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Removed requirement for odometry to be called in the subsystem.

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thenetworkgrinch
2023-08-29 21:03:58 -05:00
parent 12f6e0ed38
commit 14f66bb679
120 changed files with 353 additions and 1826 deletions
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>All Classes and Interfaces</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -196,30 +196,21 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block"><a href="swervelib/SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> JSON parsed class.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/telemetry/SwerveDriveTelemetry.html" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Clone of <code>SwerveDriveOdometry</code> except uses gyro pitch and roll to achieve a more accurate estimation.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/telemetry/SwerveDriveTelemetry.html" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Telemetry to describe the <a href="swervelib/SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> following frc-web-components.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab3">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">
<div class="block">Verbosity of telemetry data sent back.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Swerve IMU abstraction to define a standard interface with a swerve drive.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Simulation for <a href="swervelib/SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> IMU.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
speed.</div>
<div class="block">Simulation for <a href="swervelib/SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> IMU.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
@@ -241,22 +232,13 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Class to hold simulation data for <a href="swervelib/SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a></div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Second order kinematics swerve module state.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Swerve motor abstraction which defines a standard interface for motors within a swerve module.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/SwerveParser.html" title="class in swervelib.parser">SwerveParser</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Helper class used to parse the JSON directory with specified configuration options.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/SwerveParser.html" title="class in swervelib.parser">SwerveParser</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Clone of <code>SwerveDrivePoseEstimator</code> which takes into account gyroscope pitch and roll to achieve a more
accurate estimation, originally made by Team 1466.</div>
<div class="block">Helper class used to parse the JSON directory with specified configuration options.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/ctre/TalonFXSimProfile.html" title="class in swervelib.simulation.ctre">TalonFXSimProfile</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">

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<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
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<title>All Packages</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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<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
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<title>Constant Field Values</title>
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<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
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<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
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<title>A-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -113,10 +113,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Adds a VictorSPX controller to the simulator.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)" class="member-name-link">addVisionMeasurement(Pose2d, double)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Adds a vision measurement to the Kalman Filter.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean,double)" class="member-name-link">addVisionMeasurement(Pose2d, double, boolean, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="../swervelib/imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with
@@ -127,10 +123,6 @@ loadScripts(document, 'script');</script>
<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="../swervelib/imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with
the given timestamp of the vision measurement.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)" class="member-name-link">addVisionMeasurement(Pose2d, double, Matrix&lt;N3, N1&gt;)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Adds a vision measurement to the Kalman Filter.</div>
</dd>
<dt><a href="../swervelib/imu/ADIS16448Swerve.html" class="type-name-link" title="class in swervelib.imu">ADIS16448Swerve</a> - Class in <a href="../swervelib/imu/package-summary.html">swervelib.imu</a></dt>
<dd>
<div class="block">IMU Swerve class for the <code>ADIS16448_IMU</code> device.</div>
@@ -263,7 +255,7 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">PIDF configuration options for the angle motor closed-loop PID controller.</div>
</dd>
<dt><a href="../swervelib/math/SwerveMath.html#antiJitter(swervelib.math.SwerveModuleState2,swervelib.math.SwerveModuleState2,double)" class="member-name-link">antiJitter(SwerveModuleState2, SwerveModuleState2, double)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
<dt><a href="../swervelib/math/SwerveMath.html#antiJitter(edu.wpi.first.math.kinematics.SwerveModuleState,edu.wpi.first.math.kinematics.SwerveModuleState,double)" class="member-name-link">antiJitter(SwerveModuleState, SwerveModuleState, double)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
<dd>
<div class="block">Perform anti-jitter within modules if the speed requested is too low.</div>
</dd>

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<title>K-Index</title>
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<title>M-Index</title>
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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:M">M</h2>
<dl class="index">
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_forwardKinematics" class="member-name-link">m_forwardKinematics</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Forward kinematics matrix.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_gyroOffset" class="member-name-link">m_gyroOffset</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Gyro offset.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_inverseKinematics" class="member-name-link">m_inverseKinematics</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Inverse kinematics matrix.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_kinematics" class="member-name-link">m_kinematics</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Swerve drive kinematics.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_kinematics" class="member-name-link">m_kinematics</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Swerve drive kinematics.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_moduleAccelTimer" class="member-name-link">m_moduleAccelTimer</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_modules" class="member-name-link">m_modules</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Location of each swerve module in meters.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_moduleStates" class="member-name-link">m_moduleStates</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Swerve module states.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_numModules" class="member-name-link">m_numModules</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Number of swerve modules.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_numModules" class="member-name-link">m_numModules</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Number of swerve modules.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_numModules" class="member-name-link">m_numModules</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Number of swerve modules.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_odometry" class="member-name-link">m_odometry</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Enhanced swerve drive odometry.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_poseBuffer" class="member-name-link">m_poseBuffer</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Interpolation buffer.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_poseMeters" class="member-name-link">m_poseMeters</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Estimated pose.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_prevChassisSpeeds" class="member-name-link">m_prevChassisSpeeds</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_prevCoR" class="member-name-link">m_prevCoR</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Previous CoR</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_previousAngle" class="member-name-link">m_previousAngle</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Previous gyroscope angle.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_previousModulePositions" class="member-name-link">m_previousModulePositions</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Previous swerve module positions.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_prevModuleAccelTime" class="member-name-link">m_prevModuleAccelTime</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_q" class="member-name-link">m_q</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Matrix quotient.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_visionK" class="member-name-link">m_visionK</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Vision standard deviations.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_zeroModuleStates" class="member-name-link">m_zeroModuleStates</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Zero module states.</div>
</dd>
<dt><a href="../swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html#MACHINE" class="member-name-link">MACHINE</a> - Enum constant in enum class swervelib.telemetry.<a href="../swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></dt>
<dd>
<div class="block">Only send the machine readable data related to swerve drive.</div>
@@ -238,8 +156,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Module number for kinematics, usually 0 to 3.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#modulePositions" class="member-name-link">modulePositions</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/parser/json/SwerveDriveJson.html#modules" class="member-name-link">modules</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">Module JSONs in order clockwise order starting from front left.</div>
@@ -250,7 +166,7 @@ loadScripts(document, 'script');</script>
</dd>
<dt><a href="../swervelib/SwerveModule.html#moduleStateOptimization" class="member-name-link">moduleStateOptimization</a> - Variable in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Enable <a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> optimizations so the angle is reversed and speed is reversed to ensure the module
<div class="block">Enable <code>SwerveModuleState</code> optimizations so the angle is reversed and speed is reversed to ensure the module
never turns more than 90deg.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#moduleSteerFFCL" class="member-name-link">moduleSteerFFCL</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>

2
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>N-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

15
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>O-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -53,6 +53,10 @@ loadScripts(document, 'script');</script>
<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#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>
</dd>
<dt><a href="../swervelib/imu/ADIS16448Swerve.html#offset" class="member-name-link">offset</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/ADIS16448Swerve.html" title="class in swervelib.imu">ADIS16448Swerve</a></dt>
<dd>
<div class="block">Offset for the ADIS16448.</div>
@@ -81,10 +85,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Offset for the Pigeon.</div>
</dd>
<dt><a href="../swervelib/math/SwerveModuleState2.html#omegaRadPerSecond" class="member-name-link">omegaRadPerSecond</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></dt>
<dd>
<div class="block">Rad per sec</div>
</dd>
<dt><a href="../swervelib/parser/SwerveParser.html#openJson(java.io.File)" class="member-name-link">openJson(File)</a> - Method in class swervelib.parser.<a href="../swervelib/parser/SwerveParser.html" title="class in swervelib.parser">SwerveParser</a></dt>
<dd>
<div class="block">Open JSON file.</div>
@@ -97,11 +97,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Optimal voltage of the robot.</div>
</dd>
<dt><a href="../swervelib/math/SwerveModuleState2.html#optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,swervelib.math.SwerveModuleState2,double)" class="member-name-link">optimize(SwerveModuleState2, Rotation2d, SwerveModuleState2, double)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></dt>
<dd>
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
the wheel spins.</div>
</dd>
<dt><a href="../swervelib/parser/PIDFConfig.html#output" class="member-name-link">output</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></dt>
<dd>
<div class="block">The PIDF output range.</div>

4
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>P-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -157,8 +157,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Logical inverse of the Pose exponential from 254.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#poseMeters" class="member-name-link">poseMeters</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/Matter.html#position" class="member-name-link">position</a> - Variable in class swervelib.math.<a href="../swervelib/math/Matter.html" title="class in swervelib.math">Matter</a></dt>
<dd>
<div class="block">Position in meters from robot center in 3d space.</div>

2
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>Q-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

10
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>R-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -78,14 +78,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Resets odometry to the given pose.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#resetPosition(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetPosition(Rotation2d, SwerveModulePosition[], Pose2d)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Resets the robot's position on the field.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#resetPosition(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetPosition(Rotation2d, SwerveModulePosition[], Pose2d)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Resets the robot's position on the field.</div>
</dd>
<dt><a href="../swervelib/telemetry/SwerveDriveTelemetry.html#robotRotation" class="member-name-link">robotRotation</a> - Static variable in class swervelib.telemetry.<a href="../swervelib/telemetry/SwerveDriveTelemetry.html" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></dt>
<dd>
<div class="block">The robot's current rotation based on odometry or gyro readings</div>

80
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>S-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -130,7 +130,7 @@ loadScripts(document, 'script');</script>
<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>
</dd>
<dt><a href="../swervelib/SwerveModule.html#setDesiredState(swervelib.math.SwerveModuleState2,boolean,boolean)" class="member-name-link">setDesiredState(SwerveModuleState2, boolean, boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dt><a href="../swervelib/SwerveModule.html#setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState,boolean,boolean)" class="member-name-link">setDesiredState(SwerveModuleState, boolean, boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Set the desired state of the swerve module.</div>
</dd>
@@ -190,14 +190,14 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Set the maximum speed of the drive motors, modified <a href="../swervelib/parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and
<a href="../swervelib/parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is used for the
<a href="../swervelib/SwerveDrive.html#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>SwerveDrive.setRawModuleStates(SwerveModuleState2[], boolean)</code></a> function and
<a href="../swervelib/SwerveDrive.html#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>SwerveDrive.setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
<a href="../swervelib/SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setMaximumSpeed(double,boolean)" class="member-name-link">setMaximumSpeed(double, boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the maximum speed of the drive motors, modified <a href="../swervelib/parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and
<a href="../swervelib/parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is used for the
<a href="../swervelib/SwerveDrive.html#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>SwerveDrive.setRawModuleStates(SwerveModuleState2[], boolean)</code></a> function and
<a href="../swervelib/SwerveDrive.html#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>SwerveDrive.setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
<a href="../swervelib/SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setMaximumSpeeds(double,double,double)" class="member-name-link">setMaximumSpeeds(double, double, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
@@ -206,9 +206,9 @@ loadScripts(document, 'script');</script>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setModuleStateOptimization(boolean)" class="member-name-link">setModuleStateOptimization(boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Configure whether the <a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> will be optimized to prevent spinning more than 90deg.</div>
<div class="block">Configure whether the <code>SwerveModuleState</code> will be optimized to prevent spinning more than 90deg.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setModuleStates(SwerveModuleState2[], boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dt><a href="../swervelib/SwerveDrive.html#setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setModuleStates(SwerveModuleState[], boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the module states (azimuth and velocity) directly.</div>
</dd>
@@ -240,6 +240,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Sets the drive motors to brake/coast mode.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setOdometryPeriod(double)" class="member-name-link">setOdometryPeriod(double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the odometry update period in seconds.</div>
</dd>
<dt><a href="../swervelib/imu/ADIS16448Swerve.html#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset(Rotation3d)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/ADIS16448Swerve.html" title="class in swervelib.imu">ADIS16448Swerve</a></dt>
<dd>
<div class="block">Set the gyro offset.</div>
@@ -292,7 +296,7 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Set the integrated encoder position.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setRawModuleStates(SwerveModuleState2[], boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dt><a href="../swervelib/SwerveDrive.html#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setRawModuleStates(SwerveModuleState[], boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the module states (azimuth and velocity) directly.</div>
</dd>
@@ -336,10 +340,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Set the closed loop PID controller reference point.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix)" class="member-name-link">setVisionMeasurementStdDevs(Matrix&lt;N3, N1&gt;)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Sets the pose estimator's trust of global measurements.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation(double)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></dt>
<dd>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
@@ -431,6 +431,10 @@ loadScripts(document, 'script');</script>
<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>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#stopOdometryThread()" class="member-name-link">stopOdometryThread()</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Stop the odometry thread in favor of manually updating odometry.</div>
</dd>
<dt><a href="../swervelib/encoders/SwerveAbsoluteEncoder.html" class="type-name-link" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a> - Class in <a href="../swervelib/encoders/package-summary.html">swervelib.encoders</a></dt>
<dd>
<div class="block">Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..</div>
@@ -492,18 +496,6 @@ loadScripts(document, 'script');</script>
</dd>
<dt><a href="../swervelib/parser/json/SwerveDriveJson.html#%3Cinit%3E()" class="member-name-link">SwerveDriveJson()</a> - Constructor for class swervelib.parser.json.<a href="../swervelib/parser/json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html" class="type-name-link" title="class in swervelib.math">SwerveDriveOdometry2</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">Clone of <code>SwerveDriveOdometry</code> except uses gyro pitch and roll to achieve a more accurate estimation.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">SwerveDriveOdometry2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[])</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Constructs a SwerveDriveOdometry object with the default pose at the origin.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">SwerveDriveOdometry2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Constructs a SwerveDriveOdometry object.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Swerve odometry.</div>
@@ -532,15 +524,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Create the swerve drive IMU simulation.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html" class="type-name-link" title="class in swervelib.math">SwerveKinematics2</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
speed.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)" class="member-name-link">SwerveKinematics2(Translation2d...)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Constructs a swerve drive kinematics object.</div>
</dd>
<dt><a href="../swervelib/package-summary.html">swervelib</a> - package swervelib</dt>
<dd>
<div class="block">Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.</div>
@@ -639,22 +622,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Create simulation class and initialize module at 0.</div>
</dd>
<dt><a href="../swervelib/math/SwerveModuleState2.html" class="type-name-link" title="class in swervelib.math">SwerveModuleState2</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">Second order kinematics swerve module state.</div>
</dd>
<dt><a href="../swervelib/math/SwerveModuleState2.html#%3Cinit%3E()" class="member-name-link">SwerveModuleState2()</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></dt>
<dd>
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
</dd>
<dt><a href="../swervelib/math/SwerveModuleState2.html#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)" class="member-name-link">SwerveModuleState2(double, Rotation2d, double)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></dt>
<dd>
<div class="block">Constructs a SwerveModuleState.</div>
</dd>
<dt><a href="../swervelib/math/SwerveModuleState2.html#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveModuleState,double)" class="member-name-link">SwerveModuleState2(SwerveModuleState, double)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></dt>
<dd>
<div class="block">Create a <a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> based on the <code>SwerveModuleState</code> with the radians per second defined.</div>
</dd>
<dt><a href="../swervelib/motors/SwerveMotor.html" class="type-name-link" title="class in swervelib.motors">SwerveMotor</a> - Class in <a href="../swervelib/motors/package-summary.html">swervelib.motors</a></dt>
<dd>
<div class="block">Swerve motor abstraction which defines a standard interface for motors within a swerve module.</div>
@@ -669,23 +636,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Construct a swerve parser.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html" class="type-name-link" title="class in swervelib.math">SwervePoseEstimator2</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">Clone of <code>SwerveDrivePoseEstimator</code> which takes into account gyroscope pitch and roll to achieve a more
accurate estimation, originally made by Team 1466.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">SwervePoseEstimator2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.Matrix,edu.wpi.first.math.Matrix)" class="member-name-link">SwervePoseEstimator2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d, Matrix&lt;N3, N1&gt;, Matrix&lt;N3, N1&gt;)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Constructs a SwerveDrivePoseEstimator.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" class="type-name-link" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">Represents an odometry record.</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#synchronizeEncoderQueued" class="member-name-link">synchronizeEncoderQueued</a> - Variable in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Encoder synchronization queued.</div>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>T-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -111,26 +111,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Main timer to simulate the passage of time.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#toChassisSpeeds(swervelib.math.SwerveModuleState2...)" class="member-name-link">toChassisSpeeds(SwerveModuleState2...)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</dd>
<dt><a href="../swervelib/math/SwerveModuleState2.html#toSwerveModuleState()" class="member-name-link">toSwerveModuleState()</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></dt>
<dd>
<div class="block">Convert to a <code>SwerveModuleState</code>.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">toSwerveModuleStates(ChassisSpeeds)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Performs inverse kinematics.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">toSwerveModuleStates(ChassisSpeeds, Translation2d)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)" class="member-name-link">toTwist2d(SwerveModulePosition...)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</dd>
<dt><a href="../swervelib/parser/json/DeviceJson.html#type" class="member-name-link">type</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></dt>
<dd>
<div class="block">The device type, e.g.</div>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
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<title>B-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -53,10 +53,6 @@ loadScripts(document, 'script');</script>
<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:B">B</h2>
<dl class="index">
<dt><a href="../swervelib/math/SwerveKinematics2.html#bigInverseKinematics" class="member-name-link">bigInverseKinematics</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Second order kinematics inverse matrix.</div>
</dd>
<dt><a href="../swervelib/parser/json/modules/BoolMotorJson.html" class="type-name-link" title="class in swervelib.parser.json.modules">BoolMotorJson</a> - Class in <a href="../swervelib/parser/json/modules/package-summary.html">swervelib.parser.json.modules</a></dt>
<dd>
<div class="block">Inverted motor JSON parsed class.</div>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
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<title>U-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -53,14 +53,6 @@ loadScripts(document, 'script');</script>
<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:U">U</h2>
<dl class="index">
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#update(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">update(Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[])</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Updates the robot's position on the field using forward kinematics and integration of the pose over time.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#update(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">update(Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[])</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Updates the pose estimator with wheel encoder and gyro information.</div>
</dd>
<dt><a href="../swervelib/telemetry/SwerveDriveTelemetry.html#updateData()" class="member-name-link">updateData()</a> - Static method in class swervelib.telemetry.<a href="../swervelib/telemetry/SwerveDriveTelemetry.html" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></dt>
<dd>
<div class="block">Upload data to smartdashboard</div>
@@ -69,19 +61,15 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Update odometry should be run every loop.</div>
</dd>
<dt><a href="../swervelib/simulation/SwerveIMUSimulation.html#updateOdometry(swervelib.math.SwerveKinematics2,swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.geometry.Pose2d%5B%5D,edu.wpi.first.wpilibj.smartdashboard.Field2d)" class="member-name-link">updateOdometry(SwerveKinematics2, SwerveModuleState2[], Pose2d[], Field2d)</a> - Method in class swervelib.simulation.<a href="../swervelib/simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></dt>
<dt><a href="../swervelib/simulation/SwerveIMUSimulation.html#updateOdometry(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,edu.wpi.first.math.geometry.Pose2d%5B%5D,edu.wpi.first.wpilibj.smartdashboard.Field2d)" class="member-name-link">updateOdometry(SwerveDriveKinematics, SwerveModuleState[], Pose2d[], Field2d)</a> - Method in class swervelib.simulation.<a href="../swervelib/simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></dt>
<dd>
<div class="block">Update the odometry of the simulated <a href="../swervelib/SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> and post the <a href="../swervelib/SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>
states to the <code>Field2d</code>.</div>
</dd>
<dt><a href="../swervelib/simulation/SwerveModuleSimulation.html#updateStateAndPosition(swervelib.math.SwerveModuleState2)" class="member-name-link">updateStateAndPosition(SwerveModuleState2)</a> - Method in class swervelib.simulation.<a href="../swervelib/simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></dt>
<dt><a href="../swervelib/simulation/SwerveModuleSimulation.html#updateStateAndPosition(edu.wpi.first.math.kinematics.SwerveModuleState)" class="member-name-link">updateStateAndPosition(SwerveModuleState)</a> - Method in class swervelib.simulation.<a href="../swervelib/simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></dt>
<dd>
<div class="block">Update the position and state of the module.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#updateWithTime(double,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">updateWithTime(double, Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[])</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Updates the pose estimator with wheel encoder and gyro information.</div>
</dd>
</dl>
<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></main>
</div>

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<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
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<title>_-Index</title>
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<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
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<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
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<title>D-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -57,15 +57,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Derivative Gain for PID.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,double)" class="member-name-link">desaturateWheelSpeeds(SwerveModuleState2[], double)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)" class="member-name-link">desaturateWheelSpeeds(SwerveModuleState2[], ChassisSpeeds, double, double, double)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
joystick saturation at edges of joystick.</div>
</dd>
<dt><a href="../swervelib/telemetry/SwerveDriveTelemetry.html#desiredChassisSpeeds" class="member-name-link">desiredChassisSpeeds</a> - Static variable in class swervelib.telemetry.<a href="../swervelib/telemetry/SwerveDriveTelemetry.html" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></dt>
<dd>
<div class="block">Describes the desired forward, sideways and angular velocity of the robot.</div>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>E-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -97,8 +97,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Encoder pulse per rotation for non-integrated encoders.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#equals(java.lang.Object)" class="member-name-link">equals(Object)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
</dl>
<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></main>
</div>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>F-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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18
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>G-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -153,10 +153,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Get the drive <a href="../swervelib/motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a> for the <a href="../swervelib/SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#getEstimatedPosition()" class="member-name-link">getEstimatedPosition()</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Gets the estimated robot pose.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#getFieldVelocity()" class="member-name-link">getFieldVelocity()</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
@@ -257,10 +253,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#getPoseMeters()" class="member-name-link">getPoseMeters()</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Returns the position of the robot on the field.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html#getPosition()" class="member-name-link">getPosition()</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></dt>
<dd>
<div class="block">Get the position of the integrated encoder.</div>
@@ -387,7 +379,7 @@ loadScripts(document, 'script');</script>
</dd>
<dt><a href="../swervelib/simulation/SwerveModuleSimulation.html#getState()" class="member-name-link">getState()</a> - Method in class swervelib.simulation.<a href="../swervelib/simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></dt>
<dd>
<div class="block">Get the <a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> of the simulated module.</div>
<div class="block">Get the <code>SwerveModuleState</code> of the simulated module.</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#getState()" class="member-name-link">getState()</a> - Method in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
@@ -459,12 +451,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">NavX IMU.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#gyroAngle" class="member-name-link">gyroAngle</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#gyroPitch" class="member-name-link">gyroPitch</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#gyroRoll" class="member-name-link">gyroRoll</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
</dl>
<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></main>
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>H-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -53,8 +53,6 @@ loadScripts(document, 'script');</script>
<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:H">H</h2>
<dl class="index">
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#hashCode()" class="member-name-link">hashCode()</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/parser/json/ControllerPropertiesJson.html#heading" class="member-name-link">heading</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/ControllerPropertiesJson.html" title="class in swervelib.parser.json">ControllerPropertiesJson</a></dt>
<dd>
<div class="block">The PID used to control the robot heading.</div>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>I-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -93,18 +93,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Swerve IMU device for sensing the heading of the robot.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#interpolate(swervelib.math.SwervePoseEstimator2.InterpolationRecord,double)" class="member-name-link">interpolate(SwervePoseEstimator2.InterpolationRecord, double)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>
<div class="block">Return the interpolated record.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">InterpolationRecord(Pose2d, Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[])</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>
<div class="block">Constructs an Interpolation Record with the specified parameters.</div>
</dd>
<dt><a href="../swervelib/math/SwerveModuleState2.html#invert()" class="member-name-link">invert()</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></dt>
<dd>
<div class="block">Invert the swerve module state.</div>
</dd>
<dt><a href="../swervelib/encoders/AnalogAbsoluteEncoderSwerve.html#inverted" class="member-name-link">inverted</a> - Variable in class swervelib.encoders.<a href="../swervelib/encoders/AnalogAbsoluteEncoderSwerve.html" title="class in swervelib.encoders">AnalogAbsoluteEncoderSwerve</a></dt>
<dd>
<div class="block">Inversion state of the encoder.</div>

2
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>Overview</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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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>Generated Documentation (Untitled)</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 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -103,16 +103,6 @@ loadScripts(document, 'script');</script>
<li class="circle">swervelib.<a href="swervelib/SwerveDrive.html" class="type-name-link" title="class in swervelib">SwerveDrive</a></li>
<li class="circle">swervelib.parser.<a href="swervelib/parser/SwerveDriveConfiguration.html" class="type-name-link" title="class in swervelib.parser">SwerveDriveConfiguration</a></li>
<li class="circle">swervelib.parser.json.<a href="swervelib/parser/json/SwerveDriveJson.html" class="type-name-link" title="class in swervelib.parser.json">SwerveDriveJson</a></li>
<li class="circle">edu.wpi.first.math.kinematics.SwerveDriveKinematics
<ul>
<li class="circle">swervelib.math.<a href="swervelib/math/SwerveKinematics2.html" class="type-name-link" title="class in swervelib.math">SwerveKinematics2</a></li>
</ul>
</li>
<li class="circle">edu.wpi.first.math.kinematics.SwerveDriveOdometry
<ul>
<li class="circle">swervelib.math.<a href="swervelib/math/SwerveDriveOdometry2.html" class="type-name-link" title="class in swervelib.math">SwerveDriveOdometry2</a></li>
</ul>
</li>
<li class="circle">swervelib.telemetry.<a href="swervelib/telemetry/SwerveDriveTelemetry.html" class="type-name-link" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></li>
<li class="circle">swervelib.imu.<a href="swervelib/imu/SwerveIMU.html" class="type-name-link" title="class in swervelib.imu">SwerveIMU</a>
<ul>
@@ -131,11 +121,6 @@ loadScripts(document, 'script');</script>
<li class="circle">swervelib.parser.<a href="swervelib/parser/SwerveModuleConfiguration.html" class="type-name-link" title="class in swervelib.parser">SwerveModuleConfiguration</a></li>
<li class="circle">swervelib.parser.<a href="swervelib/parser/SwerveModulePhysicalCharacteristics.html" class="type-name-link" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></li>
<li class="circle">swervelib.simulation.<a href="swervelib/simulation/SwerveModuleSimulation.html" class="type-name-link" title="class in swervelib.simulation">SwerveModuleSimulation</a></li>
<li class="circle">edu.wpi.first.math.kinematics.SwerveModuleState (implements java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Comparable.html" title="class or interface in java.lang" class="external-link">Comparable</a>&lt;T&gt;)
<ul>
<li class="circle">swervelib.math.<a href="swervelib/math/SwerveModuleState2.html" class="type-name-link" title="class in swervelib.math">SwerveModuleState2</a></li>
</ul>
</li>
<li class="circle">swervelib.motors.<a href="swervelib/motors/SwerveMotor.html" class="type-name-link" title="class in swervelib.motors">SwerveMotor</a>
<ul>
<li class="circle">swervelib.motors.<a href="swervelib/motors/SparkMaxBrushedMotorSwerve.html" class="type-name-link" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></li>
@@ -145,8 +130,6 @@ loadScripts(document, 'script');</script>
</ul>
</li>
<li class="circle">swervelib.parser.<a href="swervelib/parser/SwerveParser.html" class="type-name-link" title="class in swervelib.parser">SwerveParser</a></li>
<li class="circle">swervelib.math.<a href="swervelib/math/SwervePoseEstimator2.html" class="type-name-link" title="class in swervelib.math">SwervePoseEstimator2</a></li>
<li class="circle">swervelib.math.<a href="swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" class="type-name-link" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a> (implements edu.wpi.first.math.interpolation.Interpolatable&lt;T&gt;)</li>
</ul>
</li>
</ul>

2
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>SwerveController</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

128
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">
@@ -112,7 +112,7 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Invert odometry readings of drive motor positions, used as a patch for debugging currently.</div>
</div>
<div class="col-first even-row-color"><code>final <a href="math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></code></div>
<div class="col-first even-row-color"><code>final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
<div class="col-second even-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve Kinematics object utilizing second order kinematics.</div>
@@ -127,40 +127,45 @@ 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 <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-first odd-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
<div class="col-second odd-row-color"><code><a href="#odometryThread" class="member-name-link">odometryThread</a></code></div>
<div class="col-last odd-row-color">
<div class="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="block">Simulation of the swerve drive.</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="#stateStdDevs" class="member-name-link">stateStdDevs</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="#stateStdDevs" class="member-name-link">stateStdDevs</a></code></div>
<div class="col-last odd-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 odd-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
<div class="col-second odd-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
<div class="col-second even-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve controller for controlling heading of the robot.</div>
</div>
<div class="col-first even-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
<div class="col-second even-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
<div class="col-second odd-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve drive configuration.</div>
</div>
<div class="col-first odd-row-color"><code>final <a href="math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></code></div>
<div class="col-second odd-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></div>
<div class="col-second even-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve odometry.</div>
</div>
<div class="col-first even-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second even-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second odd-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve modules.</div>
</div>
<div class="col-first odd-row-color"><code>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="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="block">Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of
rotation)</div>
</div>
@@ -294,7 +299,7 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current roll angle of the robot, as reported by the imu.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState[]</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current module states (azimuth and velocity)</div>
@@ -362,7 +367,7 @@ 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">Set the maximum speed of the drive motors, modified <a href="parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and
<a href="parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is used for the
<a href="#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState2[], boolean)</code></a> function and
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
@@ -371,7 +376,7 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the maximum speed of the drive motors, modified <a href="parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and
<a href="parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is used for the
<a href="#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState2[], boolean)</code></a> function and
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
@@ -384,10 +389,10 @@ loadScripts(document, 'script');</script>
<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="#setModuleStateOptimization(boolean)" class="member-name-link">setModuleStateOptimization</a><wbr>(boolean&nbsp;optimizationEnabled)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure whether the <a href="math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> will be optimized to prevent spinning more than 90deg.</div>
<div class="block">Configure whether the <code>SwerveModuleState</code> will be optimized to prevent spinning more than 90deg.</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="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;desiredStates,
boolean&nbsp;isOpenLoop)</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 module states (azimuth and velocity) directly.</div>
@@ -397,12 +402,22 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Sets the drive motors to brake/coast mode.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setRawModuleStates</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
boolean&nbsp;isOpenLoop)</code></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="#setOdometryPeriod(double)" class="member-name-link">setOdometryPeriod</a><wbr>(double&nbsp;period)</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 odometry update period in seconds.</div>
</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="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setRawModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;desiredStates,
boolean&nbsp;isOpenLoop)</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 module states (azimuth and velocity) directly.</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="#stopOdometryThread()" class="member-name-link">stopOdometryThread</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Stop the odometry thread in favor of manually updating odometry.</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="#synchronizeModuleEncoders()" class="member-name-link">synchronizeModuleEncoders</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -438,7 +453,7 @@ loadScripts(document, 'script');</script>
<li>
<section class="detail" id="kinematics">
<h3>kinematics</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type"><a href="math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></span>&nbsp;<span class="element-name">kinematics</span></div>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveDriveKinematics</span>&nbsp;<span class="element-name">kinematics</span></div>
<div class="block">Swerve Kinematics object utilizing second order kinematics.</div>
</section>
</li>
@@ -452,7 +467,7 @@ loadScripts(document, 'script');</script>
<li>
<section class="detail" id="swerveDrivePoseEstimator">
<h3>swerveDrivePoseEstimator</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type"><a href="math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></span>&nbsp;<span class="element-name">swerveDrivePoseEstimator</span></div>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</span>&nbsp;<span class="element-name">swerveDrivePoseEstimator</span></div>
<div class="block">Swerve odometry.</div>
</section>
</li>
@@ -536,6 +551,13 @@ 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>
@@ -550,9 +572,9 @@ loadScripts(document, 'script');</script>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveDrive</span><wbr><span class="parameters">(<a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config,
<a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a>&nbsp;controllerConfig)</span></div>
<div class="block">Creates a new swerve drivebase subsystem. Robot is controlled via the <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)</code></a> method, or via the
<a href="#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setRawModuleStates(swervelib.math.SwerveModuleState2[], boolean)</code></a> method. The <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)</code></a> method incorporates kinematics-- it
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[], boolean)</code></a> method. The <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)</code></a> method incorporates kinematics-- it
takes a translation and rotation, as well as parameters for field-centric and closed-loop velocity control.
<a href="#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setRawModuleStates(swervelib.math.SwerveModuleState2[], boolean)</code></a> takes a list of SwerveModuleStates and directly passes them to the modules.
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[], boolean)</code></a> takes a list of SwerveModuleStates and directly passes them to the modules.
This subsystem also handles odometry.</div>
<dl class="notes">
<dt>Parameters:</dt>
@@ -571,14 +593,32 @@ loadScripts(document, 'script');</script>
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="setOdometryPeriod(double)">
<h3>setOdometryPeriod</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setOdometryPeriod</span><wbr><span class="parameters">(double&nbsp;period)</span></div>
<div class="block">Set the odometry update period in seconds.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>period</code> - period in seconds.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="stopOdometryThread()">
<h3>stopOdometryThread</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">stopOdometryThread</span>()</div>
<div class="block">Stop the odometry thread in favor of manually updating odometry.</div>
</section>
</li>
<li>
<section class="detail" id="drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)">
<h3>drive</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">drive</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Translation2d&nbsp;translation,
double&nbsp;rotation,
boolean&nbsp;fieldRelative,
boolean&nbsp;isOpenLoop)</span></div>
<div class="block">The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, and calculates and
commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
<div class="block">The primary method for controlling the drivebase. Takes a <code>Translation2d</code> and a rotation rate, and calculates
and commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
velocities. Also has field- and robot-relative modes, which affect how the translation vector is used. This method
defaults to no heading correction.</div>
<dl class="notes">
@@ -640,9 +680,9 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setRawModuleStates(swervelib.math.SwerveModuleState2[],boolean)">
<section class="detail" id="setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[],boolean)">
<h3>setRawModuleStates</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setRawModuleStates</span><wbr><span class="parameters">(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setRawModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;desiredStates,
boolean&nbsp;isOpenLoop)</span></div>
<div class="block">Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.</div>
<dl class="notes">
@@ -653,9 +693,9 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setModuleStates(swervelib.math.SwerveModuleState2[],boolean)">
<section class="detail" id="setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[],boolean)">
<h3>setModuleStates</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setModuleStates</span><wbr><span class="parameters">(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;desiredStates,
boolean&nbsp;isOpenLoop)</span></div>
<div class="block">Set the module states (azimuth and velocity) directly. Used primarily for auto paths.</div>
<dl class="notes">
@@ -736,7 +776,7 @@ loadScripts(document, 'script');</script>
<li>
<section class="detail" id="getStates()">
<h3>getStates</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span>&nbsp;<span class="element-name">getStates</span>()</div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState[]</span>&nbsp;<span class="element-name">getStates</span>()</div>
<div class="block">Gets the current module states (azimuth and velocity)</div>
<dl class="notes">
<dt>Returns:</dt>
@@ -836,7 +876,7 @@ loadScripts(document, 'script');</script>
boolean&nbsp;updateModuleFeedforward)</span></div>
<div class="block">Set the maximum speed of the drive motors, modified <a href="parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and
<a href="parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is used for the
<a href="#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState2[], boolean)</code></a> function and
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions. This function overrides
what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates.</div>
<dl class="notes">
@@ -854,7 +894,7 @@ loadScripts(document, 'script');</script>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setMaximumSpeed</span><wbr><span class="parameters">(double&nbsp;maximumSpeed)</span></div>
<div class="block">Set the maximum speed of the drive motors, modified <a href="parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and
<a href="parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is used for the
<a href="#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState2[], boolean)</code></a> function and
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions. This function overrides
what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates. Overwrites the
<a href="SwerveModule.html#feedforward"><code>SwerveModule.feedforward</code></a>.</div>
@@ -1023,7 +1063,7 @@ loadScripts(document, 'script');</script>
<section class="detail" id="setModuleStateOptimization(boolean)">
<h3>setModuleStateOptimization</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setModuleStateOptimization</span><wbr><span class="parameters">(boolean&nbsp;optimizationEnabled)</span></div>
<div class="block">Configure whether the <a href="math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> will be optimized to prevent spinning more than 90deg.</div>
<div class="block">Configure whether the <code>SwerveModuleState</code> will be optimized to prevent spinning more than 90deg.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>optimizationEnabled</code> - Whether the module optimization is enabled.</dd>

20
docs/swervelib/SwerveModule.html
View File

@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">
@@ -121,7 +121,7 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Feedforward for drive motor during closed loop control.</div>
</div>
<div class="col-first even-row-color"><code><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-first even-row-color"><code>edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-second even-row-color"><code><a href="#lastState" class="member-name-link">lastState</a></code></div>
<div class="col-last even-row-color">
<div class="block">Last swerve module state applied.</div>
@@ -134,7 +134,7 @@ loadScripts(document, 'script');</script>
<div class="col-first even-row-color"><code>boolean</code></div>
<div class="col-second even-row-color"><code><a href="#moduleStateOptimization" class="member-name-link">moduleStateOptimization</a></code></div>
<div class="col-last even-row-color">
<div class="block">Enable <a href="math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> optimizations so the angle is reversed and speed is reversed to ensure the module
<div class="block">Enable <code>SwerveModuleState</code> optimizations so the angle is reversed and speed is reversed to ensure the module
never turns more than 90deg.</div>
</div>
<div class="col-first odd-row-color"><code>private <a href="simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></code></div>
@@ -207,7 +207,7 @@ 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">Get the relative angle in degrees.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getState()" class="member-name-link">getState</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 Swerve Module state.</div>
@@ -223,7 +223,7 @@ loadScripts(document, 'script');</script>
<div class="block">Set the angle for the module.</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="#setDesiredState(swervelib.math.SwerveModuleState2,boolean,boolean)" class="member-name-link">setDesiredState</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState,boolean,boolean)" class="member-name-link">setDesiredState</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;desiredState,
boolean&nbsp;isOpenLoop,
boolean&nbsp;force)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -303,7 +303,7 @@ loadScripts(document, 'script');</script>
<li>
<section class="detail" id="lastState">
<h3>lastState</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">lastState</span></div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState</span>&nbsp;<span class="element-name">lastState</span></div>
<div class="block">Last swerve module state applied.</div>
</section>
</li>
@@ -311,7 +311,7 @@ loadScripts(document, 'script');</script>
<section class="detail" id="moduleStateOptimization">
<h3>moduleStateOptimization</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">moduleStateOptimization</span></div>
<div class="block">Enable <a href="math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> optimizations so the angle is reversed and speed is reversed to ensure the module
<div class="block">Enable <code>SwerveModuleState</code> optimizations so the angle is reversed and speed is reversed to ensure the module
never turns more than 90deg.</div>
</section>
</li>
@@ -366,9 +366,9 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setDesiredState(swervelib.math.SwerveModuleState2,boolean,boolean)">
<section class="detail" id="setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState,boolean,boolean)">
<h3>setDesiredState</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setDesiredState</span><wbr><span class="parameters">(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setDesiredState</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;desiredState,
boolean&nbsp;isOpenLoop,
boolean&nbsp;force)</span></div>
<div class="block">Set the desired state of the swerve module. <br/><b>WARNING: If you are not using one of the functions from
@@ -396,7 +396,7 @@ loadScripts(document, 'script');</script>
<li>
<section class="detail" id="getState()">
<h3>getState</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">getState</span>()</div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState</span>&nbsp;<span class="element-name">getState</span>()</div>
<div class="block">Get the Swerve Module state.</div>
<dl class="notes">
<dt>Returns:</dt>

2
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/encoders/CANCoderSwerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>CANCoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/encoders/CanAndCoderSwerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/encoders/SparkMaxEncoderSwerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/encoders/SwerveAbsoluteEncoder.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>SwerveAbsoluteEncoder</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/encoders/package-summary.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.encoders</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/encoders/package-tree.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.encoders Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/imu/ADIS16448Swerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>ADIS16448Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/imu/ADIS16470Swerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>ADIS16470Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/imu/ADXRS450Swerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>ADXRS450Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/imu/AnalogGyroSwerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/imu/NavXSwerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/imu/Pigeon2Swerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/imu/PigeonSwerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/imu/SwerveIMU.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/imu/package-summary.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.imu</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/imu/package-tree.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.imu Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/math/Matter.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>Matter</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

16
docs/swervelib/math/SwerveMath.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>SwerveMath</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -107,8 +107,8 @@ loadScripts(document, 'script');</script>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#antiJitter(swervelib.math.SwerveModuleState2,swervelib.math.SwerveModuleState2,double)" class="member-name-link">antiJitter</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;moduleState,
<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;lastModuleState,
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#antiJitter(edu.wpi.first.math.kinematics.SwerveModuleState,edu.wpi.first.math.kinematics.SwerveModuleState,double)" class="member-name-link">antiJitter</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;moduleState,
edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;lastModuleState,
double&nbsp;maxSpeed)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Perform anti-jitter within modules if the speed requested is too low.</div>
@@ -438,16 +438,16 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="antiJitter(swervelib.math.SwerveModuleState2,swervelib.math.SwerveModuleState2,double)">
<section class="detail" id="antiJitter(edu.wpi.first.math.kinematics.SwerveModuleState,edu.wpi.first.math.kinematics.SwerveModuleState,double)">
<h3>antiJitter</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">antiJitter</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;moduleState,
<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;lastModuleState,
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">antiJitter</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;moduleState,
edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;lastModuleState,
double&nbsp;maxSpeed)</span></div>
<div class="block">Perform anti-jitter within modules if the speed requested is too low.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>moduleState</code> - Current <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> requested.</dd>
<dd><code>lastModuleState</code> - Previous <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> used.</dd>
<dd><code>moduleState</code> - Current <code>SwerveModuleState</code> requested.</dd>
<dd><code>lastModuleState</code> - Previous <code>SwerveModuleState</code> used.</dd>
<dd><code>maxSpeed</code> - Maximum speed of the modules, should be in <a href="../parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a>.</dd>
</dl>
</section>

20
docs/swervelib/math/package-summary.html
View File

@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.math</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -90,28 +90,10 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">Object with significant mass that needs to be taken into account.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Clone of <code>SwerveDriveOdometry</code> except uses gyro pitch and roll to achieve a more accurate estimation.</div>
</div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
speed.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="SwerveMath.html" title="class in swervelib.math">SwerveMath</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Mathematical functions which pertain to swerve drive.</div>
</div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">Second order kinematics swerve module state.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Clone of <code>SwerveDrivePoseEstimator</code> which takes into account gyroscope pitch and roll to achieve a more
accurate estimation, originally made by Team 1466.</div>
</div>
</div>
</div>
</li>

19
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.math Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -60,24 +60,7 @@ loadScripts(document, 'script');</script>
<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" class="type-name-link external-link" title="class or interface in java.lang">Object</a>
<ul>
<li class="circle">swervelib.math.<a href="Matter.html" class="type-name-link" title="class in swervelib.math">Matter</a></li>
<li class="circle">edu.wpi.first.math.kinematics.SwerveDriveKinematics
<ul>
<li class="circle">swervelib.math.<a href="SwerveKinematics2.html" class="type-name-link" title="class in swervelib.math">SwerveKinematics2</a></li>
</ul>
</li>
<li class="circle">edu.wpi.first.math.kinematics.SwerveDriveOdometry
<ul>
<li class="circle">swervelib.math.<a href="SwerveDriveOdometry2.html" class="type-name-link" title="class in swervelib.math">SwerveDriveOdometry2</a></li>
</ul>
</li>
<li class="circle">swervelib.math.<a href="SwerveMath.html" class="type-name-link" title="class in swervelib.math">SwerveMath</a></li>
<li class="circle">edu.wpi.first.math.kinematics.SwerveModuleState (implements java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Comparable.html" title="class or interface in java.lang" class="external-link">Comparable</a>&lt;T&gt;)
<ul>
<li class="circle">swervelib.math.<a href="SwerveModuleState2.html" class="type-name-link" title="class in swervelib.math">SwerveModuleState2</a></li>
</ul>
</li>
<li class="circle">swervelib.math.<a href="SwervePoseEstimator2.html" class="type-name-link" title="class in swervelib.math">SwervePoseEstimator2</a></li>
<li class="circle">swervelib.math.<a href="SwervePoseEstimator2.InterpolationRecord.html" class="type-name-link" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a> (implements edu.wpi.first.math.interpolation.Interpolatable&lt;T&gt;)</li>
</ul>
</li>
</ul>

2
docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/motors/SwerveMotor.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/motors/TalonFXSwerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/motors/TalonSRXSwerve.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/motors/package-summary.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<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">

2
docs/swervelib/motors/package-tree.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 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">

2
docs/swervelib/package-summary.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/package-tree.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>PIDFConfig</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/SwerveControllerConfiguration.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>SwerveControllerConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>SwerveDriveConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/SwerveModuleConfiguration.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>SwerveModuleConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>SwerveModulePhysicalCharacteristics</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/SwerveParser.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>SwerveParser</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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docs/swervelib/parser/deserializer/PIDFRange.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>PIDFRange</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.parser.deserializer</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/deserializer/package-tree.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.parser.deserializer Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/ControllerPropertiesJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>ControllerPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/DeviceJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>DeviceJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/ModuleJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>ModuleJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>MotorConfigDouble</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/MotorConfigInt.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>MotorConfigInt</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/PIDFPropertiesJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>PIDFPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/PhysicalPropertiesJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>PhysicalPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/SwerveDriveJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>SwerveDriveJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/modules/BoolMotorJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>BoolMotorJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/modules/LocationJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>LocationJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/modules/package-summary.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.parser.json.modules</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/modules/package-tree.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.parser.json.modules Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/package-summary.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.parser.json</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/package-tree.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.parser.json Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/package-summary.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.parser</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/package-tree.html
View File

@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>swervelib.parser Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

16
docs/swervelib/simulation/SwerveIMUSimulation.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>SwerveIMUSimulation</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -166,8 +166,8 @@ loadScripts(document, 'script');</script>
<div class="block">Set the heading of the robot.</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="#updateOdometry(swervelib.math.SwerveKinematics2,swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.geometry.Pose2d%5B%5D,edu.wpi.first.wpilibj.smartdashboard.Field2d)" class="member-name-link">updateOdometry</a><wbr>(<a href="../math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a>&nbsp;kinematics,
<a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;states,
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateOdometry(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,edu.wpi.first.math.geometry.Pose2d%5B%5D,edu.wpi.first.wpilibj.smartdashboard.Field2d)" class="member-name-link">updateOdometry</a><wbr>(edu.wpi.first.math.kinematics.SwerveDriveKinematics&nbsp;kinematics,
edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;states,
edu.wpi.first.math.geometry.Pose2d[]&nbsp;modulePoses,
edu.wpi.first.wpilibj.smartdashboard.Field2d&nbsp;field)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -291,18 +291,18 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="updateOdometry(swervelib.math.SwerveKinematics2,swervelib.math.SwerveModuleState2[],edu.wpi.first.math.geometry.Pose2d[],edu.wpi.first.wpilibj.smartdashboard.Field2d)">
<section class="detail" id="updateOdometry(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.kinematics.SwerveModuleState[],edu.wpi.first.math.geometry.Pose2d[],edu.wpi.first.wpilibj.smartdashboard.Field2d)">
<h3>updateOdometry</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">updateOdometry</span><wbr><span class="parameters">(<a href="../math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a>&nbsp;kinematics,
<a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;states,
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">updateOdometry</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveDriveKinematics&nbsp;kinematics,
edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;states,
edu.wpi.first.math.geometry.Pose2d[]&nbsp;modulePoses,
edu.wpi.first.wpilibj.smartdashboard.Field2d&nbsp;field)</span></div>
<div class="block">Update the odometry of the simulated <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> and post the <a href="../SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>
states to the <code>Field2d</code>.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>kinematics</code> - <a href="../math/SwerveKinematics2.html" title="class in swervelib.math"><code>SwerveKinematics2</code></a> of the swerve drive.</dd>
<dd><code>states</code> - <a href="../math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> array of the module states.</dd>
<dd><code>kinematics</code> - <code>SwerveDriveKinematics</code> of the swerve drive.</dd>
<dd><code>states</code> - <code>SwerveModuleState</code> array of the module states.</dd>
<dd><code>modulePoses</code> - <code>Pose2d</code> representing the swerve modules.</dd>
<dd><code>field</code> - <code>Field2d</code> to update.</dd>
</dl>

24
docs/swervelib/simulation/SwerveModuleSimulation.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Aug 29 19:54:45 CDT 2023 -->
<!-- Generated by javadoc (17) on Tue Aug 29 21:02:56 CDT 2023 -->
<title>SwerveModuleSimulation</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -111,7 +111,7 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Last time queried.</div>
</div>
<div class="col-first even-row-color"><code>private <a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-second even-row-color"><code><a href="#state" class="member-name-link">state</a></code></div>
<div class="col-last even-row-color">
<div class="block">Current simulated swerve module state.</div>
@@ -155,13 +155,13 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the simulated swerve module position.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getState()" class="member-name-link">getState</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the <a href="../math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> of the simulated module.</div>
<div class="block">Get the <code>SwerveModuleState</code> of the simulated module.</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="#updateStateAndPosition(swervelib.math.SwerveModuleState2)" class="member-name-link">updateStateAndPosition</a><wbr>(<a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateStateAndPosition(edu.wpi.first.math.kinematics.SwerveModuleState)" class="member-name-link">updateStateAndPosition</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;desiredState)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Update the position and state of the module.</div>
</div>
@@ -220,7 +220,7 @@ loadScripts(document, 'script');</script>
<li>
<section class="detail" id="state">
<h3>state</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type"><a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">state</span></div>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState</span>&nbsp;<span class="element-name">state</span></div>
<div class="block">Current simulated swerve module state.</div>
</section>
</li>
@@ -248,10 +248,10 @@ loadScripts(document, 'script');</script>
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="updateStateAndPosition(swervelib.math.SwerveModuleState2)">
<section class="detail" id="updateStateAndPosition(edu.wpi.first.math.kinematics.SwerveModuleState)">
<h3>updateStateAndPosition</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">updateStateAndPosition</span><wbr><span class="parameters">(<a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState)</span></div>
<div class="block">Update the position and state of the module. Called from <a href="../SwerveModule.html#setDesiredState(swervelib.math.SwerveModuleState2,boolean,boolean)"><code>SwerveModule.setDesiredState(swervelib.math.SwerveModuleState2, boolean, boolean)</code></a> function
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">updateStateAndPosition</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;desiredState)</span></div>
<div class="block">Update the position and state of the module. Called from <a href="../SwerveModule.html#setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState,boolean,boolean)"><code>SwerveModule.setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState, boolean, boolean)</code></a> function
when simulated.</div>
<dl class="notes">
<dt>Parameters:</dt>
@@ -273,11 +273,11 @@ loadScripts(document, 'script');</script>
<li>
<section class="detail" id="getState()">
<h3>getState</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">getState</span>()</div>
<div class="block">Get the <a href="../math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> of the simulated module.</div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState</span>&nbsp;<span class="element-name">getState</span>()</div>
<div class="block">Get the <code>SwerveModuleState</code> of the simulated module.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><a href="../math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> of the simulated module.</dd>
<dd><code>SwerveModuleState</code> of the simulated module.</dd>
</dl>
</section>
</li>

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<html lang="en">
<head>
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<title>PhysicsSim.SimProfile</title>
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<html lang="en">
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<title>PhysicsSim</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 19:54:45 CDT 2023 -->
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<title>TalonFXSimProfile</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 19:54:45 CDT 2023 -->
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<title>TalonSRXSimProfile</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<!DOCTYPE HTML>
<html lang="en">
<head>
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<title>VictorSPXSimProfile</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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