </div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisDiscretization(boolean,double)" class="member-name-link">setChassisDiscretization</a><wbr>(boolean&nbsp;enable,
+ double&nbsp;dtSeconds)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction</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="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -636,6 +654,13 @@ loadScripts(document, 'script');</script>
 </section>
 </li>
 <li>
+<section class="detail" id="discretizationdtSeconds">
+<h3>discretizationdtSeconds</h3>
+<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">discretizationdtSeconds</span></div>
+<div class="block">Amount of seconds the duration of the timestep the speeds should be applied for.</div>
+</section>
+</li>
+<li>
 <section class="detail" id="HEADING_CORRECTION_DEADBAND">
 <h3>HEADING_CORRECTION_DEADBAND</h3>
 <div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">HEADING_CORRECTION_DEADBAND</span></div>
@@ -828,6 +853,20 @@ loadScripts(document, 'script');</script>
 </section>
 </li>
 <li>
+<section class="detail" id="driveFieldOrientedandRobotOriented(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.kinematics.ChassisSpeeds)">
+<h3>driveFieldOrientedandRobotOriented</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">driveFieldOrientedandRobotOriented</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;fieldOrientedVelocity,
+ edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;robotOrientedVelocity)</span></div>
+<div class="block">Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same
+ time. The inputs are added together so this is not intneded to be used to give the driver both methods of control.</div>
+<dl class="notes">
+<dt>Parameters:</dt>
+<dd><code>fieldOrientedVelocity</code> - The field oriented velocties to use</dd>
+<dd><code>robotOrientedVelocity</code> - The robot oriented velocties to use</dd>
+</dl>
+</section>
+</li>
+<li>
 <section class="detail" id="driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds)">
 <h3>driveFieldOriented</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">driveFieldOriented</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;velocity)</span></div>
@@ -1377,9 +1416,9 @@ loadScripts(document, 'script');</script>
 </section>
 </li>
 <li>
-<section class="detail" id="pushOffsetsToControllers()">
-<h3>pushOffsetsToControllers</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">pushOffsetsToControllers</span>()</div>
+<section class="detail" id="pushOffsetsToEncoders()">
+<h3>pushOffsetsToEncoders</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">pushOffsetsToEncoders</span>()</div>
 <div class="block">Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type. Also removes the
 internal offsets to prevent double offsetting.</div>
 </section>
@@ -1404,6 +1443,20 @@ loadScripts(document, 'script');</script>
 </dl>
 </section>
 </li>
+<li>
+<section class="detail" id="setChassisDiscretization(boolean,double)">
+<h3>setChassisDiscretization</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setChassisDiscretization</span><wbr><span class="parameters">(boolean&nbsp;enable,
+ double&nbsp;dtSeconds)</span></div>
+<div class="block">Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction</div>
+<dl class="notes">
+<dt>Parameters:</dt>
+<dd><code>enable</code> - Enable chassis velocity correction, which will use
+                  <code>ChassisSpeeds.discretize(ChassisSpeeds, double)</code> with the following.</dd>
+<dd><code>dtSeconds</code> - The duration of the timestep the speeds should be applied for.</dd>
+</dl>
+</section>
+</li>
 </ul>
 </section>
 </li>