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Code Issues Packages Projects Releases Wiki Activity

Added lock to ensure safety of odometry update

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This commit is contained in:
thenetworkgrinch
2023-08-29 21:56:52 -05:00
parent 14f66bb679
commit 10a4b528a4
115 changed files with 574 additions and 341 deletions
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<title>Constant Field Values</title>
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@@ -52,14 +52,42 @@ loadScripts(document, 'script');</script>
<section class="packages">
<h2 title="Contents">Contents</h2>
<ul>
<li><a href="#swervelib.encoders">swervelib.encoders.*</a></li>
<li><a href="#swervelib.motors">swervelib.motors.*</a></li>
</ul>
</section>
</div>
<section class="constants-summary" id="swervelib.encoders">
<h2 title="swervelib.encoders">swervelib.encoders.*</h2>
<ul class="block-list">
<li>
<div class="caption"><span>swervelib.encoders.<a href="swervelib/encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Constant Field</div>
<div class="table-header col-last">Value</div>
<div class="col-first even-row-color"><code id="swervelib.encoders.SwerveAbsoluteEncoder.maximumRetries">public&nbsp;final&nbsp;int</code></div>
<div class="col-second even-row-color"><code><a href="swervelib/encoders/SwerveAbsoluteEncoder.html#maximumRetries">maximumRetries</a></code></div>
<div class="col-last even-row-color"><code>5</code></div>
</div>
</li>
</ul>
</section>
<section class="constants-summary" id="swervelib.motors">
<h2 title="swervelib.motors">swervelib.motors.*</h2>
<ul class="block-list">
<li>
<div class="caption"><span>swervelib.motors.<a href="swervelib/motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Constant Field</div>
<div class="table-header col-last">Value</div>
<div class="col-first even-row-color"><code id="swervelib.motors.SwerveMotor.maximumRetries">public&nbsp;final&nbsp;int</code></div>
<div class="col-second even-row-color"><code><a href="swervelib/motors/SwerveMotor.html#maximumRetries">maximumRetries</a></code></div>
<div class="col-last even-row-color"><code>5</code></div>
</div>
</li>
<li>
<div class="caption"><span>swervelib.motors.<a href="swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>

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@@ -85,6 +85,14 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">The maximum achievable angular velocity of the robot.</div>
</dd>
<dt><a href="../swervelib/encoders/SwerveAbsoluteEncoder.html#maximumRetries" class="member-name-link">maximumRetries</a> - Variable in class swervelib.encoders.<a href="../swervelib/encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></dt>
<dd>
<div class="block">The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.</div>
</dd>
<dt><a href="../swervelib/motors/SwerveMotor.html#maximumRetries" class="member-name-link">maximumRetries</a> - Variable in class swervelib.motors.<a href="../swervelib/motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></dt>
<dd>
<div class="block">The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.</div>
</dd>
<dt><a href="../swervelib/parser/json/SwerveDriveJson.html#maxSpeed" class="member-name-link">maxSpeed</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></dt>
<dd>
<div class="block">Maximum robot speed in feet per second.</div>

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<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<a href="index-26.html">_</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a>
<h2 class="title" id="I:O">O</h2>
<dl class="index">
<dt><a href="../swervelib/SwerveDrive.html#odometryLock" class="member-name-link">odometryLock</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Odometry lock to ensure thread safety.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#odometryThread" class="member-name-link">odometryThread</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">WPILib <code>Notifier</code> to keep odometry up to date.</div>

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<dd>
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
</dd>
<dt><a href="../swervelib/encoders/SparkMaxEncoderSwerve.html#configureSparkMax(java.util.function.Supplier)" class="member-name-link">configureSparkMax(Supplier&lt;REVLibError&gt;)</a> - Method in class swervelib.encoders.<a href="../swervelib/encoders/SparkMaxEncoderSwerve.html" title="class in swervelib.encoders">SparkMaxEncoderSwerve</a></dt>
<dd>
<div class="block">Run the configuration until it succeeds or times out.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html#configureSparkMax(java.util.function.Supplier)" class="member-name-link">configureSparkMax(Supplier&lt;REVLibError&gt;)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></dt>
<dd>
<div class="block">Run the configuration until it succeeds or times out.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxSwerve.html#configureSparkMax(java.util.function.Supplier)" class="member-name-link">configureSparkMax(Supplier&lt;REVLibError&gt;)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dt>
<dd>
<div class="block">Run the configuration until it succeeds or times out.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveParser.html#controllerPropertiesJson" class="member-name-link">controllerPropertiesJson</a> - Static variable in class swervelib.parser.<a href="../swervelib/parser/SwerveParser.html" title="class in swervelib.parser">SwerveParser</a></dt>
<dd>
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>SwerveDrive</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -127,45 +127,50 @@ loadScripts(document, 'script');</script>
<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 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-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 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>edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</code></div>
<div class="col-second odd-row-color"><code><a href="#stateStdDevs" class="member-name-link">stateStdDevs</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</code></div>
<div class="col-second even-row-color"><code><a href="#stateStdDevs" class="member-name-link">stateStdDevs</a></code></div>
<div class="col-last even-row-color">
<div class="block">Trustworthiness of the internal model of how motors should be moving Measured in expected standard deviation
(meters of position and degrees of rotation)</div>
</div>
<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="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="block">Swerve controller for controlling heading of the robot.</div>
</div>
<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="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="block">Swerve drive configuration.</div>
</div>
<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="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="block">Swerve odometry.</div>
</div>
<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="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="block">Swerve modules.</div>
</div>
<div class="col-first even-row-color"><code>edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</code></div>
<div class="col-second even-row-color"><code><a href="#visionMeasurementStdDevs" class="member-name-link">visionMeasurementStdDevs</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</code></div>
<div class="col-second odd-row-color"><code><a href="#visionMeasurementStdDevs" class="member-name-link">visionMeasurementStdDevs</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of
rotation)</div>
</div>
@@ -479,6 +484,20 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="odometryThread">
<h3>odometryThread</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj.Notifier</span>&nbsp;<span class="element-name">odometryThread</span></div>
<div class="block">WPILib <code>Notifier</code> to keep odometry up to date.</div>
</section>
</li>
<li>
<section class="detail" id="odometryLock">
<h3>odometryLock</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type"><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></span>&nbsp;<span class="element-name">odometryLock</span></div>
<div class="block">Odometry lock to ensure thread safety.</div>
</section>
</li>
<li>
<section class="detail" id="field">
<h3>field</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj.smartdashboard.Field2d</span>&nbsp;<span class="element-name">field</span></div>
@@ -551,13 +570,6 @@ loadScripts(document, 'script');</script>
<div class="block">The last heading set in radians.</div>
</section>
</li>
<li>
<section class="detail" id="odometryThread">
<h3>odometryThread</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj.Notifier</span>&nbsp;<span class="element-name">odometryThread</span></div>
<div class="block">WPILib <code>Notifier</code> to keep odometry up to date.</div>
</section>
</li>
</ul>
</section>
</li>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>SwerveModule</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>AnalogAbsoluteEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -106,7 +106,7 @@ loadScripts(document, 'script');</script>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-swervelib.encoders.SwerveAbsoluteEncoder">Fields inherited from class&nbsp;swervelib.encoders.<a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></h3>
<code><a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></div>
<code><a href="SwerveAbsoluteEncoder.html#maximumRetries">maximumRetries</a>, <a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></div>
</section>
</li>
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<html lang="en">
<head>
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<title>CANCoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -101,7 +101,7 @@ loadScripts(document, 'script');</script>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-swervelib.encoders.SwerveAbsoluteEncoder">Fields inherited from class&nbsp;swervelib.encoders.<a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></h3>
<code><a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></div>
<code><a href="SwerveAbsoluteEncoder.html#maximumRetries">maximumRetries</a>, <a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></div>
</section>
</li>
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>CanAndCoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -106,7 +106,7 @@ loadScripts(document, 'script');</script>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-swervelib.encoders.SwerveAbsoluteEncoder">Fields inherited from class&nbsp;swervelib.encoders.<a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></h3>
<code><a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></div>
<code><a href="SwerveAbsoluteEncoder.html#maximumRetries">maximumRetries</a>, <a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></div>
</section>
</li>
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>SparkMaxEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -101,7 +101,7 @@ loadScripts(document, 'script');</script>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-swervelib.encoders.SwerveAbsoluteEncoder">Fields inherited from class&nbsp;swervelib.encoders.<a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></h3>
<code><a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></div>
<code><a href="SwerveAbsoluteEncoder.html#maximumRetries">maximumRetries</a>, <a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
@@ -141,19 +141,24 @@ 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">Configure the absolute encoder to read from [0, 360) per second.</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="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureSparkMax(java.util.function.Supplier)" class="member-name-link">configureSparkMax</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a>&lt;com.revrobotics.REVLibError&gt;&nbsp;config)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Run the configuration until it succeeds or times out.</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="#factoryDefault()" class="member-name-link">factoryDefault</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 encoder to factory defaults.</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/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAbsoluteEncoder()" class="member-name-link">getAbsoluteEncoder</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="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAbsoluteEncoder()" class="member-name-link">getAbsoluteEncoder</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 instantiated absolute encoder Object.</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="#getAbsolutePosition()" class="member-name-link">getAbsolutePosition</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="#getAbsolutePosition()" class="member-name-link">getAbsolutePosition</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 absolute position of the encoder.</div>
</div>
</div>
@@ -210,6 +215,17 @@ loadScripts(document, 'script');</script>
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="configureSparkMax(java.util.function.Supplier)">
<h3>configureSparkMax</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configureSparkMax</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a>&lt;com.revrobotics.REVLibError&gt;&nbsp;config)</span></div>
<div class="block">Run the configuration until it succeeds or times out.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>config</code> - Lambda supplier returning the error state.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="factoryDefault()">
<h3>factoryDefault</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>

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<html lang="en">
<head>
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<title>SwerveAbsoluteEncoder</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -95,9 +95,14 @@ loadScripts(document, 'script');</script>
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>boolean</code></div>
<div class="col-second even-row-color"><code><a href="#readingError" class="member-name-link">readingError</a></code></div>
<div class="col-first even-row-color"><code>final int</code></div>
<div class="col-second even-row-color"><code><a href="#maximumRetries" class="member-name-link">maximumRetries</a></code></div>
<div class="col-last even-row-color">
<div class="block">The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.</div>
</div>
<div class="col-first odd-row-color"><code>boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#readingError" class="member-name-link">readingError</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Last angle reading was faulty.</div>
</div>
</div>
@@ -170,6 +175,21 @@ loadScripts(document, 'script');</script>
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="maximumRetries">
<h3>maximumRetries</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">maximumRetries</span></div>
<div class="block">The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.</div>
<dl class="notes">
<dt>See Also:</dt>
<dd>
<ul class="see-list">
<li><a href="../../constant-values.html#swervelib.encoders.SwerveAbsoluteEncoder.maximumRetries">Constant Field Values</a></li>
</ul>
</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="readingError">
<h3>readingError</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">readingError</span></div>

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<head>
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>AnalogGyroSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>NavXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>Pigeon2Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>PigeonSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>SwerveIMU</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>swervelib.imu</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>swervelib.imu Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>Matter</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>SwerveMath</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>swervelib.math</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>swervelib.math Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>SparkMaxBrushedMotorSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -121,7 +121,7 @@ loadScripts(document, 'script');</script>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-swervelib.motors.SwerveMotor">Fields inherited from class&nbsp;swervelib.motors.<a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></h3>
<code><a href="SwerveMotor.html#isDriveMotor">isDriveMotor</a></code></div>
<code><a href="SwerveMotor.html#isDriveMotor">isDriveMotor</a>, <a href="SwerveMotor.html#maximumRetries">maximumRetries</a></code></div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
@@ -197,83 +197,88 @@ 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">Configure the PID wrapping for the position closed loop controller.</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="#factoryDefaults()" class="member-name-link">factoryDefaults</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureSparkMax(java.util.function.Supplier)" class="member-name-link">configureSparkMax</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a>&lt;com.revrobotics.REVLibError&gt;&nbsp;config)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Run the configuration until it succeeds or times out.</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="#factoryDefaults()" class="member-name-link">factoryDefaults</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the factory defaults.</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/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMotor()" class="member-name-link">getMotor</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="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMotor()" class="member-name-link">getMotor</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 motor object from the module.</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="#getPosition()" class="member-name-link">getPosition</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="#getPosition()" class="member-name-link">getPosition</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 position of the integrated encoder.</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="#getVelocity()" class="member-name-link">getVelocity</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="#getVelocity()" class="member-name-link">getVelocity</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 velocity of the integrated encoder.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAttachedAbsoluteEncoder()" class="member-name-link">isAttachedAbsoluteEncoder</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>boolean</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAttachedAbsoluteEncoder()" class="member-name-link">isAttachedAbsoluteEncoder</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Queries whether the absolute encoder is directly attached to the 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="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</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="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</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 percentage output.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</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="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</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="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</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="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</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 current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</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="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</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="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the motor to be inverted.</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="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</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="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</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 maximum rate the open/closed loop output can change by.</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="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</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="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the idle mode.</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="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</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="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</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 integrated encoder position.</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="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward)</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 closed loop PID controller reference point.</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="#setReference(double,double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward,
double&nbsp;position)</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the closed loop PID controller reference point.</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="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward,
double&nbsp;position)</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 closed loop PID controller reference point.</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="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</div>
</div>
@@ -383,6 +388,17 @@ loadScripts(document, 'script');</script>
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="configureSparkMax(java.util.function.Supplier)">
<h3>configureSparkMax</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configureSparkMax</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a>&lt;com.revrobotics.REVLibError&gt;&nbsp;config)</span></div>
<div class="block">Run the configuration until it succeeds or times out.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>config</code> - Lambda supplier returning the error state.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setVoltageCompensation(double)">
<h3>setVoltageCompensation</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setVoltageCompensation</span><wbr><span class="parameters">(double&nbsp;nominalVoltage)</span></div>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>SparkMaxSwerve.SparkMAX_slotIdx</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

110
docs/swervelib/motors/SparkMaxSwerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>SparkMaxSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -138,7 +138,7 @@ loadScripts(document, 'script');</script>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-swervelib.motors.SwerveMotor">Fields inherited from class&nbsp;swervelib.motors.<a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></h3>
<code><a href="SwerveMotor.html#isDriveMotor">isDriveMotor</a></code></div>
<code><a href="SwerveMotor.html#isDriveMotor">isDriveMotor</a>, <a href="SwerveMotor.html#maximumRetries">maximumRetries</a></code></div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
@@ -208,83 +208,88 @@ 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">Configure the PID wrapping for the position closed loop controller.</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="#factoryDefaults()" class="member-name-link">factoryDefaults</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureSparkMax(java.util.function.Supplier)" class="member-name-link">configureSparkMax</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a>&lt;com.revrobotics.REVLibError&gt;&nbsp;config)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Run the configuration until it succeeds or times out.</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="#factoryDefaults()" class="member-name-link">factoryDefaults</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the factory defaults.</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/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMotor()" class="member-name-link">getMotor</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="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMotor()" class="member-name-link">getMotor</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 motor object from the module.</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="#getPosition()" class="member-name-link">getPosition</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="#getPosition()" class="member-name-link">getPosition</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 position of the integrated encoder.</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="#getVelocity()" class="member-name-link">getVelocity</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="#getVelocity()" class="member-name-link">getVelocity</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 velocity of the integrated encoder.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAttachedAbsoluteEncoder()" class="member-name-link">isAttachedAbsoluteEncoder</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>boolean</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAttachedAbsoluteEncoder()" class="member-name-link">isAttachedAbsoluteEncoder</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Queries whether the absolute encoder is directly attached to the 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="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</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="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</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 percentage output.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</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="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</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="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</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="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</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 current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</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="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</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="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the motor to be inverted.</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="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</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="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</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 maximum rate the open/closed loop output can change by.</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="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</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="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the idle mode.</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="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</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="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</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 integrated encoder position.</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="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward)</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 closed loop PID controller reference point.</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="#setReference(double,double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward,
double&nbsp;position)</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the closed loop PID controller reference point.</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="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward,
double&nbsp;position)</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 closed loop PID controller reference point.</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="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</div>
</div>
@@ -382,6 +387,17 @@ loadScripts(document, 'script');</script>
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="configureSparkMax(java.util.function.Supplier)">
<h3>configureSparkMax</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configureSparkMax</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a>&lt;com.revrobotics.REVLibError&gt;&nbsp;config)</span></div>
<div class="block">Run the configuration until it succeeds or times out.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>config</code> - Lambda supplier returning the error state.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setVoltageCompensation(double)">
<h3>setVoltageCompensation</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setVoltageCompensation</span><wbr><span class="parameters">(double&nbsp;nominalVoltage)</span></div>

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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>SwerveMotor</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -100,6 +100,11 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Whether the swerve motor is a drive motor.</div>
</div>
<div class="col-first odd-row-color"><code>final int</code></div>
<div class="col-second odd-row-color"><code><a href="#maximumRetries" class="member-name-link">maximumRetries</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.</div>
</div>
</div>
</section>
</li>
@@ -250,6 +255,21 @@ loadScripts(document, 'script');</script>
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="maximumRetries">
<h3>maximumRetries</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">maximumRetries</span></div>
<div class="block">The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.</div>
<dl class="notes">
<dt>See Also:</dt>
<dd>
<ul class="see-list">
<li><a href="../../constant-values.html#swervelib.motors.SwerveMotor.maximumRetries">Constant Field Values</a></li>
</ul>
</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="isDriveMotor">
<h3>isDriveMotor</h3>
<div class="member-signature"><span class="modifiers">protected</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">isDriveMotor</span></div>

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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>TalonFXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -131,7 +131,7 @@ loadScripts(document, 'script');</script>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-swervelib.motors.SwerveMotor">Fields inherited from class&nbsp;swervelib.motors.<a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></h3>
<code><a href="SwerveMotor.html#isDriveMotor">isDriveMotor</a></code></div>
<code><a href="SwerveMotor.html#isDriveMotor">isDriveMotor</a>, <a href="SwerveMotor.html#maximumRetries">maximumRetries</a></code></div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->

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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>TalonSRXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -131,7 +131,7 @@ loadScripts(document, 'script');</script>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-swervelib.motors.SwerveMotor">Fields inherited from class&nbsp;swervelib.motors.<a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></h3>
<code><a href="SwerveMotor.html#isDriveMotor">isDriveMotor</a></code></div>
<code><a href="SwerveMotor.html#isDriveMotor">isDriveMotor</a>, <a href="SwerveMotor.html#maximumRetries">maximumRetries</a></code></div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
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<title>swervelib.motors</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:56:11 CDT 2023 -->
<title>swervelib.motors Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
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<title>SwerveDriveConfiguration</title>
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