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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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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>