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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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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
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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</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
docs/swervelib/math/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.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>