diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html
index ff45ffb..f7fdff1 100644
--- a/docs/swervelib/encoders/package-summary.html
+++ b/docs/swervelib/encoders/package-summary.html
@@ -1,11 +1,11 @@
-
+
diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html
index 8f98921..fd2bb3b 100644
--- a/docs/swervelib/encoders/package-tree.html
+++ b/docs/swervelib/encoders/package-tree.html
@@ -1,11 +1,11 @@
-
+
diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html
index d74390b..18fa0d8 100644
--- a/docs/swervelib/imu/ADIS16448Swerve.html
+++ b/docs/swervelib/imu/ADIS16448Swerve.html
@@ -1,11 +1,11 @@
-
+
diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html
index 388b8dd..1d6e7a3 100644
--- a/docs/swervelib/imu/ADIS16470Swerve.html
+++ b/docs/swervelib/imu/ADIS16470Swerve.html
@@ -1,11 +1,11 @@
-
+
diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html
index 411e0b5..0e60a3b 100644
--- a/docs/swervelib/imu/ADXRS450Swerve.html
+++ b/docs/swervelib/imu/ADXRS450Swerve.html
@@ -1,11 +1,11 @@
-
+
diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html
index f1db835..160f03f 100644
--- a/docs/swervelib/imu/AnalogGyroSwerve.html
+++ b/docs/swervelib/imu/AnalogGyroSwerve.html
@@ -1,11 +1,11 @@
-
+
diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html
index 625ef70..30f68ab 100644
--- a/docs/swervelib/imu/NavXSwerve.html
+++ b/docs/swervelib/imu/NavXSwerve.html
@@ -1,11 +1,11 @@
-
+
-
NavXSwerve (edu.wpi.first.wpilibj.SerialPort.Port port)
+
+
+
Constructor for the NavX swerve.
+
+
NavXSwerve (edu.wpi.first.wpilibj.SerialPort.Port port)
+
+
Constructor for the NavX swerve.
+
+
Constructor for the NavX swerve.
@@ -217,6 +225,28 @@ loadScripts(document, 'script');
+
+
+NavXSwerve
+public NavXSwerve (edu.wpi.first.wpilibj.SPI.Port port)
+Constructor for the NavX swerve.
+
+Parameters:
+port - SPI Port to connect to.
+
+
+
+
+NavXSwerve
+public NavXSwerve (edu.wpi.first.wpilibj.I2C.Port port)
+Constructor for the NavX swerve.
+
+Parameters:
+port - I2C Port to connect to.
+
+
diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html
index 1348244..ddfe6d9 100644
--- a/docs/swervelib/imu/Pigeon2Swerve.html
+++ b/docs/swervelib/imu/Pigeon2Swerve.html
@@ -1,11 +1,11 @@
-
+
Pigeon2Swerve
-
+
diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html
index b1fed9a..04941d2 100644
--- a/docs/swervelib/imu/PigeonSwerve.html
+++ b/docs/swervelib/imu/PigeonSwerve.html
@@ -1,11 +1,11 @@
-
+
PigeonSwerve
-
+
diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html
index b7cf38d..7c54148 100644
--- a/docs/swervelib/imu/SwerveIMU.html
+++ b/docs/swervelib/imu/SwerveIMU.html
@@ -1,11 +1,11 @@
-
+
SwerveIMU
-
+
diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html
index b77bd37..64ba25f 100644
--- a/docs/swervelib/imu/package-summary.html
+++ b/docs/swervelib/imu/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.imu
-
+
diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html
index abdbc12..cb1a781 100644
--- a/docs/swervelib/imu/package-tree.html
+++ b/docs/swervelib/imu/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.imu Class Hierarchy
-
+
diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html
index fbf6f62..9fb9db9 100644
--- a/docs/swervelib/math/Matter.html
+++ b/docs/swervelib/math/Matter.html
@@ -1,11 +1,11 @@
-
+
Matter
-
+
diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html
index 123f959..0f430a7 100644
--- a/docs/swervelib/math/SwerveMath.html
+++ b/docs/swervelib/math/SwerveMath.html
@@ -1,11 +1,11 @@
-
+
SwerveMath
-
+
diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html
index 2227d73..6540264 100644
--- a/docs/swervelib/math/package-summary.html
+++ b/docs/swervelib/math/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.math
-
+
diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html
index 6a67c20..35ea833 100644
--- a/docs/swervelib/math/package-tree.html
+++ b/docs/swervelib/math/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.math Class Hierarchy
-
+
diff --git a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
index 7ee41db..eedf591 100644
--- a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
+++ b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
@@ -1,11 +1,11 @@
-
+
SparkMaxBrushedMotorSwerve
-
+
diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html
index 0279d89..0b0d274 100644
--- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html
+++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html
@@ -1,11 +1,11 @@
-
+
SparkMaxSwerve.SparkMAX_slotIdx
-
+
diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html
index 2cc4823..ccade8d 100644
--- a/docs/swervelib/motors/SparkMaxSwerve.html
+++ b/docs/swervelib/motors/SparkMaxSwerve.html
@@ -1,11 +1,11 @@
-
+
SparkMaxSwerve
-
+
diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html
index 97af3e4..34af854 100644
--- a/docs/swervelib/motors/SwerveMotor.html
+++ b/docs/swervelib/motors/SwerveMotor.html
@@ -1,11 +1,11 @@
-
+
SwerveMotor
-
+
diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html
index 7dccd31..f70195d 100644
--- a/docs/swervelib/motors/TalonFXSwerve.html
+++ b/docs/swervelib/motors/TalonFXSwerve.html
@@ -1,11 +1,11 @@
-
+
TalonFXSwerve
-
+
diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html
index f14e2ea..d12ddff 100644
--- a/docs/swervelib/motors/TalonSRXSwerve.html
+++ b/docs/swervelib/motors/TalonSRXSwerve.html
@@ -1,11 +1,11 @@
-
+
TalonSRXSwerve
-
+
diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html
index 8da41b9..08846eb 100644
--- a/docs/swervelib/motors/package-summary.html
+++ b/docs/swervelib/motors/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.motors
-
+
diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html
index d4fba61..58890a1 100644
--- a/docs/swervelib/motors/package-tree.html
+++ b/docs/swervelib/motors/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.motors Class Hierarchy
-
+
diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html
index 15ffa5f..e6a09a9 100644
--- a/docs/swervelib/package-summary.html
+++ b/docs/swervelib/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib
-
+
diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html
index f952505..0f6b1f3 100644
--- a/docs/swervelib/package-tree.html
+++ b/docs/swervelib/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib Class Hierarchy
-
+
diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html
index 3f59b5a..a1f7c47 100644
--- a/docs/swervelib/parser/PIDFConfig.html
+++ b/docs/swervelib/parser/PIDFConfig.html
@@ -1,11 +1,11 @@
-
+
PIDFConfig
-
+
diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html
index 0895f21..252ca43 100644
--- a/docs/swervelib/parser/SwerveControllerConfiguration.html
+++ b/docs/swervelib/parser/SwerveControllerConfiguration.html
@@ -1,11 +1,11 @@
-
+
SwerveControllerConfiguration
-
+
diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html
index fc5cf4b..d80df03 100644
--- a/docs/swervelib/parser/SwerveDriveConfiguration.html
+++ b/docs/swervelib/parser/SwerveDriveConfiguration.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveConfiguration
-
+
diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html
index 382cf58..b72f3ad 100644
--- a/docs/swervelib/parser/SwerveModuleConfiguration.html
+++ b/docs/swervelib/parser/SwerveModuleConfiguration.html
@@ -1,11 +1,11 @@
-
+
SwerveModuleConfiguration
-
+
diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
index e209cd2..b15a1c7 100644
--- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
+++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
@@ -1,11 +1,11 @@
-
+
SwerveModulePhysicalCharacteristics
-
+
diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html
index 9fa30dd..7024bff 100644
--- a/docs/swervelib/parser/SwerveParser.html
+++ b/docs/swervelib/parser/SwerveParser.html
@@ -1,11 +1,11 @@
-
+
SwerveParser
-
+
diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html
index 73b4f14..6c30c11 100644
--- a/docs/swervelib/parser/deserializer/PIDFRange.html
+++ b/docs/swervelib/parser/deserializer/PIDFRange.html
@@ -1,11 +1,11 @@
-
+
PIDFRange
-
+
diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html
index c4c8538..ce0a007 100644
--- a/docs/swervelib/parser/deserializer/package-summary.html
+++ b/docs/swervelib/parser/deserializer/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.deserializer
-
+
diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html
index d4864d9..5e7aeab 100644
--- a/docs/swervelib/parser/deserializer/package-tree.html
+++ b/docs/swervelib/parser/deserializer/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.deserializer Class Hierarchy
-
+
diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html
index 34e03e6..6f30c8a 100644
--- a/docs/swervelib/parser/json/ControllerPropertiesJson.html
+++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html
@@ -1,11 +1,11 @@
-
+
ControllerPropertiesJson
-
+
diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html
index cb8f720..cb49ee8 100644
--- a/docs/swervelib/parser/json/DeviceJson.html
+++ b/docs/swervelib/parser/json/DeviceJson.html
@@ -1,11 +1,11 @@
-
+
DeviceJson
-
+
diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html
index 4512cdf..69eb72f 100644
--- a/docs/swervelib/parser/json/ModuleJson.html
+++ b/docs/swervelib/parser/json/ModuleJson.html
@@ -1,11 +1,11 @@
-
+
ModuleJson
-
+
diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html
index 82cd63b..e240d20 100644
--- a/docs/swervelib/parser/json/MotorConfigDouble.html
+++ b/docs/swervelib/parser/json/MotorConfigDouble.html
@@ -1,11 +1,11 @@
-
+
MotorConfigDouble
-
+
diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html
index 0314931..ddec2e9 100644
--- a/docs/swervelib/parser/json/MotorConfigInt.html
+++ b/docs/swervelib/parser/json/MotorConfigInt.html
@@ -1,11 +1,11 @@
-
+
MotorConfigInt
-
+
diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html
index c8c0a32..201df24 100644
--- a/docs/swervelib/parser/json/PIDFPropertiesJson.html
+++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html
@@ -1,11 +1,11 @@
-
+
PIDFPropertiesJson
-
+
diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html
index 3375b5b..181841a 100644
--- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html
+++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html
@@ -1,11 +1,11 @@
-
+
PhysicalPropertiesJson
-
+
diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html
index c7c3a47..36e3a8b 100644
--- a/docs/swervelib/parser/json/SwerveDriveJson.html
+++ b/docs/swervelib/parser/json/SwerveDriveJson.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveJson
-
+
diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html
index 59fa361..c0f10a0 100644
--- a/docs/swervelib/parser/json/modules/BoolMotorJson.html
+++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html
@@ -1,11 +1,11 @@
-
+
BoolMotorJson
-
+
diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html
index 9f5a230..304e23c 100644
--- a/docs/swervelib/parser/json/modules/LocationJson.html
+++ b/docs/swervelib/parser/json/modules/LocationJson.html
@@ -1,11 +1,11 @@
-
+
LocationJson
-
+
diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html
index cbaa118..1f65c9c 100644
--- a/docs/swervelib/parser/json/modules/package-summary.html
+++ b/docs/swervelib/parser/json/modules/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json.modules
-
+
diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html
index 5b8621f..723cd16 100644
--- a/docs/swervelib/parser/json/modules/package-tree.html
+++ b/docs/swervelib/parser/json/modules/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json.modules Class Hierarchy
-
+
diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html
index 29de3f0..11a31e1 100644
--- a/docs/swervelib/parser/json/package-summary.html
+++ b/docs/swervelib/parser/json/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json
-
+
diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html
index e949b22..3fc7713 100644
--- a/docs/swervelib/parser/json/package-tree.html
+++ b/docs/swervelib/parser/json/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json Class Hierarchy
-
+
diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html
index b852749..422ce0b 100644
--- a/docs/swervelib/parser/package-summary.html
+++ b/docs/swervelib/parser/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser
-
+
diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html
index 88acea6..35a6a14 100644
--- a/docs/swervelib/parser/package-tree.html
+++ b/docs/swervelib/parser/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser Class Hierarchy
-
+
diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html
index 7b27bee..8d907f3 100644
--- a/docs/swervelib/simulation/SwerveIMUSimulation.html
+++ b/docs/swervelib/simulation/SwerveIMUSimulation.html
@@ -1,11 +1,11 @@
-
+
SwerveIMUSimulation
-
+
diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html
index 5e5a4d0..2733ae7 100644
--- a/docs/swervelib/simulation/SwerveModuleSimulation.html
+++ b/docs/swervelib/simulation/SwerveModuleSimulation.html
@@ -1,11 +1,11 @@
-
+
SwerveModuleSimulation
-
+
diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html
index 8416871..c3404cb 100644
--- a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html
+++ b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html
@@ -1,11 +1,11 @@
-
+
PhysicsSim.SimProfile
-
+
diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.html b/docs/swervelib/simulation/ctre/PhysicsSim.html
index 6af2064..1f983d8 100644
--- a/docs/swervelib/simulation/ctre/PhysicsSim.html
+++ b/docs/swervelib/simulation/ctre/PhysicsSim.html
@@ -1,11 +1,11 @@
-
+
PhysicsSim
-
+
diff --git a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html
index e5ec4dc..2e955ab 100644
--- a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html
+++ b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html
@@ -1,11 +1,11 @@
-
+
TalonFXSimProfile
-
+
diff --git a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html
index b38119e..cbd678c 100644
--- a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html
+++ b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html
@@ -1,11 +1,11 @@
-
+
TalonSRXSimProfile
-
+
diff --git a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html
index 049413e..93938ee 100644
--- a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html
+++ b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html
@@ -1,11 +1,11 @@
-
+
VictorSPXSimProfile
-
+
diff --git a/docs/swervelib/simulation/ctre/package-summary.html b/docs/swervelib/simulation/ctre/package-summary.html
index 942f44e..9b8a78a 100644
--- a/docs/swervelib/simulation/ctre/package-summary.html
+++ b/docs/swervelib/simulation/ctre/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.simulation.ctre
-
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diff --git a/docs/swervelib/simulation/ctre/package-tree.html b/docs/swervelib/simulation/ctre/package-tree.html
index c097493..d602d64 100644
--- a/docs/swervelib/simulation/ctre/package-tree.html
+++ b/docs/swervelib/simulation/ctre/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.simulation.ctre Class Hierarchy
-
+
diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html
index 194972b..18346f2 100644
--- a/docs/swervelib/simulation/package-summary.html
+++ b/docs/swervelib/simulation/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.simulation
-
+
diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html
index 4cdae6e..c07d110 100644
--- a/docs/swervelib/simulation/package-tree.html
+++ b/docs/swervelib/simulation/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.simulation Class Hierarchy
-
+
diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html
index 9e69b83..ffaded3 100644
--- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html
+++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveTelemetry.TelemetryVerbosity
-
+
diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html
index 164f740..46f440c 100644
--- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html
+++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveTelemetry
-
+
diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html
index 83509d4..4f4d010 100644
--- a/docs/swervelib/telemetry/package-summary.html
+++ b/docs/swervelib/telemetry/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.telemetry
-
+
diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html
index 40e4a55..e68b7c4 100644
--- a/docs/swervelib/telemetry/package-tree.html
+++ b/docs/swervelib/telemetry/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.telemetry Class Hierarchy
-
+
diff --git a/docs/type-search-index.js b/docs/type-search-index.js
index 4d58ee0..cc474cc 100644
--- a/docs/type-search-index.js
+++ b/docs/type-search-index.js
@@ -1 +1 @@
-typeSearchIndex = [{"p":"swervelib.imu","l":"ADIS16448Swerve"},{"p":"swervelib.imu","l":"ADIS16470Swerve"},{"p":"swervelib.imu","l":"ADXRS450Swerve"},{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"swervelib.encoders","l":"AnalogAbsoluteEncoderSwerve"},{"p":"swervelib.imu","l":"AnalogGyroSwerve"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.encoders","l":"CanAndCoderSwerve"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.math","l":"Matter"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.simulation.ctre","l":"PhysicsSim"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.simulation.ctre","l":"PhysicsSim.SimProfile"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.motors","l":"SparkMaxBrushedMotorSwerve"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.simulation","l":"SwerveIMUSimulation"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.simulation","l":"SwerveModuleSimulation"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.simulation.ctre","l":"TalonFXSimProfile"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.simulation.ctre","l":"TalonSRXSimProfile"},{"p":"swervelib.motors","l":"TalonSRXSwerve"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry.TelemetryVerbosity"},{"p":"swervelib.simulation.ctre","l":"VictorSPXSimProfile"}];updateSearchResults();
\ No newline at end of file
+typeSearchIndex = [{"p":"swervelib.imu","l":"ADIS16448Swerve"},{"p":"swervelib.imu","l":"ADIS16470Swerve"},{"p":"swervelib.imu","l":"ADXRS450Swerve"},{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"swervelib.encoders","l":"AnalogAbsoluteEncoderSwerve"},{"p":"swervelib.imu","l":"AnalogGyroSwerve"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.encoders","l":"CanAndCoderSwerve"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.math","l":"Matter"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.simulation.ctre","l":"PhysicsSim"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.encoders","l":"PWMDutyCycleEncoderSwerve"},{"p":"swervelib.simulation.ctre","l":"PhysicsSim.SimProfile"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.motors","l":"SparkMaxBrushedMotorSwerve"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.simulation","l":"SwerveIMUSimulation"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.simulation","l":"SwerveModuleSimulation"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.simulation.ctre","l":"TalonFXSimProfile"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.simulation.ctre","l":"TalonSRXSimProfile"},{"p":"swervelib.motors","l":"TalonSRXSwerve"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry.TelemetryVerbosity"},{"p":"swervelib.simulation.ctre","l":"VictorSPXSimProfile"}];updateSearchResults();
\ No newline at end of file
diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java
index 2f9f681..dc70b50 100644
--- a/swervelib/SwerveDrive.java
+++ b/swervelib/SwerveDrive.java
@@ -404,7 +404,11 @@ public class SwerveDrive
*/
public Pose2d getPose()
{
- return swerveDrivePoseEstimator.getEstimatedPosition();
+
+ odometryLock.lock();
+ Pose2d poseEstimation = swerveDrivePoseEstimator.getEstimatedPosition();
+ odometryLock.unlock();
+ return poseEstimation;
}
/**
@@ -441,7 +445,9 @@ public class SwerveDrive
*/
public void resetOdometry(Pose2d pose)
{
+ odometryLock.lock();
swerveDrivePoseEstimator.resetPosition(pose.getRotation(), getModulePositions(), pose);
+ odometryLock.unlock();
kinematics.toSwerveModuleStates(ChassisSpeeds.fromFieldRelativeSpeeds(0, 0, 0, pose.getRotation()));
}
@@ -635,7 +641,8 @@ public class SwerveDrive
swerveDriveConfiguration.maxSpeed = maximumSpeed;
// swerveDriveConfiguration.attainableMaxTranslationalSpeedMetersPerSecond = maximumSpeed;
swerveController.config.maxSpeed = maximumSpeed;
-// swerveDriveConfiguration.attainableMaxRotationalVelocityRadiansPerSecond = swerveController.config.maxAngularVelocity;
+// swerveDriveConfiguration.attainableMaxRotationalVelocityRadiansPerSecond = swerveController.config
+// .maxAngularVelocity;
for (SwerveModule module : swerveModules)
{
module.configuration.maxSpeed = maximumSpeed;
@@ -727,65 +734,72 @@ public class SwerveDrive
public void updateOdometry()
{
odometryLock.lock();
- // Update odometry
- swerveDrivePoseEstimator.update(getYaw(), getModulePositions());
-
- // Update angle accumulator if the robot is simulated
- if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
+ try
{
- Pose2d[] modulePoses = getSwerveModulePoses(swerveDrivePoseEstimator.getEstimatedPosition());
- if (SwerveDriveTelemetry.isSimulation)
- {
- simIMU.updateOdometry(
- kinematics,
- getStates(),
- modulePoses,
- field);
- }
+ // Update odometry
+ swerveDrivePoseEstimator.update(getYaw(), getModulePositions());
- ChassisSpeeds measuredChassisSpeeds = getRobotVelocity();
- SwerveDriveTelemetry.measuredChassisSpeeds[1] = measuredChassisSpeeds.vyMetersPerSecond;
- SwerveDriveTelemetry.measuredChassisSpeeds[0] = measuredChassisSpeeds.vxMetersPerSecond;
- SwerveDriveTelemetry.measuredChassisSpeeds[2] = Math.toDegrees(measuredChassisSpeeds.omegaRadiansPerSecond);
- SwerveDriveTelemetry.robotRotation = getYaw().getDegrees();
- }
-
- if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.LOW.ordinal())
- {
- field.setRobotPose(swerveDrivePoseEstimator.getEstimatedPosition());
- }
-
- double sumVelocity = 0;
- for (SwerveModule module : swerveModules)
- {
- SwerveModuleState moduleState = module.getState();
- sumVelocity += Math.abs(moduleState.speedMetersPerSecond);
- if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
- {
- SmartDashboard.putNumber(
- "Module[" + module.configuration.name + "] Relative Encoder", module.getRelativePosition());
- SmartDashboard.putNumber(
- "Module[" + module.configuration.name + "] Absolute Encoder", module.getAbsolutePosition());
- }
+ // Update angle accumulator if the robot is simulated
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
{
- SwerveDriveTelemetry.measuredStates[module.moduleNumber * 2] = moduleState.angle.getDegrees();
- SwerveDriveTelemetry.measuredStates[(module.moduleNumber * 2) + 1] = moduleState.speedMetersPerSecond;
+ Pose2d[] modulePoses = getSwerveModulePoses(swerveDrivePoseEstimator.getEstimatedPosition());
+ if (SwerveDriveTelemetry.isSimulation)
+ {
+ simIMU.updateOdometry(
+ kinematics,
+ getStates(),
+ modulePoses,
+ field);
+ }
+
+ ChassisSpeeds measuredChassisSpeeds = getRobotVelocity();
+ SwerveDriveTelemetry.measuredChassisSpeeds[1] = measuredChassisSpeeds.vyMetersPerSecond;
+ SwerveDriveTelemetry.measuredChassisSpeeds[0] = measuredChassisSpeeds.vxMetersPerSecond;
+ SwerveDriveTelemetry.measuredChassisSpeeds[2] = Math.toDegrees(measuredChassisSpeeds.omegaRadiansPerSecond);
+ SwerveDriveTelemetry.robotRotation = getYaw().getDegrees();
}
- }
- // If the robot isn't moving synchronize the encoders every 100ms (Inspired by democrat's SDS
- // lib)
- // To ensure that everytime we initialize it works.
- if (sumVelocity <= .01 && ++moduleSynchronizationCounter > 5)
- {
- synchronizeModuleEncoders();
- moduleSynchronizationCounter = 0;
- }
+ if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.LOW.ordinal())
+ {
+ field.setRobotPose(swerveDrivePoseEstimator.getEstimatedPosition());
+ }
- if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
+ double sumVelocity = 0;
+ for (SwerveModule module : swerveModules)
+ {
+ SwerveModuleState moduleState = module.getState();
+ sumVelocity += Math.abs(moduleState.speedMetersPerSecond);
+ if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
+ {
+ SmartDashboard.putNumber(
+ "Module[" + module.configuration.name + "] Relative Encoder", module.getRelativePosition());
+ SmartDashboard.putNumber(
+ "Module[" + module.configuration.name + "] Absolute Encoder", module.getAbsolutePosition());
+ }
+ if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
+ {
+ SwerveDriveTelemetry.measuredStates[module.moduleNumber * 2] = moduleState.angle.getDegrees();
+ SwerveDriveTelemetry.measuredStates[(module.moduleNumber * 2) + 1] = moduleState.speedMetersPerSecond;
+ }
+ }
+
+ // If the robot isn't moving synchronize the encoders every 100ms (Inspired by democrat's SDS
+ // lib)
+ // To ensure that everytime we initialize it works.
+ if (sumVelocity <= .01 && ++moduleSynchronizationCounter > 5)
+ {
+ synchronizeModuleEncoders();
+ moduleSynchronizationCounter = 0;
+ }
+
+ if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
+ {
+ SwerveDriveTelemetry.updateData();
+ }
+ } catch (Exception e)
{
- SwerveDriveTelemetry.updateData();
+ odometryLock.unlock();
+ throw e;
}
odometryLock.unlock();
}
@@ -837,6 +851,7 @@ public class SwerveDrive
*/
public void addVisionMeasurement(Pose2d robotPose, double timestamp, boolean soft, double trustWorthiness)
{
+ odometryLock.lock();
if (soft)
{
swerveDrivePoseEstimator.addVisionMeasurement(robotPose, timestamp,
@@ -846,10 +861,12 @@ public class SwerveDrive
swerveDrivePoseEstimator.resetPosition(
robotPose.getRotation(), getModulePositions(), robotPose);
}
+ Pose2d newOdometry = new Pose2d(swerveDrivePoseEstimator.getEstimatedPosition().getTranslation(),
+ robotPose.getRotation());
+ odometryLock.unlock();
setGyroOffset(new Rotation3d(0, 0, robotPose.getRotation().getRadians()));
- resetOdometry(
- new Pose2d(swerveDrivePoseEstimator.getEstimatedPosition().getTranslation(), robotPose.getRotation()));
+ resetOdometry(newOdometry);
}
/**
diff --git a/swervelib/encoders/PWMDutyCycleEncoderSwerve.java b/swervelib/encoders/PWMDutyCycleEncoderSwerve.java
new file mode 100644
index 0000000..0e3822f
--- /dev/null
+++ b/swervelib/encoders/PWMDutyCycleEncoderSwerve.java
@@ -0,0 +1,86 @@
+package swervelib.encoders;
+
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+
+/**
+ * DutyCycle encoders such as "US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag
+ * Encoder." attached via a PWM lane.
+ *
+ * Credits to
+ *
+ * p2reneker25 for building this.
+ */
+public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
+{
+
+ /**
+ * Duty Cycle Encoder.
+ */
+ private final DutyCycleEncoder encoder;
+ /**
+ * Inversion state.
+ */
+ private boolean isInverted;
+
+ /**
+ * Constructor for the PWM duty cycle encoder.
+ *
+ * @param pin PWM lane for the encoder.
+ */
+ public PWMDutyCycleEncoderSwerve(int pin)
+ {
+ encoder = new DutyCycleEncoder(pin);
+ }
+
+ /**
+ * Configure the inversion state of the encoder.
+ *
+ * @param inverted Whether the encoder is inverted.
+ */
+ @Override
+ public void configure(boolean inverted)
+ {
+ isInverted = inverted;
+ }
+
+ /**
+ * Get the absolute position of the encoder.
+ *
+ * @return Absolute position in degrees from [0, 360).
+ */
+ @Override
+ public double getAbsolutePosition()
+ {
+ return (isInverted ? -1.0 : 1.0) * encoder.getAbsolutePosition() * 360;
+ }
+
+ /**
+ * Get the encoder object.
+ *
+ * @return {@link DutyCycleEncoder} from the class.
+ */
+ @Override
+ public Object getAbsoluteEncoder()
+ {
+ return encoder;
+ }
+
+ /**
+ * Reset the encoder to factory defaults.
+ */
+ @Override
+ public void factoryDefault()
+ {
+ // Do nothing
+ }
+
+ /**
+ * Clear sticky faults on the encoder.
+ */
+ @Override
+ public void clearStickyFaults()
+ {
+ // Do nothing
+ }
+
+}
\ No newline at end of file
diff --git a/swervelib/imu/NavXSwerve.java b/swervelib/imu/NavXSwerve.java
index 9ac8c61..7aad259 100644
--- a/swervelib/imu/NavXSwerve.java
+++ b/swervelib/imu/NavXSwerve.java
@@ -5,6 +5,8 @@ import edu.wpi.first.math.geometry.Quaternion;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.SerialPort;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.util.Optional;
@@ -41,7 +43,49 @@ public class NavXSwerve extends SwerveIMU
SmartDashboard.putData(gyro);
} catch (RuntimeException ex)
{
- DriverStation.reportError("Error instantiating navX-MXP: " + ex.getMessage(), true);
+ DriverStation.reportError("Error instantiating navX: " + ex.getMessage(), true);
+ }
+ }
+
+ /**
+ * Constructor for the NavX swerve.
+ *
+ * @param port SPI Port to connect to.
+ */
+ public NavXSwerve(SPI.Port port)
+ {
+ try
+ {
+ /* Communicate w/navX-MXP via the MXP SPI Bus. */
+ /* Alternatively: I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB */
+ /* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */
+ gyro = new AHRS(port);
+ factoryDefault();
+ SmartDashboard.putData(gyro);
+ } catch (RuntimeException ex)
+ {
+ DriverStation.reportError("Error instantiating navX: " + ex.getMessage(), true);
+ }
+ }
+
+ /**
+ * Constructor for the NavX swerve.
+ *
+ * @param port I2C Port to connect to.
+ */
+ public NavXSwerve(I2C.Port port)
+ {
+ try
+ {
+ /* Communicate w/navX-MXP via the MXP SPI Bus. */
+ /* Alternatively: I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB */
+ /* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */
+ gyro = new AHRS(port);
+ factoryDefault();
+ SmartDashboard.putData(gyro);
+ } catch (RuntimeException ex)
+ {
+ DriverStation.reportError("Error instantiating navX: " + ex.getMessage(), true);
}
}
diff --git a/swervelib/parser/json/DeviceJson.java b/swervelib/parser/json/DeviceJson.java
index 0e33e9b..0cc1428 100644
--- a/swervelib/parser/json/DeviceJson.java
+++ b/swervelib/parser/json/DeviceJson.java
@@ -1,10 +1,14 @@
package swervelib.parser.json;
import com.revrobotics.SparkMaxRelativeEncoder.Type;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.SerialPort.Port;
import swervelib.encoders.AnalogAbsoluteEncoderSwerve;
import swervelib.encoders.CANCoderSwerve;
import swervelib.encoders.CanAndCoderSwerve;
+import swervelib.encoders.PWMDutyCycleEncoderSwerve;
import swervelib.encoders.SparkMaxEncoderSwerve;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.imu.ADIS16448Swerve;
@@ -59,9 +63,14 @@ public class DeviceJson
return new SparkMaxEncoderSwerve(motor, 360);
case "canandcoder_can":
return new CanAndCoderSwerve(id);
+ case "ma3":
+ case "ctre_mag":
+ case "rev_hex":
+ case "am_mag":
+ case "dutycycle":
+ return new PWMDutyCycleEncoderSwerve(id);
case "thrifty":
case "throughbore":
- case "dutycycle":
case "analog":
return new AnalogAbsoluteEncoderSwerve(id);
case "cancoder":
@@ -88,6 +97,15 @@ public class DeviceJson
return new ADXRS450Swerve();
case "analog":
return new AnalogGyroSwerve(id);
+ case "navx_spi":
+ return new NavXSwerve(SPI.Port.kMXP);
+ case "navx_i2c":
+ DriverStation.reportWarning(
+ "WARNING: There exists an I2C lockup issue on the roboRIO that could occur, more information here: " +
+ "\nhttps://docs.wpilib.org/en/stable/docs/yearly-overview/known-issues" +
+ ".html#onboard-i2c-causing-system-lockups",
+ false);
+ return new NavXSwerve(I2C.Port.kMXP);
case "navx_onborard":
return new NavXSwerve(Port.kOnboard);
case "navx_usb":