DutyCycle encoders such as "US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag
- Encoder." attached via a PWM lane.
The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean constants. This
- class should not be used for any other purpose. All constants should be declared globally (i.e. public static). Do
- not put anything functional in this class.
-
-
It is advised to statically import this class (or one of its inner classes) wherever the
- constants are needed, to reduce verbosity.
Do NOT add any static variables to this class, or any initialization at all. Unless you know what you are doing, do
- not modify this file except to change the parameter class to the startRobot call.
public class Robot
-extends edu.wpi.first.wpilibj.TimedRobot
-
The VM is configured to automatically run this class, and to call the functions corresponding to each mode, as
- described in the TimedRobot documentation. If you change the name of this class or the package after creating this
- project, you must also update the build.gradle file in the project.
-
-
-
-
-
-
-
Field Summary
-
-
Fields inherited from class edu.wpi.first.wpilibj.TimedRobot
This function is run when the robot is first started up and should be used for any initialization code.
-
-
Overrides:
-
robotInit in class edu.wpi.first.wpilibj.IterativeRobotBase
-
-
-
-
-
-
robotPeriodic
-
publicvoidrobotPeriodic()
-
This function is called every 20 ms, no matter the mode. Use this for items like diagnostics that you want ran
- during disabled, autonomous, teleoperated and test.
-
-
This runs after the mode specific periodic functions, but before LiveWindow and
- SmartDashboard integrated updating.
-
-
Overrides:
-
robotPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase
-
-
-
-
-
-
disabledInit
-
publicvoiddisabledInit()
-
This function is called once each time the robot enters Disabled mode.
-
-
Overrides:
-
disabledInit in class edu.wpi.first.wpilibj.IterativeRobotBase
-
-
-
-
-
-
disabledPeriodic
-
publicvoiddisabledPeriodic()
-
-
Overrides:
-
disabledPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase
-
-
-
-
-
-
autonomousInit
-
publicvoidautonomousInit()
-
This autonomous runs the autonomous command selected by your RobotContainer class.
-
-
Overrides:
-
autonomousInit in class edu.wpi.first.wpilibj.IterativeRobotBase
-
-
-
-
-
-
autonomousPeriodic
-
publicvoidautonomousPeriodic()
-
This function is called periodically during autonomous.
-
-
Overrides:
-
autonomousPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase
-
-
-
-
-
-
teleopInit
-
publicvoidteleopInit()
-
-
Overrides:
-
teleopInit in class edu.wpi.first.wpilibj.IterativeRobotBase
-
-
-
-
-
-
teleopPeriodic
-
publicvoidteleopPeriodic()
-
This function is called periodically during operator control.
-
-
Overrides:
-
teleopPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase
-
-
-
-
-
-
testInit
-
publicvoidtestInit()
-
-
Overrides:
-
testInit in class edu.wpi.first.wpilibj.IterativeRobotBase
-
-
-
-
-
-
testPeriodic
-
publicvoidtestPeriodic()
-
This function is called periodically during test mode.
-
-
Overrides:
-
testPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase
-
-
-
-
-
-
simulationInit
-
publicvoidsimulationInit()
-
This function is called once when the robot is first started up.
-
-
Overrides:
-
simulationInit in class edu.wpi.first.wpilibj.IterativeRobotBase
-
-
-
-
-
-
simulationPeriodic
-
publicvoidsimulationPeriodic()
-
This function is called periodically whilst in simulation.
-
-
Overrides:
-
simulationPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase
This class is where the bulk of the robot should be declared. Since Command-based is a "declarative" paradigm, very
- little robot logic should actually be handled in the Robot periodic methods (other than the scheduler calls).
- Instead, the structure of the robot (including subsystems, commands, and trigger mappings) should be declared here.
The initial subroutine of a command. Called once when the command is initially scheduled.
-
-
Overrides:
-
initialize in class edu.wpi.first.wpilibj2.command.Command
-
-
-
-
-
-
execute
-
publicvoidexecute()
-
The main body of a command. Called repeatedly while the command is scheduled. (That is, it is called repeatedly
- until isFinished()) returns true.)
-
-
Overrides:
-
execute in class edu.wpi.first.wpilibj2.command.Command
-
-
-
-
-
-
isFinished
-
publicbooleanisFinished()
-
- Returns whether this command has finished. Once a command finishes -- indicated by this method returning true --
- the scheduler will call its end(boolean) method.
-
- Returning false will result in the command never ending automatically. It may still be cancelled manually or
- interrupted by another command. Hard coding this command to always return true will result in the command executing
- once and finishing immediately. It is recommended to use *
- InstantCommand for such an operation.
-
-
-
Overrides:
-
isFinished in class edu.wpi.first.wpilibj2.command.Command
-
Returns:
-
whether this command has finished.
-
-
-
-
-
-
end
-
publicvoidend(boolean interrupted)
-
The action to take when the command ends. Called when either the command finishes normally -- that is it is called
- when isFinished() returns true -- or when it is interrupted/canceled. This is where you may want to wrap
- up loose ends, like shutting off a motor that was being used in the command.
-
-
Overrides:
-
end in class edu.wpi.first.wpilibj2.command.Command
-
Parameters:
-
interrupted - whether the command was interrupted/canceled
Used to drive a swerve robot in full field-centric mode. vX and vY supply translation inputs, where x is
- torwards/away from alliance wall and y is left/right. headingHorzontal and headingVertical are the Cartesian
- coordinates from which the robot's angle will be derived— they will be converted to a polar angle, which the robot
- will rotate to.
-
-
Parameters:
-
swerve - The swerve drivebase subsystem.
-
vX - DoubleSupplier that supplies the x-translation joystick input. Should be in the range -1
- to 1 with deadband already accounted for. Positive X is away from the alliance wall.
-
vY - DoubleSupplier that supplies the y-translation joystick input. Should be in the range -1
- to 1 with deadband already accounted for. Positive Y is towards the left wall when
- looking through the driver station glass.
-
headingHorizontal - DoubleSupplier that supplies the horizontal component of the robot's heading angle. In the
- robot coordinate system, this is along the same axis as vY. Should range from -1 to 1 with
- no deadband. Positive is towards the left wall when looking through the driver station
- glass.
-
headingVertical - DoubleSupplier that supplies the vertical component of the robot's heading angle. In the
- robot coordinate system, this is along the same axis as vX. Should range from -1 to 1
- with no deadband. Positive is away from the alliance wall.
-
-
-
-
-
-
-
-
-
-
Method Details
-
-
-
-
initialize
-
publicvoidinitialize()
-
-
Overrides:
-
initialize in class edu.wpi.first.wpilibj2.command.Command
-
-
-
-
-
-
execute
-
publicvoidexecute()
-
-
Overrides:
-
execute in class edu.wpi.first.wpilibj2.command.Command
-
-
-
-
-
-
end
-
publicvoidend(boolean interrupted)
-
-
Overrides:
-
end in class edu.wpi.first.wpilibj2.command.Command
-
-
-
-
-
-
isFinished
-
publicbooleanisFinished()
-
-
Overrides:
-
isFinished in class edu.wpi.first.wpilibj2.command.Command
Used to drive a swerve robot in full field-centric mode. vX and vY supply translation inputs, where x is
- torwards/away from alliance wall and y is left/right. Heading Adjust changes the current heading after being
- multipied by a constant. The look booleans are shortcuts to get the robot to face a certian direction.
- Based off of ideas in https://www.chiefdelphi.com/t/experiments-with-a-swerve-steering-knob/446172
-
-
Parameters:
-
swerve - The swerve drivebase subsystem.
-
vX - DoubleSupplier that supplies the x-translation joystick input. Should be in the range -1
- to 1 with deadband already accounted for. Positive X is away from the alliance wall.
-
vY - DoubleSupplier that supplies the y-translation joystick input. Should be in the range -1
- to 1 with deadband already accounted for. Positive Y is towards the left wall when
- looking through the driver station glass.
-
headingAdjust - DoubleSupplier that supplies the component of the robot's heading angle that should be adjusted.
- Should range from -1 to 1 with deadband already accounted for.
-
lookAway - Face the robot towards the opposing alliance's wall in the same direction the driver is facing
-
lookTowards - Face the robot towards the driver
-
lookLeft - Face the robot left
-
lookRight - Face the robot right
-
-
-
-
-
-
-
-
-
-
Method Details
-
-
-
-
initialize
-
publicvoidinitialize()
-
-
Overrides:
-
initialize in class edu.wpi.first.wpilibj2.command.Command
-
-
-
-
-
-
execute
-
publicvoidexecute()
-
-
Overrides:
-
execute in class edu.wpi.first.wpilibj2.command.Command
-
-
-
-
-
-
end
-
publicvoidend(boolean interrupted)
-
-
Overrides:
-
end in class edu.wpi.first.wpilibj2.command.Command
-
-
-
-
-
-
isFinished
-
publicbooleanisFinished()
-
-
Overrides:
-
isFinished in class edu.wpi.first.wpilibj2.command.Command
Used to drive a swerve robot in full field-centric mode. vX and vY supply translation inputs, where x is
- torwards/away from alliance wall and y is left/right. headingHorzontal and headingVertical are the Cartesian
- coordinates from which the robot's angle will be derived— they will be converted to a polar angle, which the robot
- will rotate to.
-
-
Parameters:
-
swerve - The swerve drivebase subsystem.
-
vX - DoubleSupplier that supplies the x-translation joystick input. Should be in the range -1 to 1 with
- deadband already accounted for. Positive X is away from the alliance wall.
-
vY - DoubleSupplier that supplies the y-translation joystick input. Should be in the range -1 to 1 with
- deadband already accounted for. Positive Y is towards the left wall when looking through the driver
- station glass.
-
heading - DoubleSupplier that supplies the robot's heading angle.
-
-
-
-
-
-
-
-
-
-
Method Details
-
-
-
-
initialize
-
publicvoidinitialize()
-
-
Overrides:
-
initialize in class edu.wpi.first.wpilibj2.command.Command
-
-
-
-
-
-
execute
-
publicvoidexecute()
-
-
Overrides:
-
execute in class edu.wpi.first.wpilibj2.command.Command
-
-
-
-
-
-
end
-
publicvoidend(boolean interrupted)
-
-
Overrides:
-
end in class edu.wpi.first.wpilibj2.command.Command
-
-
-
-
-
-
isFinished
-
publicbooleanisFinished()
-
-
Overrides:
-
isFinished in class edu.wpi.first.wpilibj2.command.Command
The VM is configured to automatically run this class, and to call the functions corresponding to each mode, as
- described in the TimedRobot documentation.
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 velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.
-
-
Parameters:
-
translation - Translation2d that is the commanded linear velocity of the robot, in meters per
- second. In robot-relative mode, positive x is torwards the bow (front) and positive y is
- torwards port (left). In field-relative mode, positive x is away from the alliance wall
- (field North) and positive y is torwards the left wall when looking through the driver station
- glass (field West).
-
rotation - Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
- relativity.
-
fieldRelative - Drive mode. True for field-relative, false for robot-relative.
Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this
- method. However, if either gyro angle or module position is reset, this must be called in order for odometry to
- keep working.
-
-
Parameters:
-
initialHolonomicPose - The pose to set the odometry to
-
-
-
-
-
-
getPose
-
publicedu.wpi.first.math.geometry.Pose2dgetPose()
-
Gets the current pose (position and rotation) of the robot, as reported by odometry.
-Starting from the Overview page, you can browse the documentation using the links in each page, and in the navigation bar at the top of each page. The Index and Search box allow you to navigate to specific declarations and summary pages, including: All Packages, All Classes and Interfaces
-
-
Search
-
You can search for definitions of modules, packages, types, fields, methods, system properties and other terms defined in the API, using some or all of the name, optionally using "camelCase" abbreviations. For example:
-
-
j.l.obj will match "java.lang.Object"
-
InpStr will match "java.io.InputStream"
-
HM.cK will match "java.util.HashMap.containsKey(Object)"
-The following sections describe the different kinds of pages in this collection.
-
-
Overview
-
The Overview page is the front page of this API document and provides a list of all packages with a summary for each. This page can also contain an overall description of the set of packages.
-
-
-
Package
-
Each package has a page that contains a list of its classes and interfaces, with a summary for each. These pages may contain the following categories:
-
-
Interfaces
-
Classes
-
Enum Classes
-
Exceptions
-
Errors
-
Annotation Interfaces
-
-
-
-
Class or Interface
-
Each class, interface, nested class and nested interface has its own separate page. Each of these pages has three sections consisting of a declaration and description, member summary tables, and detailed member descriptions. Entries in each of these sections are omitted if they are empty or not applicable.
-
-
Class Inheritance Diagram
-
Direct Subclasses
-
All Known Subinterfaces
-
All Known Implementing Classes
-
Class or Interface Declaration
-
Class or Interface Description
-
-
-
-
Nested Class Summary
-
Enum Constant Summary
-
Field Summary
-
Property Summary
-
Constructor Summary
-
Method Summary
-
Required Element Summary
-
Optional Element Summary
-
-
-
-
Enum Constant Details
-
Field Details
-
Property Details
-
Constructor Details
-
Method Details
-
Element Details
-
-
Note: Annotation interfaces have required and optional elements, but not methods. Only enum classes have enum constants. The components of a record class are displayed as part of the declaration of the record class. Properties are a feature of JavaFX.
-
The summary entries are alphabetical, while the detailed descriptions are in the order they appear in the source code. This preserves the logical groupings established by the programmer.
-
-
-
Other Files
-
Packages and modules may contain pages with additional information related to the declarations nearby.
-
-
-
Tree (Class Hierarchy)
-
There is a Class Hierarchy page for all packages, plus a hierarchy for each package. Each hierarchy page contains a list of classes and a list of interfaces. Classes are organized by inheritance structure starting with java.lang.Object. Interfaces do not inherit from java.lang.Object.
-
-
When viewing the Overview page, clicking on TREE displays the hierarchy for all packages.
-
When viewing a particular package, class or interface page, clicking on TREE displays the hierarchy for only that package.
The All Packages page contains an alphabetic index of all packages contained in the documentation.
-
-
-
All Classes and Interfaces
-
The All Classes and Interfaces page contains an alphabetic index of all classes and interfaces contained in the documentation, including annotation interfaces, enum classes, and record classes.
-
-
-
Index
-
The Index contains an alphabetic index of all classes, interfaces, constructors, methods, and fields in the documentation, as well as summary pages such as All Packages, All Classes and Interfaces.
-
-
-
-This help file applies to API documentation generated by the standard doclet.
-
SwerveControllerConfiguration object storing data to generate the PIDController for controlling the
- robot heading, and deadband for heading joystick.
Helper function to get the SwerveDrive.swerveController for the SwerveDrive which can be used to
- generate ChassisSpeeds for the robot to orient it correctly given axis or angles, and apply
- SlewRateLimiter to given inputs.
Limits a commanded velocity to prevent exceeding the maximum acceleration given by SwerveMath.calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration).
DutyCycle encoders such as "US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag
- Encoder." attached via a PWM lane.
The VM is configured to automatically run this class, and to call the functions corresponding to each mode, as
- described in the TimedRobot documentation.
The standard deviation of the vision measurement, for best accuracy calculate the standard deviation at 2 or more
- points and fit a line to it and modify this using SwerveDrive.addVisionMeasurement(Pose2d, double, Matrix)
- with the calculated optimal standard deviation.
Logs output, position and velocuty info form the drive motor to the SysIdRoutineLog Although SysIdRoutine
- expects to be logging Voltage, this function logs in Duty-Cycle (percent output) because it results in correctly
- adjusted values in the analysis for use in this library.
DutyCycle encoders such as "US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag
- Encoder." attached via a PWM lane.
SwerveControllerConfiguration object storing data to generate the PIDController for controlling the
- robot heading, and deadband for heading joystick.
Helper function to get the SwerveDrive.swerveController for the SwerveDrive which can be used to
- generate ChassisSpeeds for the robot to orient it correctly given axis or angles, and apply
- SlewRateLimiter to given inputs.
Telemetry package for sending data to NT4 or SmartDashboard.
-
-
-
-
-
-
-
-
+
diff --git a/docs/jquery-ui.overrides.css b/docs/jquery-ui.overrides.css
deleted file mode 100644
index f89acb6..0000000
--- a/docs/jquery-ui.overrides.css
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * Copyright (c) 2020, Oracle and/or its affiliates. All rights reserved.
- * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
- *
- * This code is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 2 only, as
- * published by the Free Software Foundation. Oracle designates this
- * particular file as subject to the "Classpath" exception as provided
- * by Oracle in the LICENSE file that accompanied this code.
- *
- * This code is distributed in the hope that it will be useful, but WITHOUT
- * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
- * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * version 2 for more details (a copy is included in the LICENSE file that
- * accompanied this code).
- *
- * You should have received a copy of the GNU General Public License version
- * 2 along with this work; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
- *
- * Please contact Oracle, 500 Oracle Parkway, Redwood Shores, CA 94065 USA
- * or visit www.oracle.com if you need additional information or have any
- * questions.
- */
-
-.ui-state-active,
-.ui-widget-content .ui-state-active,
-.ui-widget-header .ui-state-active,
-a.ui-button:active,
-.ui-button:active,
-.ui-button.ui-state-active:hover {
- /* Overrides the color of selection used in jQuery UI */
- background: #F8981D;
-}
diff --git a/docs/legal/ADDITIONAL_LICENSE_INFO b/docs/legal/ADDITIONAL_LICENSE_INFO
deleted file mode 100644
index b62cc3e..0000000
--- a/docs/legal/ADDITIONAL_LICENSE_INFO
+++ /dev/null
@@ -1 +0,0 @@
-Please see ..\java.base\ADDITIONAL_LICENSE_INFO
diff --git a/docs/legal/ASSEMBLY_EXCEPTION b/docs/legal/ASSEMBLY_EXCEPTION
deleted file mode 100644
index 0d4cfb4..0000000
--- a/docs/legal/ASSEMBLY_EXCEPTION
+++ /dev/null
@@ -1 +0,0 @@
-Please see ..\java.base\ASSEMBLY_EXCEPTION
diff --git a/docs/legal/LICENSE b/docs/legal/LICENSE
deleted file mode 100644
index 4ad9fe4..0000000
--- a/docs/legal/LICENSE
+++ /dev/null
@@ -1 +0,0 @@
-Please see ..\java.base\LICENSE
diff --git a/docs/legal/jquery.md b/docs/legal/jquery.md
deleted file mode 100644
index 8054a34..0000000
--- a/docs/legal/jquery.md
+++ /dev/null
@@ -1,72 +0,0 @@
-## jQuery v3.5.1
-
-### jQuery License
-```
-jQuery v 3.5.1
-Copyright JS Foundation and other contributors, https://js.foundation/
-
-Permission is hereby granted, free of charge, to any person obtaining
-a copy of this software and associated documentation files (the
-"Software"), to deal in the Software without restriction, including
-without limitation the rights to use, copy, modify, merge, publish,
-distribute, sublicense, and/or sell copies of the Software, and to
-permit persons to whom the Software is furnished to do so, subject to
-the following conditions:
-
-The above copyright notice and this permission notice shall be
-included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
-LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
-WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-******************************************
-
-The jQuery JavaScript Library v3.5.1 also includes Sizzle.js
-
-Sizzle.js includes the following license:
-
-Copyright JS Foundation and other contributors, https://js.foundation/
-
-This software consists of voluntary contributions made by many
-individuals. For exact contribution history, see the revision history
-available at https://github.com/jquery/sizzle
-
-The following license applies to all parts of this software except as
-documented below:
-
-====
-
-Permission is hereby granted, free of charge, to any person obtaining
-a copy of this software and associated documentation files (the
-"Software"), to deal in the Software without restriction, including
-without limitation the rights to use, copy, modify, merge, publish,
-distribute, sublicense, and/or sell copies of the Software, and to
-permit persons to whom the Software is furnished to do so, subject to
-the following conditions:
-
-The above copyright notice and this permission notice shall be
-included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
-LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
-WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-====
-
-All files located in the node_modules and external directories are
-externally maintained libraries used by this software which have their
-own licenses; we recommend you read them, as their terms may differ from
-the terms above.
-
-*********************
-
-```
diff --git a/docs/legal/jqueryUI.md b/docs/legal/jqueryUI.md
deleted file mode 100644
index 8031bdb..0000000
--- a/docs/legal/jqueryUI.md
+++ /dev/null
@@ -1,49 +0,0 @@
-## jQuery UI v1.12.1
-
-### jQuery UI License
-```
-Copyright jQuery Foundation and other contributors, https://jquery.org/
-
-This software consists of voluntary contributions made by many
-individuals. For exact contribution history, see the revision history
-available at https://github.com/jquery/jquery-ui
-
-The following license applies to all parts of this software except as
-documented below:
-
-====
-
-Permission is hereby granted, free of charge, to any person obtaining
-a copy of this software and associated documentation files (the
-"Software"), to deal in the Software without restriction, including
-without limitation the rights to use, copy, modify, merge, publish,
-distribute, sublicense, and/or sell copies of the Software, and to
-permit persons to whom the Software is furnished to do so, subject to
-the following conditions:
-
-The above copyright notice and this permission notice shall be
-included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
-LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
-WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-====
-
-Copyright and related rights for sample code are waived via CC0. Sample
-code is defined as all source code contained within the demos directory.
-
-CC0: http://creativecommons.org/publicdomain/zero/1.0/
-
-====
-
-All files located in the node_modules and external directories are
-externally maintained libraries used by this software which have their
-own licenses; we recommend you read them, as their terms may differ from
-the terms above.
-
-```
diff --git a/docs/member-search-index.js b/docs/member-search-index.js
deleted file mode 100644
index cc3321d..0000000
--- a/docs/member-search-index.js
+++ /dev/null
@@ -1 +0,0 @@
-memberSearchIndex = [{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"absoluteEncoder"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoder"},{"p":"swervelib","c":"SwerveModule","l":"absoluteEncoder"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderInverted"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoderInverted"},{"p":"swervelib","c":"SwerveModule","l":"absoluteEncoderIssueName"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderOffset"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"absoluteEncoderOffsetWarning"},{"p":"swervelib","c":"SwerveModule","l":"absolutePositionCache"},{"p":"swervelib.telemetry","c":"Alert","l":"active"},{"p":"swervelib.telemetry","c":"Alert","l":"activeStartTime"},{"p":"swervelib","c":"SwerveController","l":"addSlewRateLimiters(SlewRateLimiter, 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