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Removed requirement for odometry to be called in the subsystem.

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This commit is contained in:
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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20
docs/swervelib/SwerveModule.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>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>