From 23d4bdb205657fe0082620113e37dcb4908a587b Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Wed, 23 Oct 2024 21:46:00 -0500 Subject: [PATCH] 301 Permanently Moved --- docs/.testdir.html.un~ | Bin 4270 -> 0 bytes docs/allclasses-index.html | 312 -- docs/allpackages-index.html | 106 - docs/constant-values.html | 124 - docs/element-list | 11 - docs/frc/robot/Constants.Auton.html | 185 -- docs/frc/robot/Constants.Drivebase.html | 167 - .../robot/Constants.OperatorConstants.html | 218 -- docs/frc/robot/Constants.html | 216 -- docs/frc/robot/Main.html | 137 - docs/frc/robot/Robot.html | 375 --- docs/frc/robot/RobotContainer.html | 188 -- .../swervedrive/auto/AutoBalanceCommand.html | 257 -- .../swervedrive/auto/package-summary.html | 83 - .../swervedrive/auto/package-tree.html | 74 - .../swervedrive/drivebase/AbsoluteDrive.html | 258 -- .../drivebase/AbsoluteDriveAdv.html | 263 -- .../drivebase/AbsoluteFieldDrive.html | 250 -- .../swervedrive/drivebase/TeleopDrive.html | 243 -- .../drivebase/package-summary.html | 95 - .../swervedrive/drivebase/package-tree.html | 77 - docs/frc/robot/package-summary.html | 102 - docs/frc/robot/package-tree.html | 88 - .../swervedrive/SwerveSubsystem.html | 611 ---- .../swervedrive/package-summary.html | 81 - .../subsystems/swervedrive/package-tree.html | 74 - docs/help-doc.html | 181 -- docs/index-all.html | 2886 ----------------- docs/index-files/index-1.html | 337 -- docs/index-files/index-10.html | 65 - docs/index-files/index-11.html | 133 - docs/index-files/index-12.html | 259 -- docs/index-files/index-13.html | 113 - docs/index-files/index-14.html | 125 - docs/index-files/index-15.html | 232 -- docs/index-files/index-16.html | 65 - docs/index-files/index-17.html | 122 - docs/index-files/index-18.html | 941 ------ docs/index-files/index-19.html | 127 - docs/index-files/index-2.html | 91 - docs/index-files/index-20.html | 110 - docs/index-files/index-21.html | 134 - docs/index-files/index-22.html | 85 - docs/index-files/index-23.html | 69 - docs/index-files/index-24.html | 69 - docs/index-files/index-25.html | 65 - docs/index-files/index-3.html | 557 ---- docs/index-files/index-4.html | 190 -- docs/index-files/index-5.html | 113 - docs/index-files/index-6.html | 229 -- docs/index-files/index-7.html | 669 ---- docs/index-files/index-8.html | 85 - docs/index-files/index-9.html | 256 -- docs/index.html | 108 +- docs/jquery-ui.overrides.css | 34 - docs/legal/ADDITIONAL_LICENSE_INFO | 1 - docs/legal/ASSEMBLY_EXCEPTION | 1 - docs/legal/LICENSE | 1 - docs/legal/jquery.md | 72 - docs/legal/jqueryUI.md | 49 - docs/member-search-index.js | 1 - docs/module-search-index.js | 1 - docs/overview-summary.html | 26 - docs/overview-tree.html | 162 - docs/package-search-index.js | 1 - docs/resources/glass.png | Bin 499 -> 0 bytes docs/resources/x.png | Bin 394 -> 0 bytes .../images/ui-bg_glass_55_fbf9ee_1x400.png | Bin 335 -> 0 bytes .../images/ui-bg_glass_65_dadada_1x400.png | Bin 262 -> 0 bytes .../images/ui-bg_glass_75_dadada_1x400.png | Bin 262 -> 0 bytes .../images/ui-bg_glass_75_e6e6e6_1x400.png | Bin 262 -> 0 bytes .../images/ui-bg_glass_95_fef1ec_1x400.png | Bin 332 -> 0 bytes .../ui-bg_highlight-soft_75_cccccc_1x100.png | Bin 280 -> 0 bytes .../images/ui-icons_222222_256x240.png | Bin 6922 -> 0 bytes .../images/ui-icons_2e83ff_256x240.png | Bin 4549 -> 0 bytes .../images/ui-icons_454545_256x240.png | Bin 6992 -> 0 bytes .../images/ui-icons_888888_256x240.png | Bin 6999 -> 0 bytes .../images/ui-icons_cd0a0a_256x240.png | Bin 4549 -> 0 bytes docs/script-dir/jquery-3.5.1.min.js | 2 - docs/script-dir/jquery-3.6.0.min.js | 2 - docs/script-dir/jquery-ui.min.css | 7 - docs/script-dir/jquery-ui.min.js | 6 - docs/script-dir/jquery-ui.structure.min.css | 5 - docs/script.js | 132 - docs/search.js | 354 -- docs/stylesheet.css | 865 ----- docs/swervelib/SwerveController.html | 493 --- docs/swervelib/SwerveDrive.html | 1693 ---------- docs/swervelib/SwerveDriveTest.html | 615 ---- docs/swervelib/SwerveModule.html | 964 ------ .../encoders/AnalogAbsoluteEncoderSwerve.html | 369 --- docs/swervelib/encoders/CANCoderSwerve.html | 396 --- .../swervelib/encoders/CanAndCoderSwerve.html | 320 -- docs/swervelib/encoders/CanAndMagSwerve.html | 320 -- .../encoders/PWMDutyCycleEncoderSwerve.html | 360 -- .../encoders/SparkMaxAnalogEncoderSwerve.html | 363 --- .../encoders/SparkMaxEncoderSwerve.html | 361 --- .../encoders/SwerveAbsoluteEncoder.html | 312 -- docs/swervelib/encoders/package-summary.html | 125 - docs/swervelib/encoders/package-tree.html | 80 - docs/swervelib/imu/ADIS16448Swerve.html | 370 --- docs/swervelib/imu/ADIS16470Swerve.html | 370 --- docs/swervelib/imu/ADXRS450Swerve.html | 370 --- docs/swervelib/imu/AnalogGyroSwerve.html | 374 --- docs/swervelib/imu/CanandgyroSwerve.html | 386 --- docs/swervelib/imu/IMUVelocity.html | 321 -- docs/swervelib/imu/NavXSwerve.html | 416 --- docs/swervelib/imu/Pigeon2Swerve.html | 416 --- docs/swervelib/imu/PigeonSwerve.html | 374 --- docs/swervelib/imu/SwerveIMU.html | 291 -- docs/swervelib/imu/package-summary.html | 136 - docs/swervelib/imu/package-tree.html | 83 - .../math/IMULinearMovingAverageFilter.html | 234 -- docs/swervelib/math/Matter.html | 220 -- docs/swervelib/math/SwerveMath.html | 573 ---- docs/swervelib/math/package-summary.html | 111 - docs/swervelib/math/package-tree.html | 73 - .../SparkFlexSwerve.SparkMAX_slotIdx.html | 268 -- docs/swervelib/motors/SparkFlexSwerve.html | 772 ----- .../motors/SparkMaxBrushedMotorSwerve.html | 785 ----- .../SparkMaxSwerve.SparkMAX_slotIdx.html | 268 -- docs/swervelib/motors/SparkMaxSwerve.html | 778 ----- docs/swervelib/motors/SwerveMotor.html | 578 ---- docs/swervelib/motors/TalonFXSwerve.html | 845 ----- docs/swervelib/motors/TalonSRXSwerve.html | 821 ----- docs/swervelib/motors/package-summary.html | 134 - docs/swervelib/motors/package-tree.html | 94 - docs/swervelib/package-summary.html | 136 - docs/swervelib/package-tree.html | 74 - docs/swervelib/parser/Cache.html | 312 -- docs/swervelib/parser/PIDFConfig.html | 351 -- .../parser/SwerveControllerConfiguration.html | 225 -- .../parser/SwerveDriveConfiguration.html | 287 -- .../parser/SwerveModuleConfiguration.html | 417 --- .../SwerveModulePhysicalCharacteristics.html | 292 -- docs/swervelib/parser/SwerveParser.html | 413 --- .../parser/deserializer/PIDFRange.html | 172 - .../parser/deserializer/package-summary.html | 104 - .../parser/deserializer/package-tree.html | 71 - .../parser/json/ControllerPropertiesJson.html | 215 -- docs/swervelib/parser/json/DeviceJson.html | 259 -- docs/swervelib/parser/json/ModuleJson.html | 321 -- .../parser/json/MotorConfigDouble.html | 193 -- .../swervelib/parser/json/MotorConfigInt.html | 193 -- .../parser/json/PIDFPropertiesJson.html | 172 - .../parser/json/PhysicalPropertiesJson.html | 260 -- .../parser/json/SwerveDriveJson.html | 184 -- .../modules/AngleConversionFactorsJson.html | 210 -- .../parser/json/modules/BoolMotorJson.html | 172 - .../json/modules/ConversionFactorsJson.html | 226 -- .../modules/DriveConversionFactorsJson.html | 222 -- .../parser/json/modules/LocationJson.html | 197 -- .../parser/json/modules/package-summary.html | 116 - .../parser/json/modules/package-tree.html | 75 - .../parser/json/package-summary.html | 136 - docs/swervelib/parser/json/package-tree.html | 78 - docs/swervelib/parser/package-summary.html | 132 - docs/swervelib/parser/package-tree.html | 77 - .../simulation/SwerveIMUSimulation.html | 332 -- .../simulation/SwerveModuleSimulation.html | 294 -- .../swervelib/simulation/package-summary.html | 104 - docs/swervelib/simulation/package-tree.html | 72 - docs/swervelib/telemetry/Alert.AlertType.html | 298 -- .../telemetry/Alert.SendableAlerts.html | 224 -- docs/swervelib/telemetry/Alert.html | 334 -- ...SwerveDriveData.SwerveDriveDataStruct.html | 275 -- docs/swervelib/telemetry/SwerveDriveData.html | 221 -- ...erveDriveTelemetry.TelemetryVerbosity.html | 301 -- .../telemetry/SwerveDriveTelemetry.html | 418 --- .../swervelib/telemetry/SwerveModuleData.html | 132 - docs/swervelib/telemetry/package-summary.html | 122 - docs/swervelib/telemetry/package-tree.html | 88 - docs/tag-search-index.js | 1 - docs/testdir.html | 3 - docs/type-search-index.js | 1 - 175 files changed, 3 insertions(+), 41474 deletions(-) delete mode 100644 docs/.testdir.html.un~ delete mode 100644 docs/allclasses-index.html delete mode 100644 docs/allpackages-index.html delete mode 100644 docs/constant-values.html delete mode 100644 docs/element-list delete mode 100644 docs/frc/robot/Constants.Auton.html delete mode 100644 docs/frc/robot/Constants.Drivebase.html delete mode 100644 docs/frc/robot/Constants.OperatorConstants.html delete mode 100644 docs/frc/robot/Constants.html delete mode 100644 docs/frc/robot/Main.html delete mode 100644 docs/frc/robot/Robot.html delete mode 100644 docs/frc/robot/RobotContainer.html delete mode 100644 docs/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.html delete mode 100644 docs/frc/robot/commands/swervedrive/auto/package-summary.html delete mode 100644 docs/frc/robot/commands/swervedrive/auto/package-tree.html delete mode 100644 docs/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.html delete mode 100644 docs/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.html delete mode 100644 docs/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.html delete mode 100644 docs/frc/robot/commands/swervedrive/drivebase/TeleopDrive.html delete mode 100644 docs/frc/robot/commands/swervedrive/drivebase/package-summary.html delete mode 100644 docs/frc/robot/commands/swervedrive/drivebase/package-tree.html delete mode 100644 docs/frc/robot/package-summary.html delete mode 100644 docs/frc/robot/package-tree.html delete mode 100644 docs/frc/robot/subsystems/swervedrive/SwerveSubsystem.html delete mode 100644 docs/frc/robot/subsystems/swervedrive/package-summary.html delete mode 100644 docs/frc/robot/subsystems/swervedrive/package-tree.html delete mode 100644 docs/help-doc.html delete mode 100644 docs/index-all.html delete mode 100644 docs/index-files/index-1.html delete mode 100644 docs/index-files/index-10.html delete mode 100644 docs/index-files/index-11.html delete mode 100644 docs/index-files/index-12.html delete mode 100644 docs/index-files/index-13.html delete mode 100644 docs/index-files/index-14.html delete mode 100644 docs/index-files/index-15.html delete mode 100644 docs/index-files/index-16.html delete mode 100644 docs/index-files/index-17.html delete mode 100644 docs/index-files/index-18.html delete mode 100644 docs/index-files/index-19.html delete mode 100644 docs/index-files/index-2.html delete mode 100644 docs/index-files/index-20.html delete mode 100644 docs/index-files/index-21.html delete mode 100644 docs/index-files/index-22.html delete mode 100644 docs/index-files/index-23.html delete mode 100644 docs/index-files/index-24.html delete mode 100644 docs/index-files/index-25.html delete mode 100644 docs/index-files/index-3.html delete mode 100644 docs/index-files/index-4.html delete mode 100644 docs/index-files/index-5.html delete mode 100644 docs/index-files/index-6.html delete mode 100644 docs/index-files/index-7.html delete mode 100644 docs/index-files/index-8.html delete mode 100644 docs/index-files/index-9.html delete mode 100644 docs/jquery-ui.overrides.css delete mode 100644 docs/legal/ADDITIONAL_LICENSE_INFO delete mode 100644 docs/legal/ASSEMBLY_EXCEPTION delete mode 100644 docs/legal/LICENSE delete mode 100644 docs/legal/jquery.md delete mode 100644 docs/legal/jqueryUI.md delete mode 100644 docs/member-search-index.js delete mode 100644 docs/module-search-index.js delete mode 100644 docs/overview-summary.html delete mode 100644 docs/overview-tree.html delete mode 100644 docs/package-search-index.js delete mode 100644 docs/resources/glass.png delete mode 100644 docs/resources/x.png delete mode 100644 docs/script-dir/images/ui-bg_glass_55_fbf9ee_1x400.png delete mode 100644 docs/script-dir/images/ui-bg_glass_65_dadada_1x400.png delete mode 100644 docs/script-dir/images/ui-bg_glass_75_dadada_1x400.png delete mode 100644 docs/script-dir/images/ui-bg_glass_75_e6e6e6_1x400.png delete mode 100644 docs/script-dir/images/ui-bg_glass_95_fef1ec_1x400.png delete mode 100644 docs/script-dir/images/ui-bg_highlight-soft_75_cccccc_1x100.png delete mode 100644 docs/script-dir/images/ui-icons_222222_256x240.png delete mode 100644 docs/script-dir/images/ui-icons_2e83ff_256x240.png delete mode 100644 docs/script-dir/images/ui-icons_454545_256x240.png delete mode 100644 docs/script-dir/images/ui-icons_888888_256x240.png delete mode 100644 docs/script-dir/images/ui-icons_cd0a0a_256x240.png delete mode 100644 docs/script-dir/jquery-3.5.1.min.js delete mode 100644 docs/script-dir/jquery-3.6.0.min.js delete mode 100644 docs/script-dir/jquery-ui.min.css delete mode 100644 docs/script-dir/jquery-ui.min.js delete mode 100644 docs/script-dir/jquery-ui.structure.min.css delete mode 100644 docs/script.js delete mode 100644 docs/search.js delete mode 100644 docs/stylesheet.css delete mode 100644 docs/swervelib/SwerveController.html delete mode 100644 docs/swervelib/SwerveDrive.html delete mode 100644 docs/swervelib/SwerveDriveTest.html delete mode 100644 docs/swervelib/SwerveModule.html delete mode 100644 docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html delete mode 100644 docs/swervelib/encoders/CANCoderSwerve.html delete mode 100644 docs/swervelib/encoders/CanAndCoderSwerve.html delete mode 100644 docs/swervelib/encoders/CanAndMagSwerve.html delete mode 100644 docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html delete mode 100644 docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html delete mode 100644 docs/swervelib/encoders/SparkMaxEncoderSwerve.html delete mode 100644 docs/swervelib/encoders/SwerveAbsoluteEncoder.html delete mode 100644 docs/swervelib/encoders/package-summary.html delete mode 100644 docs/swervelib/encoders/package-tree.html delete mode 100644 docs/swervelib/imu/ADIS16448Swerve.html delete mode 100644 docs/swervelib/imu/ADIS16470Swerve.html delete mode 100644 docs/swervelib/imu/ADXRS450Swerve.html delete mode 100644 docs/swervelib/imu/AnalogGyroSwerve.html delete mode 100644 docs/swervelib/imu/CanandgyroSwerve.html delete mode 100644 docs/swervelib/imu/IMUVelocity.html delete mode 100644 docs/swervelib/imu/NavXSwerve.html delete mode 100644 docs/swervelib/imu/Pigeon2Swerve.html delete mode 100644 docs/swervelib/imu/PigeonSwerve.html delete mode 100644 docs/swervelib/imu/SwerveIMU.html delete mode 100644 docs/swervelib/imu/package-summary.html delete mode 100644 docs/swervelib/imu/package-tree.html delete mode 100644 docs/swervelib/math/IMULinearMovingAverageFilter.html delete mode 100644 docs/swervelib/math/Matter.html delete mode 100644 docs/swervelib/math/SwerveMath.html delete mode 100644 docs/swervelib/math/package-summary.html delete mode 100644 docs/swervelib/math/package-tree.html delete mode 100644 docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html delete mode 100644 docs/swervelib/motors/SparkFlexSwerve.html delete mode 100644 docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html delete mode 100644 docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html delete mode 100644 docs/swervelib/motors/SparkMaxSwerve.html delete mode 100644 docs/swervelib/motors/SwerveMotor.html delete mode 100644 docs/swervelib/motors/TalonFXSwerve.html delete mode 100644 docs/swervelib/motors/TalonSRXSwerve.html delete mode 100644 docs/swervelib/motors/package-summary.html delete mode 100644 docs/swervelib/motors/package-tree.html delete mode 100644 docs/swervelib/package-summary.html delete mode 100644 docs/swervelib/package-tree.html delete mode 100644 docs/swervelib/parser/Cache.html delete mode 100644 docs/swervelib/parser/PIDFConfig.html delete mode 100644 docs/swervelib/parser/SwerveControllerConfiguration.html delete mode 100644 docs/swervelib/parser/SwerveDriveConfiguration.html delete mode 100644 docs/swervelib/parser/SwerveModuleConfiguration.html delete mode 100644 docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html delete mode 100644 docs/swervelib/parser/SwerveParser.html delete mode 100644 docs/swervelib/parser/deserializer/PIDFRange.html delete mode 100644 docs/swervelib/parser/deserializer/package-summary.html delete mode 100644 docs/swervelib/parser/deserializer/package-tree.html delete mode 100644 docs/swervelib/parser/json/ControllerPropertiesJson.html delete mode 100644 docs/swervelib/parser/json/DeviceJson.html delete mode 100644 docs/swervelib/parser/json/ModuleJson.html delete mode 100644 docs/swervelib/parser/json/MotorConfigDouble.html delete mode 100644 docs/swervelib/parser/json/MotorConfigInt.html delete mode 100644 docs/swervelib/parser/json/PIDFPropertiesJson.html delete mode 100644 docs/swervelib/parser/json/PhysicalPropertiesJson.html delete mode 100644 docs/swervelib/parser/json/SwerveDriveJson.html delete mode 100644 docs/swervelib/parser/json/modules/AngleConversionFactorsJson.html delete mode 100644 docs/swervelib/parser/json/modules/BoolMotorJson.html delete mode 100644 docs/swervelib/parser/json/modules/ConversionFactorsJson.html delete mode 100644 docs/swervelib/parser/json/modules/DriveConversionFactorsJson.html delete mode 100644 docs/swervelib/parser/json/modules/LocationJson.html delete mode 100644 docs/swervelib/parser/json/modules/package-summary.html delete mode 100644 docs/swervelib/parser/json/modules/package-tree.html delete mode 100644 docs/swervelib/parser/json/package-summary.html delete mode 100644 docs/swervelib/parser/json/package-tree.html delete mode 100644 docs/swervelib/parser/package-summary.html delete mode 100644 docs/swervelib/parser/package-tree.html delete mode 100644 docs/swervelib/simulation/SwerveIMUSimulation.html delete mode 100644 docs/swervelib/simulation/SwerveModuleSimulation.html delete mode 100644 docs/swervelib/simulation/package-summary.html delete mode 100644 docs/swervelib/simulation/package-tree.html delete mode 100644 docs/swervelib/telemetry/Alert.AlertType.html delete mode 100644 docs/swervelib/telemetry/Alert.SendableAlerts.html delete mode 100644 docs/swervelib/telemetry/Alert.html delete mode 100644 docs/swervelib/telemetry/SwerveDriveData.SwerveDriveDataStruct.html delete mode 100644 docs/swervelib/telemetry/SwerveDriveData.html delete mode 100644 docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html delete mode 100644 docs/swervelib/telemetry/SwerveDriveTelemetry.html delete mode 100644 docs/swervelib/telemetry/SwerveModuleData.html delete mode 100644 docs/swervelib/telemetry/package-summary.html delete mode 100644 docs/swervelib/telemetry/package-tree.html delete mode 100644 docs/tag-search-index.js delete mode 100644 docs/testdir.html delete mode 100644 docs/type-search-index.js diff --git a/docs/.testdir.html.un~ b/docs/.testdir.html.un~ deleted file mode 100644 index 83d8195be1b6aded2ecdd598309cb367be6132e1..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 4270 zcmeH~O-lkn7{_PLUOaT@Am~lJNKkI}0udHOk{!H-L0!Vt(uH!(T@$)UA0Rq(iVoeo zMA!%EGepwaz;n%i8s$M*$<*6CFwB2mefIgyGlK`_`D416uo}#>d;e0aG*giW`}RnC z{`hLn`rp%;yIMUqpYdGm+%U!_c%i28hEH~&ZWophzAk$)s##(`{&47ZfT?87}m$c#nu+s;q9(IkQPb@KwBN#Y9FDPANXQ3GxJUkN@A*cEC-ViZR4QcY1W^+Ubqin`!9rNMF2ti}fdJseA- fp>AeGVF;s$siwGN0=L%t%HqXMy5Sy}_UF?NUGUk! diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html deleted file mode 100644 index 66eefd9..0000000 --- a/docs/allclasses-index.html +++ /dev/null @@ -1,312 +0,0 @@ - - - - -All Classes and Interfaces - - - - - - - - - - - - - - - -
- -
-
-
-

All Classes and Interfaces

-
-
-
-
-
-
Class
-
Description
-
ADIS16448Swerve
-
-
IMU Swerve class for the ADIS16448_IMU device.
-
-
ADIS16470Swerve
-
-
IMU Swerve class for the ADIS16470_IMU device.
-
-
ADXRS450Swerve
-
-
IMU Swerve class for the ADXRS450_Gyro device.
-
-
Alert
-
-
Class for managing persistent alerts to be sent over NetworkTables.
-
-
Alert.AlertType
-
-
Represents an alert's level of urgency.
-
-
Alert.SendableAlerts
-
-
Sendable alert for advantage scope.
-
-
AnalogAbsoluteEncoderSwerve
-
-
Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
-
-
AnalogGyroSwerve
-
-
Creates a IMU for AnalogGyro devices, only uses yaw.
-
-
AngleConversionFactorsJson
-
-
Angle motor conversion factors composite JSON parse class.
-
-
BoolMotorJson
-
-
Inverted motor JSON parsed class.
-
-
Cache<T>
-
-
Cache for frequently requested data.
-
-
CanandgyroSwerve
-
-
SwerveIMU interface for the Boron Candandgyro by Redux Robotics
-
-
CanAndMagSwerve
-
-
HELIUM Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.
-
-
CANCoderSwerve
-
-
Swerve Absolute Encoder for CTRE CANCoders.
-
-
ControllerPropertiesJson
-
-
SwerveController parsed class.
-
-
ConversionFactorsJson
-
-
Conversion Factors parsed JSON class
-
-
DeviceJson
-
-
Device JSON parsed class.
-
-
DriveConversionFactorsJson
-
-
Drive motor composite JSON parse class.
-
-
IMULinearMovingAverageFilter
-
-
A linear filter that does not calculate() each time a value is added to - the DoubleCircularBuffer.
-
-
IMUVelocity
-
-
Generic IMU Velocity filter.
-
-
LocationJson
-
-
Location JSON parsed class.
-
-
Matter
-
-
Object with significant mass that needs to be taken into account.
-
-
ModuleJson
-
-
SwerveModule JSON parsed class.
-
-
MotorConfigDouble
-
-
Used to store doubles for motor configuration.
-
-
MotorConfigInt
-
-
Used to store ints for motor configuration.
-
-
NavXSwerve
-
-
Communicates with the NavX as the IMU.
-
-
PhysicalPropertiesJson
-
-
SwerveModulePhysicalCharacteristics parsed data.
-
-
PIDFConfig
-
-
Hold the PIDF and Integral Zone values for a PID.
-
-
PIDFPropertiesJson
-
-
SwerveModule PID with Feedforward for the drive motor and angle motor.
-
-
PIDFRange
-
-
Class to hold the minimum and maximum input or output of the PIDF.
-
-
Pigeon2Swerve
-
-
SwerveIMU interface for the Pigeon2
-
-
PigeonSwerve
-
-
SwerveIMU interface for the Pigeon.
-
-
PWMDutyCycleEncoderSwerve
-
-
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.
-
-
SparkFlexSwerve
-
-
An implementation of CANSparkFlex as a SwerveMotor.
-
-
SparkFlexSwerve.SparkMAX_slotIdx
-
-
REV Slots for PID configuration.
-
-
SparkMaxAnalogEncoderSwerve
-
-
SparkMax absolute encoder, attached through the data port analog pin.
-
-
SparkMaxBrushedMotorSwerve
-
-
Brushed motor control with SparkMax.
-
-
SparkMaxEncoderSwerve
-
-
SparkMax absolute encoder, attached through the data port.
-
-
SparkMaxSwerve
-
-
An implementation of CANSparkMax as a SwerveMotor.
-
-
SparkMaxSwerve.SparkMAX_slotIdx
-
-
REV Slots for PID configuration.
-
-
SwerveAbsoluteEncoder
-
-
Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
-
-
SwerveController
-
-
Controller class used to convert raw inputs into robot speeds.
-
-
SwerveControllerConfiguration
-
-
Swerve Controller configuration class which is used to configure SwerveController.
-
-
SwerveDrive
-
-
Swerve Drive class representing and controlling the swerve drive.
-
-
SwerveDriveConfiguration
-
-
Swerve drive configurations used during SwerveDrive construction.
-
-
SwerveDriveJson
-
-
SwerveDrive JSON parsed class.
-
-
SwerveDriveTelemetry
-
-
Telemetry to describe the SwerveDrive following frc-web-components.
-
-
SwerveDriveTelemetry.TelemetryVerbosity
-
-
Verbosity of telemetry data sent back.
-
-
SwerveDriveTest
-
-
Class to perform tests on the swerve drive.
-
-
SwerveIMU
-
-
Swerve IMU abstraction to define a standard interface with a swerve drive.
-
-
SwerveIMUSimulation
-
-
Simulation for SwerveDrive IMU.
-
-
SwerveMath
-
-
Mathematical functions which pertain to swerve drive.
-
-
SwerveModule
-
-
The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
-
-
SwerveModuleConfiguration
-
-
Swerve Module configuration class which is used to configure SwerveModule.
-
-
SwerveModulePhysicalCharacteristics
-
-
Configuration class which stores physical characteristics shared between every swerve module.
-
-
SwerveModuleSimulation
-
-
Class to hold simulation data for SwerveModule
-
-
SwerveMotor
-
-
Swerve motor abstraction which defines a standard interface for motors within a swerve module.
-
-
SwerveParser
-
-
Helper class used to parse the JSON directory with specified configuration options.
-
-
TalonFXSwerve
-
-
TalonFX Swerve Motor.
-
-
TalonSRXSwerve
-
-
WPI_TalonSRX Swerve Motor.
-
-
-
-
-
-
-
- - diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html deleted file mode 100644 index b37dd32..0000000 --- a/docs/allpackages-index.html +++ /dev/null @@ -1,106 +0,0 @@ - - - - -All Packages - - - - - - - - - - - - - - - -
- -
-
-
-

All Packages

-
-
Package Summary
-
-
Package
-
Description
-
swervelib
-
-
Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
-
-
swervelib.encoders
-
-
Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
-
-
swervelib.imu
-
-
IMUs used for controlling the robot heading.
-
-
swervelib.math
-
-
Mathematics for swerve drives.
-
-
swervelib.motors
-
-
Swerve motor controller wrappers which implement SwerveMotor.
-
-
swervelib.parser
-
-
JSON Parser for YAGSL configurations.
-
-
swervelib.parser.deserializer
-
-
Deserialize specific variables for outside the parser.
-
-
swervelib.parser.json
-
-
JSON Mapped classes for parsing configuration files.
-
-
swervelib.parser.json.modules
-
-
JSON Mapped Configuration types for modules.
-
-
swervelib.simulation
-
-
Classes used to simulate the swerve drive.
-
-
swervelib.telemetry
-
-
Telemetry package for sending data to NT4 or SmartDashboard.
-
-
-
-
-
- - diff --git a/docs/constant-values.html b/docs/constant-values.html deleted file mode 100644 index 4979624..0000000 --- a/docs/constant-values.html +++ /dev/null @@ -1,124 +0,0 @@ - - - - -Constant Field Values - - - - - - - - - - - - - - - -
- -
-
-
-

Constant Field Values

-
-

Contents

- -
-
-
-

swervelib.encoders.*

- -
-
-

swervelib.motors.*

- -
-
-
-
- - diff --git a/docs/element-list b/docs/element-list deleted file mode 100644 index 8b5fb27..0000000 --- a/docs/element-list +++ /dev/null @@ -1,11 +0,0 @@ -swervelib -swervelib.encoders -swervelib.imu -swervelib.math -swervelib.motors -swervelib.parser -swervelib.parser.deserializer -swervelib.parser.json -swervelib.parser.json.modules -swervelib.simulation -swervelib.telemetry diff --git a/docs/frc/robot/Constants.Auton.html b/docs/frc/robot/Constants.Auton.html deleted file mode 100644 index 2ca5187..0000000 --- a/docs/frc/robot/Constants.Auton.html +++ /dev/null @@ -1,185 +0,0 @@ - - - - -Constants.Auton (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot
-

Class Constants.Auton

-
-
java.lang.Object -
frc.robot.Constants.Auton
-
-
-
-
Enclosing class:
-
Constants
-
-
-
public static final class Constants.Auton -extends Object
-
-
- -
-
-
    - -
  • -
    -

    Field Details

    -
      -
    • -
      -

      TranslationPID

      -
      public static final PIDFConfig TranslationPID
      -
      -
      • -
    • -
      -

      angleAutoPID

      -
      public static final PIDFConfig angleAutoPID
      -
      -
      • -
    • -
      -

      MAX_ACCELERATION

      -
      public static final double MAX_ACCELERATION
      -
      -
      See Also:
      -
      - -
      -
      -
      -
      • -
    -
    -
    • - -
  • -
    -

    Constructor Details

    -
      -
    • -
      -

      Auton

      -
      public Auton()
      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/Constants.Drivebase.html b/docs/frc/robot/Constants.Drivebase.html deleted file mode 100644 index cd9190c..0000000 --- a/docs/frc/robot/Constants.Drivebase.html +++ /dev/null @@ -1,167 +0,0 @@ - - - - -Constants.Drivebase (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot
-

Class Constants.Drivebase

-
-
java.lang.Object -
frc.robot.Constants.Drivebase
-
-
-
-
Enclosing class:
-
Constants
-
-
-
public static final class Constants.Drivebase -extends Object
-
-
- -
-
-
    - -
  • -
    -

    Field Details

    -
      -
    • -
      -

      WHEEL_LOCK_TIME

      -
      public static final double WHEEL_LOCK_TIME
      -
      -
      See Also:
      -
      - -
      -
      -
      -
      • -
    -
    -
    • - -
  • -
    -

    Constructor Details

    -
      -
    • -
      -

      Drivebase

      -
      public Drivebase()
      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/Constants.OperatorConstants.html b/docs/frc/robot/Constants.OperatorConstants.html deleted file mode 100644 index 751ad77..0000000 --- a/docs/frc/robot/Constants.OperatorConstants.html +++ /dev/null @@ -1,218 +0,0 @@ - - - - -Constants.OperatorConstants (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot
-

Class Constants.OperatorConstants

-
-
java.lang.Object -
frc.robot.Constants.OperatorConstants
-
-
-
-
Enclosing class:
-
Constants
-
-
-
public static class Constants.OperatorConstants -extends Object
-
-
- -
-
-
    - -
  • -
    -

    Field Details

    -
      -
    • -
      -

      LEFT_X_DEADBAND

      -
      public static final double LEFT_X_DEADBAND
      -
      -
      See Also:
      -
      - -
      -
      -
      -
      • -
    • -
      -

      LEFT_Y_DEADBAND

      -
      public static final double LEFT_Y_DEADBAND
      -
      -
      See Also:
      -
      - -
      -
      -
      -
      • -
    • -
      -

      RIGHT_X_DEADBAND

      -
      public static final double RIGHT_X_DEADBAND
      -
      -
      See Also:
      -
      - -
      -
      -
      -
      • -
    • -
      -

      TURN_CONSTANT

      -
      public static final double TURN_CONSTANT
      -
      -
      See Also:
      -
      - -
      -
      -
      -
      • -
    -
    -
    • - -
  • -
    -

    Constructor Details

    -
      -
    • -
      -

      OperatorConstants

      -
      public OperatorConstants()
      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/Constants.html b/docs/frc/robot/Constants.html deleted file mode 100644 index 46c01ec..0000000 --- a/docs/frc/robot/Constants.html +++ /dev/null @@ -1,216 +0,0 @@ - - - - -Constants (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot
-

Class Constants

-
-
java.lang.Object -
frc.robot.Constants
-
-
-
-
public final class Constants -extends Object
-
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.

-
-
- -
-
-
    - -
  • -
    -

    Field Details

    -
      -
    • -
      -

      ROBOT_MASS

      -
      public static final double ROBOT_MASS
      -
      -
      See Also:
      -
      - -
      -
      -
      -
      • -
    • -
      -

      CHASSIS

      -
      public static final Matter CHASSIS
      -
      -
      • -
    • -
      -

      LOOP_TIME

      -
      public static final double LOOP_TIME
      -
      -
      See Also:
      -
      - -
      -
      -
      -
      • -
    -
    -
    • - -
  • -
    -

    Constructor Details

    -
      -
    • -
      -

      Constants

      -
      public Constants()
      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/Main.html b/docs/frc/robot/Main.html deleted file mode 100644 index b870079..0000000 --- a/docs/frc/robot/Main.html +++ /dev/null @@ -1,137 +0,0 @@ - - - - -Main (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot
-

Class Main

-
-
java.lang.Object -
frc.robot.Main
-
-
-
-
public final class Main -extends Object
-
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.
-
-
- -
-
-
    - -
  • -
    -

    Method Details

    -
      -
    • -
      -

      main

      -
      public static void main(String... args)
      -
      Main initialization function. Do not perform any initialization here. - -

      If you change your main robot class, change the parameter type.

      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/Robot.html b/docs/frc/robot/Robot.html deleted file mode 100644 index d4cf242..0000000 --- a/docs/frc/robot/Robot.html +++ /dev/null @@ -1,375 +0,0 @@ - - - - -Robot (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot
-

Class Robot

-
-
java.lang.Object -
edu.wpi.first.wpilibj.RobotBase -
edu.wpi.first.wpilibj.IterativeRobotBase -
edu.wpi.first.wpilibj.TimedRobot -
frc.robot.Robot
-
-
-
-
-
-
-
All Implemented Interfaces:
-
AutoCloseable
-
-
-
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

    -kDefaultPeriod
    -
    -
    • - -
  • -
    -

    Constructor Summary

    -
    Constructors
    -
    -
    Constructor
    -
    Description
    -
    Robot()
    -
     
    -
    -
    -
    • - -
  • -
    -

    Method Summary

    -
    -
    -
    -
    -
    Modifier and Type
    -
    Method
    -
    Description
    -
    void
    -
    autonomousInit()
    -
    -
    This autonomous runs the autonomous command selected by your RobotContainer class.
    -
    -
    void
    -
    autonomousPeriodic()
    -
    -
    This function is called periodically during autonomous.
    -
    -
    void
    -
    disabledInit()
    -
    -
    This function is called once each time the robot enters Disabled mode.
    -
    -
    void
    -
    disabledPeriodic()
    -
     
    -
    static Robot
    -
    getInstance()
    -
     
    -
    void
    -
    robotInit()
    -
    -
    This function is run when the robot is first started up and should be used for any initialization code.
    -
    -
    void
    -
    robotPeriodic()
    -
    -
    This function is called every 20 ms, no matter the mode.
    -
    -
    void
    -
    simulationInit()
    -
    -
    This function is called once when the robot is first started up.
    -
    -
    void
    -
    simulationPeriodic()
    -
    -
    This function is called periodically whilst in simulation.
    -
    -
    void
    -
    teleopInit()
    -
     
    -
    void
    -
    teleopPeriodic()
    -
    -
    This function is called periodically during operator control.
    -
    -
    void
    -
    testInit()
    -
     
    -
    void
    -
    testPeriodic()
    -
    -
    This function is called periodically during test mode.
    -
    -
    -
    -
    -
    -

    Methods inherited from class edu.wpi.first.wpilibj.TimedRobot

    -addPeriodic, addPeriodic, close, endCompetition, startCompetition
    -
    -

    Methods inherited from class edu.wpi.first.wpilibj.IterativeRobotBase

    -autonomousExit, disabledExit, driverStationConnected, enableLiveWindowInTest, getPeriod, isLiveWindowEnabledInTest, loopFunc, setNetworkTablesFlushEnabled, teleopExit, testExit
    -
    -

    Methods inherited from class edu.wpi.first.wpilibj.RobotBase

    -getMainThreadId, getRuntimeType, isAutonomous, isAutonomousEnabled, isDisabled, isEnabled, isReal, isSimulation, isTeleop, isTeleopEnabled, isTest, isTestEnabled, startRobot, suppressExitWarning
    -
    -

    Methods inherited from class java.lang.Object

    -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    -
    -
    • -
-
-
-
    - -
  • -
    -

    Constructor Details

    -
      -
    • -
      -

      Robot

      -
      public Robot()
      -
      -
      • -
    -
    -
    • - -
  • -
    -

    Method Details

    -
      -
    • -
      -

      getInstance

      -
      public static Robot getInstance()
      -
      -
      • -
    • -
      -

      robotInit

      -
      public void robotInit()
      -
      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

      -
      public void robotPeriodic()
      -
      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

      -
      public void disabledInit()
      -
      This function is called once each time the robot enters Disabled mode.
      -
      -
      Overrides:
      -
      disabledInit in class edu.wpi.first.wpilibj.IterativeRobotBase
      -
      -
      -
      • -
    • -
      -

      disabledPeriodic

      -
      public void disabledPeriodic()
      -
      -
      Overrides:
      -
      disabledPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase
      -
      -
      -
      • -
    • -
      -

      autonomousInit

      -
      public void autonomousInit()
      -
      This autonomous runs the autonomous command selected by your RobotContainer class.
      -
      -
      Overrides:
      -
      autonomousInit in class edu.wpi.first.wpilibj.IterativeRobotBase
      -
      -
      -
      • -
    • -
      -

      autonomousPeriodic

      -
      public void autonomousPeriodic()
      -
      This function is called periodically during autonomous.
      -
      -
      Overrides:
      -
      autonomousPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase
      -
      -
      -
      • -
    • -
      -

      teleopInit

      -
      public void teleopInit()
      -
      -
      Overrides:
      -
      teleopInit in class edu.wpi.first.wpilibj.IterativeRobotBase
      -
      -
      -
      • -
    • -
      -

      teleopPeriodic

      -
      public void teleopPeriodic()
      -
      This function is called periodically during operator control.
      -
      -
      Overrides:
      -
      teleopPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase
      -
      -
      -
      • -
    • -
      -

      testInit

      -
      public void testInit()
      -
      -
      Overrides:
      -
      testInit in class edu.wpi.first.wpilibj.IterativeRobotBase
      -
      -
      -
      • -
    • -
      -

      testPeriodic

      -
      public void testPeriodic()
      -
      This function is called periodically during test mode.
      -
      -
      Overrides:
      -
      testPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase
      -
      -
      -
      • -
    • -
      -

      simulationInit

      -
      public void simulationInit()
      -
      This function is called once when the robot is first started up.
      -
      -
      Overrides:
      -
      simulationInit in class edu.wpi.first.wpilibj.IterativeRobotBase
      -
      -
      -
      • -
    • -
      -

      simulationPeriodic

      -
      public void simulationPeriodic()
      -
      This function is called periodically whilst in simulation.
      -
      -
      Overrides:
      -
      simulationPeriodic in class edu.wpi.first.wpilibj.IterativeRobotBase
      -
      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/RobotContainer.html b/docs/frc/robot/RobotContainer.html deleted file mode 100644 index bf34e14..0000000 --- a/docs/frc/robot/RobotContainer.html +++ /dev/null @@ -1,188 +0,0 @@ - - - - -RobotContainer (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot
-

Class RobotContainer

-
-
java.lang.Object -
frc.robot.RobotContainer
-
-
-
-
public class RobotContainer -extends Object
-
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.
-
-
- -
-
-
    - -
  • -
    -

    Constructor Details

    -
      -
    • -
      -

      RobotContainer

      -
      public RobotContainer()
      -
      The container for the robot. Contains subsystems, OI devices, and commands.
      -
      -
      • -
    -
    -
    • - -
  • -
    -

    Method Details

    -
      -
    • -
      -

      getAutonomousCommand

      -
      public edu.wpi.first.wpilibj2.command.Command getAutonomousCommand()
      -
      Use this to pass the autonomous command to the main Robot class.
      -
      -
      Returns:
      -
      the command to run in autonomous
      -
      -
      -
      • -
    • -
      -

      setDriveMode

      -
      public void setDriveMode()
      -
      -
      • -
    • -
      -

      setMotorBrake

      -
      public void setMotorBrake(boolean brake)
      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.html b/docs/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.html deleted file mode 100644 index 6bd66c6..0000000 --- a/docs/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.html +++ /dev/null @@ -1,257 +0,0 @@ - - - - -AutoBalanceCommand (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot.commands.swervedrive.auto
-

Class AutoBalanceCommand

-
-
java.lang.Object -
edu.wpi.first.wpilibj2.command.Command -
frc.robot.commands.swervedrive.auto.AutoBalanceCommand
-
-
-
-
-
All Implemented Interfaces:
-
edu.wpi.first.util.sendable.Sendable
-
-
-
public class AutoBalanceCommand -extends edu.wpi.first.wpilibj2.command.Command
-
Auto Balance command using a simple PID controller. Created by Team 3512 - ...
-
-
-
    - -
  • -
    -

    Nested Class Summary

    -
    -

    Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

    -edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior
    -
    -
    • - -
  • -
    -

    Field Summary

    -
    -

    Fields inherited from class edu.wpi.first.wpilibj2.command.Command

    -m_requirements
    -
    -
    • - -
  • -
    -

    Constructor Summary

    -
    Constructors
    -
    -
    Constructor
    -
    Description
    -
    AutoBalanceCommand(SwerveSubsystem swerveSubsystem)
    -
     
    -
    -
    -
    • - -
  • -
    -

    Method Summary

    -
    -
    -
    -
    -
    Modifier and Type
    -
    Method
    -
    Description
    -
    void
    -
    end(boolean interrupted)
    -
    -
    The action to take when the command ends.
    -
    -
    void
    -
    execute()
    -
    -
    The main body of a command.
    -
    -
    void
    -
    initialize()
    -
    -
    The initial subroutine of a command.
    -
    -
    boolean
    -
    isFinished()
    -
    -
    - Returns whether this command has finished.
    -
    -
    -
    -
    -
    -

    Methods inherited from class edu.wpi.first.wpilibj2.command.Command

    -addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout
    -
    -

    Methods inherited from class java.lang.Object

    -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    -
    -
    • -
-
-
-
    - -
  • -
    -

    Constructor Details

    -
      -
    • -
      -

      AutoBalanceCommand

      -
      public AutoBalanceCommand(SwerveSubsystem swerveSubsystem)
      -
      -
      • -
    -
    -
    • - -
  • -
    -

    Method Details

    -
      -
    • -
      -

      initialize

      -
      public void initialize()
      -
      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

      -
      public void execute()
      -
      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

      -
      public boolean isFinished()
      -

      - 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

      -
      public void end(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
      -
      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/commands/swervedrive/auto/package-summary.html b/docs/frc/robot/commands/swervedrive/auto/package-summary.html deleted file mode 100644 index 35aab97..0000000 --- a/docs/frc/robot/commands/swervedrive/auto/package-summary.html +++ /dev/null @@ -1,83 +0,0 @@ - - - - -frc.robot.commands.swervedrive.auto (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
-
-

Package frc.robot.commands.swervedrive.auto

-
-
-
package frc.robot.commands.swervedrive.auto
-
-
    -
  • -
    -
    Classes
    -
    -
    Class
    -
    Description
    -
    AutoBalanceCommand
    -
    -
    Auto Balance command using a simple PID controller.
    -
    -
    -
    -
    • -
-
-
-
-
- - diff --git a/docs/frc/robot/commands/swervedrive/auto/package-tree.html b/docs/frc/robot/commands/swervedrive/auto/package-tree.html deleted file mode 100644 index d4a83b7..0000000 --- a/docs/frc/robot/commands/swervedrive/auto/package-tree.html +++ /dev/null @@ -1,74 +0,0 @@ - - - - -frc.robot.commands.swervedrive.auto Class Hierarchy (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
-
-

Hierarchy For Package frc.robot.commands.swervedrive.auto

-Package Hierarchies: - -
-
-

Class Hierarchy

-
    -
  • java.lang.Object -
      -
    • edu.wpi.first.wpilibj2.command.Command (implements edu.wpi.first.util.sendable.Sendable) - -
      • -
    -
    • -
-
-
-
-
- - diff --git a/docs/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.html b/docs/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.html deleted file mode 100644 index 9505376..0000000 --- a/docs/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.html +++ /dev/null @@ -1,258 +0,0 @@ - - - - -AbsoluteDrive (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot.commands.swervedrive.drivebase
-

Class AbsoluteDrive

-
-
java.lang.Object -
edu.wpi.first.wpilibj2.command.Command -
frc.robot.commands.swervedrive.drivebase.AbsoluteDrive
-
-
-
-
-
All Implemented Interfaces:
-
edu.wpi.first.util.sendable.Sendable
-
-
-
public class AbsoluteDrive -extends edu.wpi.first.wpilibj2.command.Command
-
An example command that uses an example subsystem.
-
-
-
    - -
  • -
    -

    Nested Class Summary

    -
    -

    Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

    -edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior
    -
    -
    • - -
  • -
    -

    Field Summary

    -
    -

    Fields inherited from class edu.wpi.first.wpilibj2.command.Command

    -m_requirements
    -
    -
    • - -
  • -
    -

    Constructor Summary

    -
    Constructors
    -
    -
    Constructor
    -
    Description
    -
    AbsoluteDrive(SwerveSubsystem swerve, - DoubleSupplier vX, - DoubleSupplier vY, - DoubleSupplier headingHorizontal, - DoubleSupplier headingVertical)
    -
    -
    Used to drive a swerve robot in full field-centric mode.
    -
    -
    -
    -
    • - -
  • -
    -

    Method Summary

    -
    -
    -
    -
    -
    Modifier and Type
    -
    Method
    -
    Description
    -
    void
    -
    end(boolean interrupted)
    -
     
    -
    void
    -
    execute()
    -
     
    -
    void
    -
    initialize()
    -
     
    -
    boolean
    -
    isFinished()
    -
     
    -
    -
    -
    -
    -

    Methods inherited from class edu.wpi.first.wpilibj2.command.Command

    -addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout
    -
    -

    Methods inherited from class java.lang.Object

    -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    -
    -
    • -
-
-
-
    - -
  • -
    -

    Constructor Details

    -
      -
    • -
      -

      AbsoluteDrive

      -
      public AbsoluteDrive(SwerveSubsystem swerve, - DoubleSupplier vX, - DoubleSupplier vY, - DoubleSupplier headingHorizontal, - DoubleSupplier headingVertical)
      -
      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

      -
      public void initialize()
      -
      -
      Overrides:
      -
      initialize in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    • -
      -

      execute

      -
      public void execute()
      -
      -
      Overrides:
      -
      execute in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    • -
      -

      end

      -
      public void end(boolean interrupted)
      -
      -
      Overrides:
      -
      end in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    • -
      -

      isFinished

      -
      public boolean isFinished()
      -
      -
      Overrides:
      -
      isFinished in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.html b/docs/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.html deleted file mode 100644 index ec14d6e..0000000 --- a/docs/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.html +++ /dev/null @@ -1,263 +0,0 @@ - - - - -AbsoluteDriveAdv (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot.commands.swervedrive.drivebase
-

Class AbsoluteDriveAdv

-
-
java.lang.Object -
edu.wpi.first.wpilibj2.command.Command -
frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv
-
-
-
-
-
All Implemented Interfaces:
-
edu.wpi.first.util.sendable.Sendable
-
-
-
public class AbsoluteDriveAdv -extends edu.wpi.first.wpilibj2.command.Command
-
A more advanced Swerve Control System that has 4 buttons for which direction to face
-
-
-
    - -
  • -
    -

    Nested Class Summary

    -
    -

    Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

    -edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior
    -
    -
    • - -
  • -
    -

    Field Summary

    -
    -

    Fields inherited from class edu.wpi.first.wpilibj2.command.Command

    -m_requirements
    -
    -
    • - -
  • -
    -

    Constructor Summary

    -
    Constructors
    -
    -
    Constructor
    -
    Description
    -
    AbsoluteDriveAdv(SwerveSubsystem swerve, - DoubleSupplier vX, - DoubleSupplier vY, - DoubleSupplier headingAdjust, - BooleanSupplier lookAway, - BooleanSupplier lookTowards, - BooleanSupplier lookLeft, - BooleanSupplier lookRight)
    -
    -
    Used to drive a swerve robot in full field-centric mode.
    -
    -
    -
    -
    • - -
  • -
    -

    Method Summary

    -
    -
    -
    -
    -
    Modifier and Type
    -
    Method
    -
    Description
    -
    void
    -
    end(boolean interrupted)
    -
     
    -
    void
    -
    execute()
    -
     
    -
    void
    -
    initialize()
    -
     
    -
    boolean
    -
    isFinished()
    -
     
    -
    -
    -
    -
    -

    Methods inherited from class edu.wpi.first.wpilibj2.command.Command

    -addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout
    -
    -

    Methods inherited from class java.lang.Object

    -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    -
    -
    • -
-
-
-
    - -
  • -
    -

    Constructor Details

    -
      -
    • -
      -

      AbsoluteDriveAdv

      -
      public AbsoluteDriveAdv(SwerveSubsystem swerve, - DoubleSupplier vX, - DoubleSupplier vY, - DoubleSupplier headingAdjust, - BooleanSupplier lookAway, - BooleanSupplier lookTowards, - BooleanSupplier lookLeft, - BooleanSupplier lookRight)
      -
      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

      -
      public void initialize()
      -
      -
      Overrides:
      -
      initialize in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    • -
      -

      execute

      -
      public void execute()
      -
      -
      Overrides:
      -
      execute in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    • -
      -

      end

      -
      public void end(boolean interrupted)
      -
      -
      Overrides:
      -
      end in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    • -
      -

      isFinished

      -
      public boolean isFinished()
      -
      -
      Overrides:
      -
      isFinished in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.html b/docs/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.html deleted file mode 100644 index a5b6d1a..0000000 --- a/docs/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.html +++ /dev/null @@ -1,250 +0,0 @@ - - - - -AbsoluteFieldDrive (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot.commands.swervedrive.drivebase
-

Class AbsoluteFieldDrive

-
-
java.lang.Object -
edu.wpi.first.wpilibj2.command.Command -
frc.robot.commands.swervedrive.drivebase.AbsoluteFieldDrive
-
-
-
-
-
All Implemented Interfaces:
-
edu.wpi.first.util.sendable.Sendable
-
-
-
public class AbsoluteFieldDrive -extends edu.wpi.first.wpilibj2.command.Command
-
An example command that uses an example subsystem.
-
-
-
    - -
  • -
    -

    Nested Class Summary

    -
    -

    Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

    -edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior
    -
    -
    • - -
  • -
    -

    Field Summary

    -
    -

    Fields inherited from class edu.wpi.first.wpilibj2.command.Command

    -m_requirements
    -
    -
    • - -
  • -
    -

    Constructor Summary

    -
    Constructors
    -
    -
    Constructor
    -
    Description
    -
    AbsoluteFieldDrive(SwerveSubsystem swerve, - DoubleSupplier vX, - DoubleSupplier vY, - DoubleSupplier heading)
    -
    -
    Used to drive a swerve robot in full field-centric mode.
    -
    -
    -
    -
    • - -
  • -
    -

    Method Summary

    -
    -
    -
    -
    -
    Modifier and Type
    -
    Method
    -
    Description
    -
    void
    -
    end(boolean interrupted)
    -
     
    -
    void
    -
    execute()
    -
     
    -
    void
    -
    initialize()
    -
     
    -
    boolean
    -
    isFinished()
    -
     
    -
    -
    -
    -
    -

    Methods inherited from class edu.wpi.first.wpilibj2.command.Command

    -addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout
    -
    -

    Methods inherited from class java.lang.Object

    -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    -
    -
    • -
-
-
-
    - -
  • -
    -

    Constructor Details

    -
      -
    • -
      -

      AbsoluteFieldDrive

      -
      public AbsoluteFieldDrive(SwerveSubsystem swerve, - DoubleSupplier vX, - DoubleSupplier vY, - DoubleSupplier heading)
      -
      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

      -
      public void initialize()
      -
      -
      Overrides:
      -
      initialize in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    • -
      -

      execute

      -
      public void execute()
      -
      -
      Overrides:
      -
      execute in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    • -
      -

      end

      -
      public void end(boolean interrupted)
      -
      -
      Overrides:
      -
      end in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    • -
      -

      isFinished

      -
      public boolean isFinished()
      -
      -
      Overrides:
      -
      isFinished in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/commands/swervedrive/drivebase/TeleopDrive.html b/docs/frc/robot/commands/swervedrive/drivebase/TeleopDrive.html deleted file mode 100644 index 17fa202..0000000 --- a/docs/frc/robot/commands/swervedrive/drivebase/TeleopDrive.html +++ /dev/null @@ -1,243 +0,0 @@ - - - - -TeleopDrive (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot.commands.swervedrive.drivebase
-

Class TeleopDrive

-
-
java.lang.Object -
edu.wpi.first.wpilibj2.command.Command -
frc.robot.commands.swervedrive.drivebase.TeleopDrive
-
-
-
-
-
All Implemented Interfaces:
-
edu.wpi.first.util.sendable.Sendable
-
-
-
public class TeleopDrive -extends edu.wpi.first.wpilibj2.command.Command
-
An example command that uses an example subsystem.
-
-
-
    - -
  • -
    -

    Nested Class Summary

    -
    -

    Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

    -edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior
    -
    -
    • - -
  • -
    -

    Field Summary

    -
    -

    Fields inherited from class edu.wpi.first.wpilibj2.command.Command

    -m_requirements
    -
    -
    • - -
  • -
    -

    Constructor Summary

    -
    Constructors
    -
    -
    Constructor
    -
    Description
    -
    TeleopDrive(SwerveSubsystem swerve, - DoubleSupplier vX, - DoubleSupplier vY, - DoubleSupplier omega, - BooleanSupplier driveMode)
    -
    -
    Creates a new ExampleCommand.
    -
    -
    -
    -
    • - -
  • -
    -

    Method Summary

    -
    -
    -
    -
    -
    Modifier and Type
    -
    Method
    -
    Description
    -
    void
    -
    end(boolean interrupted)
    -
     
    -
    void
    -
    execute()
    -
     
    -
    void
    -
    initialize()
    -
     
    -
    boolean
    -
    isFinished()
    -
     
    -
    -
    -
    -
    -

    Methods inherited from class edu.wpi.first.wpilibj2.command.Command

    -addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout
    -
    -

    Methods inherited from class java.lang.Object

    -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    -
    -
    • -
-
-
-
    - -
  • -
    -

    Constructor Details

    - -
    -
    • - -
  • -
    -

    Method Details

    -
      -
    • -
      -

      initialize

      -
      public void initialize()
      -
      -
      Overrides:
      -
      initialize in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    • -
      -

      execute

      -
      public void execute()
      -
      -
      Overrides:
      -
      execute in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    • -
      -

      end

      -
      public void end(boolean interrupted)
      -
      -
      Overrides:
      -
      end in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    • -
      -

      isFinished

      -
      public boolean isFinished()
      -
      -
      Overrides:
      -
      isFinished in class edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/commands/swervedrive/drivebase/package-summary.html b/docs/frc/robot/commands/swervedrive/drivebase/package-summary.html deleted file mode 100644 index fbac3f1..0000000 --- a/docs/frc/robot/commands/swervedrive/drivebase/package-summary.html +++ /dev/null @@ -1,95 +0,0 @@ - - - - -frc.robot.commands.swervedrive.drivebase (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
-
-

Package frc.robot.commands.swervedrive.drivebase

-
-
-
package frc.robot.commands.swervedrive.drivebase
-
-
    -
  • -
    -
    Classes
    -
    -
    Class
    -
    Description
    -
    AbsoluteDrive
    -
    -
    An example command that uses an example subsystem.
    -
    -
    AbsoluteDriveAdv
    -
    -
    A more advanced Swerve Control System that has 4 buttons for which direction to face
    -
    -
    AbsoluteFieldDrive
    -
    -
    An example command that uses an example subsystem.
    -
    -
    TeleopDrive
    -
    -
    An example command that uses an example subsystem.
    -
    -
    -
    -
    • -
-
-
-
-
- - diff --git a/docs/frc/robot/commands/swervedrive/drivebase/package-tree.html b/docs/frc/robot/commands/swervedrive/drivebase/package-tree.html deleted file mode 100644 index 00b518b..0000000 --- a/docs/frc/robot/commands/swervedrive/drivebase/package-tree.html +++ /dev/null @@ -1,77 +0,0 @@ - - - - -frc.robot.commands.swervedrive.drivebase Class Hierarchy (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
-
-

Hierarchy For Package frc.robot.commands.swervedrive.drivebase

-Package Hierarchies: - -
-
-

Class Hierarchy

-
    -
  • java.lang.Object -
      -
    • edu.wpi.first.wpilibj2.command.Command (implements edu.wpi.first.util.sendable.Sendable) - -
      • -
    -
    • -
-
-
-
-
- - diff --git a/docs/frc/robot/package-summary.html b/docs/frc/robot/package-summary.html deleted file mode 100644 index 390e418..0000000 --- a/docs/frc/robot/package-summary.html +++ /dev/null @@ -1,102 +0,0 @@ - - - - -frc.robot (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
-
-

Package frc.robot

-
-
-
package frc.robot
-
-
    -
  • -
    -
    Classes
    -
    -
    Class
    -
    Description
    -
    Constants
    -
    -
    The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean constants.
    -
    -
    Constants.Auton
    -
     
    -
    Constants.Drivebase
    -
     
    -
    Constants.OperatorConstants
    -
     
    -
    Main
    -
    -
    Do NOT add any static variables to this class, or any initialization at all.
    -
    -
    Robot
    -
    -
    The VM is configured to automatically run this class, and to call the functions corresponding to each mode, as - described in the TimedRobot documentation.
    -
    -
    RobotContainer
    -
    -
    This class is where the bulk of the robot should be declared.
    -
    -
    -
    -
    • -
-
-
-
-
- - diff --git a/docs/frc/robot/package-tree.html b/docs/frc/robot/package-tree.html deleted file mode 100644 index 2a4d063..0000000 --- a/docs/frc/robot/package-tree.html +++ /dev/null @@ -1,88 +0,0 @@ - - - - -frc.robot Class Hierarchy (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
-
-

Hierarchy For Package frc.robot

-Package Hierarchies: - -
-
-

Class Hierarchy

- -
-
-
-
- - diff --git a/docs/frc/robot/subsystems/swervedrive/SwerveSubsystem.html b/docs/frc/robot/subsystems/swervedrive/SwerveSubsystem.html deleted file mode 100644 index 6878ced..0000000 --- a/docs/frc/robot/subsystems/swervedrive/SwerveSubsystem.html +++ /dev/null @@ -1,611 +0,0 @@ - - - - -SwerveSubsystem (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
- -
-
Package frc.robot.subsystems.swervedrive
-

Class SwerveSubsystem

-
-
java.lang.Object -
edu.wpi.first.wpilibj2.command.SubsystemBase -
frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
-
-
-
All Implemented Interfaces:
-
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
-
-
-
public class SwerveSubsystem -extends edu.wpi.first.wpilibj2.command.SubsystemBase
-
-
-
    - -
  • -
    -

    Field Summary

    -
    Fields
    -
    -
    Modifier and Type
    -
    Field
    -
    Description
    -
    double
    -
    maximumSpeed
    -
    -
    Maximum speed of the robot in meters per second, used to limit acceleration.
    -
    -
    -
    -
    • - -
  • -
    -

    Constructor Summary

    -
    Constructors
    -
    -
    Constructor
    -
    Description
    -
    SwerveSubsystem(File directory)
    -
    -
    Initialize SwerveDrive with the directory provided.
    -
    -
    SwerveSubsystem(SwerveDriveConfiguration driveCfg, - SwerveControllerConfiguration controllerCfg)
    -
    -
    Construct the swerve drive.
    -
    -
    -
    -
    • - -
  • -
    -

    Method Summary

    -
    -
    -
    -
    -
    Modifier and Type
    -
    Method
    -
    Description
    -
    void
    -
    addFakeVisionReading()
    -
    -
    Add a fake vision reading for testing purposes.
    -
    -
    void
    -
    drive(edu.wpi.first.math.geometry.Translation2d translation, - double rotation, - boolean fieldRelative)
    -
    -
    The primary method for controlling the drivebase.
    -
    -
    void
    -
    drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
    -
    -
    Drive according to the chassis robot oriented velocity.
    -
    -
    void
    -
    driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
    -
    -
    Drive the robot given a chassis field oriented velocity.
    -
    -
    edu.wpi.first.wpilibj2.command.Command
    -
    getAutonomousCommand(String pathName, - boolean setOdomToStart)
    -
    -
    Get the path follower with events.
    -
    -
    edu.wpi.first.math.kinematics.ChassisSpeeds
    -
    getFieldVelocity()
    -
    -
    Gets the current field-relative velocity (x, y and omega) of the robot
    -
    -
    edu.wpi.first.math.geometry.Rotation2d
    -
    getHeading()
    -
    -
    Gets the current yaw angle of the robot, as reported by the imu.
    -
    -
    edu.wpi.first.math.kinematics.SwerveDriveKinematics
    -
    getKinematics()
    -
    -
    Get the swerve drive kinematics object.
    -
    -
    edu.wpi.first.math.geometry.Rotation2d
    -
    getPitch()
    -
    -
    Gets the current pitch angle of the robot, as reported by the imu.
    -
    -
    edu.wpi.first.math.geometry.Pose2d
    -
    getPose()
    -
    -
    Gets the current pose (position and rotation) of the robot, as reported by odometry.
    -
    -
    edu.wpi.first.math.kinematics.ChassisSpeeds
    -
    getRobotVelocity()
    -
    -
    Gets the current velocity (x, y and omega) of the robot
    -
    -
    SwerveController
    -
    getSwerveController()
    -
    -
    Get the SwerveController in the swerve drive.
    -
    -
    SwerveDriveConfiguration
    -
    getSwerveDriveConfiguration()
    -
    -
    Get the SwerveDriveConfiguration object.
    -
    -
    edu.wpi.first.math.kinematics.ChassisSpeeds
    -
    getTargetSpeeds(double xInput, - double yInput, - double headingX, - double headingY)
    -
    -
    Get the chassis speeds based on controller input of 2 joysticks.
    -
    -
    edu.wpi.first.math.kinematics.ChassisSpeeds
    -
    getTargetSpeeds(double xInput, - double yInput, - edu.wpi.first.math.geometry.Rotation2d angle)
    -
    -
    Get the chassis speeds based on controller input of 1 joystick and one angle.
    -
    -
    void
    -
    lock()
    -
    -
    Lock the swerve drive to prevent it from moving.
    -
    -
    void
    -
    periodic()
    -
     
    -
    void
    -
    postTrajectory(edu.wpi.first.math.trajectory.Trajectory trajectory)
    -
    -
    Post the trajectory to the field.
    -
    -
    void
    -
    resetOdometry(edu.wpi.first.math.geometry.Pose2d initialHolonomicPose)
    -
    -
    Resets odometry to the given pose.
    -
    -
    void
    -
    setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
    -
    -
    Set chassis speeds with closed-loop velocity control.
    -
    -
    void
    -
    setMotorBrake(boolean brake)
    -
    -
    Sets the drive motors to brake/coast mode.
    -
    -
    void
    -
    setupPathPlanner()
    -
    -
    Setup AutoBuilder for PathPlanner.
    -
    -
    void
    -
    simulationPeriodic()
    -
     
    -
    void
    -
    zeroGyro()
    -
    -
    Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
    -
    -
    -
    -
    -
    -

    Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

    -addChild, getName, getSubsystem, initSendable, setName, setSubsystem
    -
    -

    Methods inherited from class java.lang.Object

    -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    -
    -

    Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

    -defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, startEnd
    -
    -
    • -
-
-
-
    - -
  • -
    -

    Field Details

    -
      -
    • -
      -

      maximumSpeed

      -
      public double maximumSpeed
      -
      Maximum speed of the robot in meters per second, used to limit acceleration.
      -
      -
      • -
    -
    -
    • - -
  • -
    -

    Constructor Details

    -
      -
    • -
      -

      SwerveSubsystem

      -
      public SwerveSubsystem(File directory)
      -
      Initialize SwerveDrive with the directory provided.
      -
      -
      Parameters:
      -
      directory - Directory of swerve drive config files.
      -
      -
      -
      • -
    • -
      -

      SwerveSubsystem

      -
      public SwerveSubsystem(SwerveDriveConfiguration driveCfg, - SwerveControllerConfiguration controllerCfg)
      -
      Construct the swerve drive.
      -
      -
      Parameters:
      -
      driveCfg - SwerveDriveConfiguration for the swerve.
      -
      controllerCfg - Swerve Controller.
      -
      -
      -
      • -
    -
    -
    • - -
  • -
    -

    Method Details

    -
      -
    • -
      -

      setupPathPlanner

      -
      public void setupPathPlanner()
      -
      Setup AutoBuilder for PathPlanner.
      -
      -
      • -
    • -
      -

      getAutonomousCommand

      -
      public edu.wpi.first.wpilibj2.command.Command getAutonomousCommand(String pathName, - boolean setOdomToStart)
      -
      Get the path follower with events.
      -
      -
      Parameters:
      -
      pathName - PathPlanner path name.
      -
      setOdomToStart - Set the odometry position to the start of the path.
      -
      Returns:
      -
      AutoBuilder.followPath(PathPlannerPath) path command.
      -
      -
      -
      • -
    • -
      -

      drive

      -
      public void drive(edu.wpi.first.math.geometry.Translation2d translation, - double rotation, - boolean fieldRelative)
      -
      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.
      -
      -
      -
      • -
    • -
      -

      driveFieldOriented

      -
      public void driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
      -
      Drive the robot given a chassis field oriented velocity.
      -
      -
      Parameters:
      -
      velocity - Velocity according to the field.
      -
      -
      -
      • -
    • -
      -

      drive

      -
      public void drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
      -
      Drive according to the chassis robot oriented velocity.
      -
      -
      Parameters:
      -
      velocity - Robot oriented ChassisSpeeds
      -
      -
      -
      • -
    • -
      -

      periodic

      -
      public void periodic()
      -
      -
      • -
    • -
      -

      simulationPeriodic

      -
      public void simulationPeriodic()
      -
      -
      • -
    • -
      -

      getKinematics

      -
      public edu.wpi.first.math.kinematics.SwerveDriveKinematics getKinematics()
      -
      Get the swerve drive kinematics object.
      -
      -
      Returns:
      -
      SwerveDriveKinematics of the swerve drive.
      -
      -
      -
      • -
    • -
      -

      resetOdometry

      -
      public void resetOdometry(edu.wpi.first.math.geometry.Pose2d initialHolonomicPose)
      -
      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

      -
      public edu.wpi.first.math.geometry.Pose2d getPose()
      -
      Gets the current pose (position and rotation) of the robot, as reported by odometry.
      -
      -
      Returns:
      -
      The robot's pose
      -
      -
      -
      • -
    • -
      -

      setChassisSpeeds

      -
      public void setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
      -
      Set chassis speeds with closed-loop velocity control.
      -
      -
      Parameters:
      -
      chassisSpeeds - Chassis Speeds to set.
      -
      -
      -
      • -
    • -
      -

      postTrajectory

      -
      public void postTrajectory(edu.wpi.first.math.trajectory.Trajectory trajectory)
      -
      Post the trajectory to the field.
      -
      -
      Parameters:
      -
      trajectory - The trajectory to post.
      -
      -
      -
      • -
    • -
      -

      zeroGyro

      -
      public void zeroGyro()
      -
      Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
      -
      -
      • -
    • -
      -

      setMotorBrake

      -
      public void setMotorBrake(boolean brake)
      -
      Sets the drive motors to brake/coast mode.
      -
      -
      Parameters:
      -
      brake - True to set motors to brake mode, false for coast.
      -
      -
      -
      • -
    • -
      -

      getHeading

      -
      public edu.wpi.first.math.geometry.Rotation2d getHeading()
      -
      Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.
      -
      -
      Returns:
      -
      The yaw angle
      -
      -
      -
      • -
    • -
      -

      getTargetSpeeds

      -
      public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds(double xInput, - double yInput, - double headingX, - double headingY)
      -
      Get the chassis speeds based on controller input of 2 joysticks. One for speeds in which direction. The other for - the angle of the robot.
      -
      -
      Parameters:
      -
      xInput - X joystick input for the robot to move in the X direction.
      -
      yInput - Y joystick input for the robot to move in the Y direction.
      -
      headingX - X joystick which controls the angle of the robot.
      -
      headingY - Y joystick which controls the angle of the robot.
      -
      Returns:
      -
      ChassisSpeeds which can be sent to th Swerve Drive.
      -
      -
      -
      • -
    • -
      -

      getTargetSpeeds

      -
      public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds(double xInput, - double yInput, - edu.wpi.first.math.geometry.Rotation2d angle)
      -
      Get the chassis speeds based on controller input of 1 joystick and one angle.
      -
      -
      Parameters:
      -
      xInput - X joystick input for the robot to move in the X direction.
      -
      yInput - Y joystick input for the robot to move in the Y direction.
      -
      angle - The angle in as a Rotation2d.
      -
      Returns:
      -
      ChassisSpeeds which can be sent to th Swerve Drive.
      -
      -
      -
      • -
    • -
      -

      getFieldVelocity

      -
      public edu.wpi.first.math.kinematics.ChassisSpeeds getFieldVelocity()
      -
      Gets the current field-relative velocity (x, y and omega) of the robot
      -
      -
      Returns:
      -
      A ChassisSpeeds object of the current field-relative velocity
      -
      -
      -
      • -
    • -
      -

      getRobotVelocity

      -
      public edu.wpi.first.math.kinematics.ChassisSpeeds getRobotVelocity()
      -
      Gets the current velocity (x, y and omega) of the robot
      -
      -
      Returns:
      -
      A ChassisSpeeds object of the current velocity
      -
      -
      -
      • -
    • -
      -

      getSwerveController

      -
      public SwerveController getSwerveController()
      -
      Get the SwerveController in the swerve drive.
      -
      -
      Returns:
      -
      SwerveController from the SwerveDrive.
      -
      -
      -
      • -
    • -
      -

      getSwerveDriveConfiguration

      -
      public SwerveDriveConfiguration getSwerveDriveConfiguration()
      -
      Get the SwerveDriveConfiguration object.
      -
      -
      Returns:
      -
      The SwerveDriveConfiguration fpr the current drive.
      -
      -
      -
      • -
    • -
      -

      lock

      -
      public void lock()
      -
      Lock the swerve drive to prevent it from moving.
      -
      -
      • -
    • -
      -

      getPitch

      -
      public edu.wpi.first.math.geometry.Rotation2d getPitch()
      -
      Gets the current pitch angle of the robot, as reported by the imu.
      -
      -
      Returns:
      -
      The heading as a Rotation2d angle
      -
      -
      -
      • -
    • -
      -

      addFakeVisionReading

      -
      public void addFakeVisionReading()
      -
      Add a fake vision reading for testing purposes.
      -
      -
      • -
    -
    -
    • -
-
- -
-
-
- - diff --git a/docs/frc/robot/subsystems/swervedrive/package-summary.html b/docs/frc/robot/subsystems/swervedrive/package-summary.html deleted file mode 100644 index 5713a91..0000000 --- a/docs/frc/robot/subsystems/swervedrive/package-summary.html +++ /dev/null @@ -1,81 +0,0 @@ - - - - -frc.robot.subsystems.swervedrive (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
-
-

Package frc.robot.subsystems.swervedrive

-
-
-
package frc.robot.subsystems.swervedrive
-
- -
-
-
-
- - diff --git a/docs/frc/robot/subsystems/swervedrive/package-tree.html b/docs/frc/robot/subsystems/swervedrive/package-tree.html deleted file mode 100644 index 3146484..0000000 --- a/docs/frc/robot/subsystems/swervedrive/package-tree.html +++ /dev/null @@ -1,74 +0,0 @@ - - - - -frc.robot.subsystems.swervedrive Class Hierarchy (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
-
-

Hierarchy For Package frc.robot.subsystems.swervedrive

-Package Hierarchies: - -
-
-

Class Hierarchy

-
    -
  • java.lang.Object -
      -
    • edu.wpi.first.wpilibj2.command.SubsystemBase (implements edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem) - -
      • -
    -
    • -
-
-
-
-
- - diff --git a/docs/help-doc.html b/docs/help-doc.html deleted file mode 100644 index 8c523de..0000000 --- a/docs/help-doc.html +++ /dev/null @@ -1,181 +0,0 @@ - - - - -API Help - - - - - - - - - - - - - - - -
- -
-
-

JavaDoc Help

- -
-
-

Navigation

-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 - -
-
-
-

Kinds of Pages

-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.
    • -
-
-
-

Constant Field Values

-

The Constant Field Values page lists the static final fields and their values.

-
-
-

All Packages

-

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.
-
-
- - diff --git a/docs/index-all.html b/docs/index-all.html deleted file mode 100644 index 840ff00..0000000 --- a/docs/index-all.html +++ /dev/null @@ -1,2886 +0,0 @@ - - - - -Index (YAGSL-Example API) - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

A

-
-
AbsoluteDrive - Class in frc.robot.commands.swervedrive.drivebase
-
-
An example command that uses an example subsystem.
-
-
AbsoluteDrive(SwerveSubsystem, DoubleSupplier, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.commands.swervedrive.drivebase.AbsoluteDrive
-
-
Used to drive a swerve robot in full field-centric mode.
-
-
AbsoluteDriveAdv - Class in frc.robot.commands.swervedrive.drivebase
-
-
A more advanced Swerve Control System that has 4 buttons for which direction to face
-
-
AbsoluteDriveAdv(SwerveSubsystem, DoubleSupplier, DoubleSupplier, DoubleSupplier, BooleanSupplier, BooleanSupplier, BooleanSupplier, BooleanSupplier) - Constructor for class frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv
-
-
Used to drive a swerve robot in full field-centric mode.
-
-
absoluteEncoder - Variable in class swervelib.motors.SparkFlexSwerve
-
-
Absolute encoder attached to the SparkMax (if exists)
-
-
absoluteEncoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Absolute encoder attached to the SparkMax (if exists)
-
-
absoluteEncoder - Variable in class swervelib.motors.SparkMaxSwerve
-
-
Absolute encoder attached to the SparkMax (if exists)
-
-
absoluteEncoder - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
The Absolute Encoder for the swerve module.
-
-
absoluteEncoderInverted - Variable in class swervelib.parser.json.ModuleJson
-
-
Absolute encoder inversion state.
-
-
absoluteEncoderInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Whether the absolute encoder is inverted.
-
-
absoluteEncoderOffset - Variable in class swervelib.parser.json.ModuleJson
-
-
Absolute encoder offset from 0 in degrees.
-
-
AbsoluteFieldDrive - Class in frc.robot.commands.swervedrive.drivebase
-
-
An example command that uses an example subsystem.
-
-
AbsoluteFieldDrive(SwerveSubsystem, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.commands.swervedrive.drivebase.AbsoluteFieldDrive
-
-
Used to drive a swerve robot in full field-centric mode.
-
-
addFakeVisionReading() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Add a fake vision reading for testing purposes.
-
-
addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter) - Method in class swervelib.SwerveController
-
-
Add slew rate limiters to all controls.
-
-
addVisionMeasurement(Pose2d, double) - Method in class swervelib.SwerveDrive
-
-
Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
-
-
addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class swervelib.SwerveDrive
-
-
Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
-
-
ADIS16448Swerve - Class in swervelib.imu
-
-
IMU Swerve class for the ADIS16448_IMU device.
-
-
ADIS16448Swerve() - Constructor for class swervelib.imu.ADIS16448Swerve
-
-
Construct the ADIS16448 imu and reset default configurations.
-
-
ADIS16470Swerve - Class in swervelib.imu
-
-
IMU Swerve class for the ADIS16470_IMU device.
-
-
ADIS16470Swerve() - Constructor for class swervelib.imu.ADIS16470Swerve
-
-
Construct the ADIS16470 imu and reset default configurations.
-
-
ADXRS450Swerve - Class in swervelib.imu
-
-
IMU Swerve class for the ADXRS450_Gyro device.
-
-
ADXRS450Swerve() - Constructor for class swervelib.imu.ADXRS450Swerve
-
-
Construct the ADXRS450 imu and reset default configurations.
-
-
AnalogAbsoluteEncoderSwerve - Class in swervelib.encoders
-
-
Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
-
-
AnalogAbsoluteEncoderSwerve(int) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Construct the Encoder given the analog input channel.
-
-
AnalogAbsoluteEncoderSwerve(AnalogInput) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Construct the Thrifty Encoder as a Swerve Absolute Encoder.
-
-
AnalogGyroSwerve - Class in swervelib.imu
-
-
Creates a IMU for AnalogGyro devices, only uses yaw.
-
-
AnalogGyroSwerve(int) - Constructor for class swervelib.imu.AnalogGyroSwerve
-
-
Analog port in which the gyroscope is connected.
-
-
angle - Variable in class swervelib.parser.json.ModuleJson
-
-
Angle motor device configuration.
-
-
angle - Variable in class swervelib.parser.json.modules.BoolMotorJson
-
-
Angle motor inversion state.
-
-
angle - Variable in class swervelib.parser.json.MotorConfigDouble
-
-
Angle motor.
-
-
angle - Variable in class swervelib.parser.json.MotorConfigInt
-
-
Angle motor.
-
-
angle - Variable in class swervelib.parser.json.PIDFPropertiesJson
-
-
The PIDF with Integral Zone used for the angle motor.
-
-
angleAutoPID - Static variable in class frc.robot.Constants.Auton
-
 
-
angleJoystickRadiusDeadband - Variable in class swervelib.parser.json.ControllerPropertiesJson
-
-
The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
-
-
angleJoyStickRadiusDeadband - Variable in class swervelib.parser.SwerveControllerConfiguration
-
-
hypotenuse deadband for the robot angle control joystick.
-
-
angleLimiter - Variable in class swervelib.SwerveController
-
-
SlewRateLimiter for angular movement in radians/second.
-
-
angleMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
The drive motor and angle motor of this swerve module.
-
-
angleMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Current limits for the Swerve Module.
-
-
angleMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
State of inversion of the angle motor.
-
-
angleMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
The time it takes for the motor to go from 0 to full throttle in seconds.
-
-
angleOffset - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Angle offset in degrees for the Swerve Module.
-
-
anglePIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
PIDF configuration options for the angle motor closed-loop PID controller.
-
-
antiJitter(SwerveModuleState, SwerveModuleState, double) - Static method in class swervelib.math.SwerveMath
-
-
Perform anti-jitter within modules if the speed requested is too low.
-
-
applyDeadband(double, boolean, double) - Static method in class swervelib.math.SwerveMath
-
-
Algebraically apply a deadband using a piece wise function.
-
-
AutoBalanceCommand - Class in frc.robot.commands.swervedrive.auto
-
-
Auto Balance command using a simple PID controller.
-
-
AutoBalanceCommand(SwerveSubsystem) - Constructor for class frc.robot.commands.swervedrive.auto.AutoBalanceCommand
-
 
-
Auton() - Constructor for class frc.robot.Constants.Auton
-
 
-
autonomousInit() - Method in class frc.robot.Robot
-
-
This autonomous runs the autonomous command selected by your RobotContainer class.
-
-
autonomousPeriodic() - Method in class frc.robot.Robot
-
-
This function is called periodically during autonomous.
-
-
-

B

-
-
BoolMotorJson - Class in swervelib.parser.json.modules
-
-
Inverted motor JSON parsed class.
-
-
BoolMotorJson() - Constructor for class swervelib.parser.json.modules.BoolMotorJson
-
 
-
burnFlash() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Save the configurations from flash to EEPROM.
-
-
burnFlash() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Save the configurations from flash to EEPROM.
-
-
burnFlash() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Save the configurations from flash to EEPROM.
-
-
burnFlash() - Method in class swervelib.motors.SwerveMotor
-
-
Save the configurations from flash to EEPROM.
-
-
burnFlash() - Method in class swervelib.motors.TalonFXSwerve
-
-
Save the configurations from flash to EEPROM.
-
-
burnFlash() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Save the configurations from flash to EEPROM.
-
-
-

C

-
-
calculateDegreesPerSteeringRotation(double, double) - Static method in class swervelib.math.SwerveMath
-
-
Calculate the degrees per steering rotation for the integrated encoder.
-
-
calculateMaxAcceleration(double) - Static method in class swervelib.math.SwerveMath
-
-
Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
-
-
calculateMaxAcceleration(double, double, double, double, double) - Static method in class swervelib.math.SwerveMath
-
-
Calculate the maximum theoretical acceleration without friction.
-
-
calculateMaxAngularVelocity(double, double, double) - Static method in class swervelib.math.SwerveMath
-
-
Calculate the maximum angular velocity.
-
-
calculateMetersPerRotation(double, double, double) - Static method in class swervelib.math.SwerveMath
-
-
Calculate the meters per rotation for the integrated encoder.
-
-
CanAndCoderSwerve - Class in swervelib.encoders
-
-
HELIUM Canandcoder from ReduxRobotics absolute encoder, attached through the CAN bus.
-
-
CanAndCoderSwerve(int) - Constructor for class swervelib.encoders.CanAndCoderSwerve
-
-
Create the Canandcoder
-
-
canbus - Variable in class swervelib.parser.json.DeviceJson
-
-
The CAN bus name which the device resides on if using CAN.
-
-
CANCoderSwerve - Class in swervelib.encoders
-
-
Swerve Absolute Encoder for CTRE CANCoders.
-
-
CANCoderSwerve(int) - Constructor for class swervelib.encoders.CANCoderSwerve
-
-
Initialize the CANCoder on the standard CANBus.
-
-
CANCoderSwerve(int, String) - Constructor for class swervelib.encoders.CANCoderSwerve
-
-
Initialize the CANCoder on the CANivore.
-
-
CHASSIS - Static variable in class frc.robot.Constants
-
 
-
chassisVelocityCorrection - Variable in class swervelib.SwerveDrive
-
-
Correct chassis velocity in SwerveDrive.drive(Translation2d, double, boolean, boolean) using 254's - correction.
-
-
clearStickyFaults() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.encoders.CanAndCoderSwerve
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.encoders.CANCoderSwerve
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.NavXSwerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.PigeonSwerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.SwerveIMU
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Clear the sticky faults on the motor controller.
-
-
clearStickyFaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Clear the sticky faults on the motor controller.
-
-
clearStickyFaults() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Clear the sticky faults on the motor controller.
-
-
clearStickyFaults() - Method in class swervelib.motors.SwerveMotor
-
-
Clear the sticky faults on the motor controller.
-
-
clearStickyFaults() - Method in class swervelib.motors.TalonFXSwerve
-
-
Clear the sticky faults on the motor controller.
-
-
clearStickyFaults() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Clear the sticky faults on the motor controller.
-
-
config - Variable in class swervelib.SwerveController
-
-
SwerveControllerConfiguration object storing data to generate the PIDController for controlling the - robot heading, and deadband for heading joystick.
-
-
configuration - Variable in class swervelib.SwerveModule
-
-
Swerve module configuration options.
-
-
configure(boolean) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Configure the absolute encoder to read from [0, 360) per second.
-
-
configure(boolean) - Method in class swervelib.encoders.CanAndCoderSwerve
-
-
Configure the CANandCoder to read from [0, 360) per second.
-
-
configure(boolean) - Method in class swervelib.encoders.CANCoderSwerve
-
-
Configure the absolute encoder to read from [0, 360) per second.
-
-
configure(boolean) - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Configure the inversion state of the encoder.
-
-
configure(boolean) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Configure the absolute encoder to read from [0, 360) per second.
-
-
configure(boolean) - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Configure the absolute encoder to read from [0, 360) per second.
-
-
configure(boolean) - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Configure the absolute encoder to read from [0, 360) per second.
-
-
configureCANStatusFrames(int) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the CAN status frames.
-
-
configureCANStatusFrames(int) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the CAN status frames.
-
-
configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the CAN status frames.
-
-
configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the CAN status frames.
-
-
configureCANStatusFrames(int, int, int, int, int, int, int) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the CAN status frames.
-
-
configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the CAN status frames.
-
-
configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the CAN status frames.
-
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Configure the integrated encoder for the swerve module.
-
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Configure the integrated encoder for the swerve module.
-
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Configure the integrated encoder for the swerve module.
-
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.SwerveMotor
-
-
Configure the integrated encoder for the swerve module.
-
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Configure the integrated encoder for the swerve module.
-
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Configure the integrated encoder for the swerve module.
-
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Configure the PIDF values for the closed loop controller.
-
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Configure the PIDF values for the closed loop controller.
-
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Configure the PIDF values for the closed loop controller.
-
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SwerveMotor
-
-
Configure the PIDF values for the closed loop controller.
-
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonFXSwerve
-
-
Configure the PIDF values for the closed loop controller.
-
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Configure the PIDF values for the closed loop controller.
-
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Configure the PID wrapping for the position closed loop controller.
-
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Configure the PID wrapping for the position closed loop controller.
-
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Configure the PID wrapping for the position closed loop controller.
-
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.SwerveMotor
-
-
Configure the PID wrapping for the position closed loop controller.
-
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Configure the PID wrapping for the position closed loop controller.
-
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Configure the PID wrapping for the position closed loop controller.
-
-
Constants - Class in frc.robot
-
-
The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean constants.
-
-
Constants() - Constructor for class frc.robot.Constants
-
 
-
Constants.Auton - Class in frc.robot
-
 
-
Constants.Drivebase - Class in frc.robot
-
 
-
Constants.OperatorConstants - Class in frc.robot
-
 
-
controllerPropertiesJson - Static variable in class swervelib.parser.SwerveParser
-
-
Parsed controllerproperties.json
-
-
ControllerPropertiesJson - Class in swervelib.parser.json
-
-
SwerveController parsed class.
-
-
ControllerPropertiesJson() - Constructor for class swervelib.parser.json.ControllerPropertiesJson
-
 
-
conversionFactor - Variable in class swervelib.parser.json.ModuleJson
-
-
Conversion factor for the module, if different from the one in swervedrive.json
-
-
conversionFactor - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
Conversion factor applied to the motor controllers PID loops.
-
-
conversionFactor - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
The conversion factors for the drive and angle motors, created by - SwerveMath.calculateMetersPerRotation(double, double, double) and - SwerveMath.calculateDegreesPerSteeringRotation(double, double).
-
-
conversionFactors - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Conversion factor for drive motor onboard PID's and angle PID's.
-
-
convertToNativeSensorUnits(double, double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Convert the setpoint into native sensor units.
-
-
createControllerConfiguration(SwerveDriveConfiguration, double) - Method in class swervelib.parser.json.ControllerPropertiesJson
-
-
Create the SwerveControllerConfiguration based on parsed and given data.
-
-
createDriveFeedforward(double, double, double) - Static method in class swervelib.math.SwerveMath
-
-
Create the drive feedforward for swerve modules.
-
-
createEncoder(SwerveMotor) - Method in class swervelib.parser.json.DeviceJson
-
-
Create a SwerveAbsoluteEncoder from the current configuration.
-
-
createIMU() - Method in class swervelib.parser.json.DeviceJson
-
-
Create a SwerveIMU from the given configuration.
-
-
createModuleConfiguration(PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String) - Method in class swervelib.parser.json.ModuleJson
-
-
Create the swerve module configuration based off of parsed data.
-
-
createModules(SwerveModuleConfiguration[], SimpleMotorFeedforward) - Method in class swervelib.parser.SwerveDriveConfiguration
-
-
Create modules based off of the SwerveModuleConfiguration.
-
-
createMotor(boolean) - Method in class swervelib.parser.json.DeviceJson
-
-
Create a SwerveMotor from the given configuration.
-
-
createPhysicalProperties() - Method in class swervelib.parser.json.PhysicalPropertiesJson
-
-
Create the physical characteristics based off the parsed data.
-
-
createPIDController() - Method in class swervelib.parser.PIDFConfig
-
-
Create a PIDController from the PID values.
-
-
createSwerveDrive(double) - Method in class swervelib.parser.SwerveParser
-
-
Create SwerveDrive from JSON configuration directory.
-
-
createSwerveDrive(double, double, double) - Method in class swervelib.parser.SwerveParser
-
-
Create SwerveDrive from JSON configuration directory.
-
-
createSwerveDrive(SimpleMotorFeedforward, double) - Method in class swervelib.parser.SwerveParser
-
-
Create SwerveDrive from JSON configuration directory.
-
-
createSwerveDrive(SimpleMotorFeedforward, double, double, double) - Method in class swervelib.parser.SwerveParser
-
-
Create SwerveDrive from JSON configuration directory.
-
-
currentLimit - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
The current limit in AMPs to apply to the motors.
-
-
-

D

-
-
d - Variable in class swervelib.parser.PIDFConfig
-
-
Derivative Gain for PID.
-
-
desiredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
Describes the desired forward, sideways and angular velocity of the robot.
-
-
desiredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
An array of rotation and velocity values describing the desired state of each swerve module
-
-
DeviceJson - Class in swervelib.parser.json
-
-
Device JSON parsed class.
-
-
DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson
-
 
-
disabledInit() - Method in class frc.robot.Robot
-
-
This function is called once each time the robot enters Disabled mode.
-
-
disabledPeriodic() - Method in class frc.robot.Robot
-
 
-
drive - Variable in class swervelib.parser.json.ModuleJson
-
-
Drive motor device configuration.
-
-
drive - Variable in class swervelib.parser.json.modules.BoolMotorJson
-
-
Drive motor inversion state.
-
-
drive - Variable in class swervelib.parser.json.MotorConfigDouble
-
-
Drive motor.
-
-
drive - Variable in class swervelib.parser.json.MotorConfigInt
-
-
Drive motor.
-
-
drive - Variable in class swervelib.parser.json.PIDFPropertiesJson
-
-
The PIDF with Integral Zone used for the drive motor.
-
-
drive(Translation2d, double, boolean) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
The primary method for controlling the drivebase.
-
-
drive(Translation2d, double, boolean, boolean) - Method in class swervelib.SwerveDrive
-
-
The primary method for controlling the drivebase.
-
-
drive(Translation2d, double, boolean, boolean, Translation2d) - Method in class swervelib.SwerveDrive
-
-
The primary method for controlling the drivebase.
-
-
drive(ChassisSpeeds) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Drive according to the chassis robot oriented velocity.
-
-
drive(ChassisSpeeds) - Method in class swervelib.SwerveDrive
-
-
Secondary method for controlling the drivebase.
-
-
drive(ChassisSpeeds, boolean, Translation2d) - Method in class swervelib.SwerveDrive
-
-
The primary method for controlling the drivebase.
-
-
drive(ChassisSpeeds, Translation2d) - Method in class swervelib.SwerveDrive
-
-
Secondary method for controlling the drivebase.
-
-
Drivebase() - Constructor for class frc.robot.Constants.Drivebase
-
 
-
driveFieldOriented(ChassisSpeeds) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Drive the robot given a chassis field oriented velocity.
-
-
driveFieldOriented(ChassisSpeeds) - Method in class swervelib.SwerveDrive
-
-
Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
-
-
driveFieldOriented(ChassisSpeeds, Translation2d) - Method in class swervelib.SwerveDrive
-
-
Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
-
-
driveMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
The drive motor and angle motor of this swerve module.
-
-
driveMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Current limits for the Swerve Module.
-
-
driveMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
State of inversion of the drive motor.
-
-
driveMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
The time it takes for the motor to go from 0 to full throttle in seconds.
-
-
-

E

-
-
encoder - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Encoder as Analog Input.
-
-
encoder - Variable in class swervelib.encoders.CanAndCoderSwerve
-
-
The Canandcoder representing the CANandCoder on the CAN bus.
-
-
encoder - Variable in class swervelib.encoders.CANCoderSwerve
-
-
CANCoder with WPILib sendable and support.
-
-
encoder - Variable in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
The SparkAnalogSensor representing the duty cycle encoder attached to the SparkMax analog port.
-
-
encoder - Variable in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
-
-
encoder - Variable in class swervelib.motors.SparkFlexSwerve
-
-
Integrated encoder.
-
-
encoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Integrated encoder.
-
-
encoder - Variable in class swervelib.motors.SparkMaxSwerve
-
-
Integrated encoder.
-
-
encoder - Variable in class swervelib.parser.json.ModuleJson
-
-
Absolute encoder device configuration.
-
-
end(boolean) - Method in class frc.robot.commands.swervedrive.auto.AutoBalanceCommand
-
-
The action to take when the command ends.
-
-
end(boolean) - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDrive
-
 
-
end(boolean) - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv
-
 
-
end(boolean) - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteFieldDrive
-
 
-
end(boolean) - Method in class frc.robot.commands.swervedrive.drivebase.TeleopDrive
-
 
-
execute() - Method in class frc.robot.commands.swervedrive.auto.AutoBalanceCommand
-
-
The main body of a command.
-
-
execute() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDrive
-
 
-
execute() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv
-
 
-
execute() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteFieldDrive
-
 
-
execute() - Method in class frc.robot.commands.swervedrive.drivebase.TeleopDrive
-
 
-
-

F

-
-
f - Variable in class swervelib.parser.PIDFConfig
-
-
Feedforward value for PID.
-
-
factoryDefault() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.encoders.CanAndCoderSwerve
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.encoders.CANCoderSwerve
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.NavXSwerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.PigeonSwerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.SwerveIMU
-
-
Reset IMU to factory default.
-
-
factoryDefaults() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Configure the factory defaults.
-
-
factoryDefaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Configure the factory defaults.
-
-
factoryDefaults() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Configure the factory defaults.
-
-
factoryDefaults() - Method in class swervelib.motors.SwerveMotor
-
-
Configure the factory defaults.
-
-
factoryDefaults() - Method in class swervelib.motors.TalonFXSwerve
-
-
Configure the factory defaults.
-
-
factoryDefaults() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Configure the factory defaults.
-
-
feedforward - Variable in class swervelib.SwerveModule
-
-
Feedforward for drive motor during closed loop control.
-
-
field - Variable in class swervelib.SwerveDrive
-
-
Field object.
-
-
forwardDirection - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The direction the robot should be facing when the "Robot Rotation" is zero or blank.
-
-
frc.robot - package frc.robot
-
 
-
frc.robot.commands.swervedrive.auto - package frc.robot.commands.swervedrive.auto
-
 
-
frc.robot.commands.swervedrive.drivebase - package frc.robot.commands.swervedrive.drivebase
-
 
-
frc.robot.subsystems.swervedrive - package frc.robot.subsystems.swervedrive
-
 
-
front - Variable in class swervelib.parser.json.modules.LocationJson
-
-
Location of the swerve module in inches from the center of the robot horizontally.
-
-
-

G

-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Get the instantiated absolute encoder Object.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.CanAndCoderSwerve
-
-
Get the instantiated absolute encoder Object.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.CANCoderSwerve
-
-
Get the instantiated absolute encoder Object.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Get the encoder object.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Get the instantiated absolute encoder Object.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Get the instantiated absolute encoder Object.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Get the instantiated absolute encoder Object.
-
-
getAbsoluteEncoderReadIssue() - Method in class swervelib.SwerveModule
-
-
Get if the last Absolute Encoder had a read issue, such as it does not exist.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.CanAndCoderSwerve
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.CANCoderSwerve
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.SwerveModule
-
-
Get the absolute position.
-
-
getAccel() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.NavXSwerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.PigeonSwerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.SwerveIMU
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Fetch the acceleration [x, y, z] from the IMU in m/s/s.
-
-
getAccel() - Method in class swervelib.SwerveDrive
-
-
Gets current acceleration of the robot in m/s/s.
-
-
getAngleMotor() - Method in class swervelib.SwerveModule
-
-
Get the angle SwerveMotor for the SwerveModule.
-
-
getAutonomousCommand() - Method in class frc.robot.RobotContainer
-
-
Use this to pass the autonomous command to the main Robot class.
-
-
getAutonomousCommand(String, boolean) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Get the path follower with events.
-
-
getConfiguration() - Method in class swervelib.SwerveModule
-
-
Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.
-
-
getDriveBaseRadiusMeters() - Method in class swervelib.parser.SwerveDriveConfiguration
-
-
Assume the first module is the furthest.
-
-
getDriveMotor() - Method in class swervelib.SwerveModule
-
-
Get the drive SwerveMotor for the SwerveModule.
-
-
getFieldVelocity() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Gets the current field-relative velocity (x, y and omega) of the robot
-
-
getFieldVelocity() - Method in class swervelib.SwerveDrive
-
-
Gets the current field-relative velocity (x, y and omega) of the robot
-
-
getGyroRotation3d() - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Gets the estimated gyro Rotation3d of the robot.
-
-
getGyroRotation3d() - Method in class swervelib.SwerveDrive
-
-
Gets the current gyro Rotation3d of the robot, as reported by the imu.
-
-
getHeading() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Gets the current yaw angle of the robot, as reported by the imu.
-
-
getIMU() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.NavXSwerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.PigeonSwerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.SwerveIMU
-
-
Get the instantiated IMU object.
-
-
getInstance() - Static method in class frc.robot.Robot
-
 
-
getJoystickAngle(double, double) - Method in class swervelib.SwerveController
-
-
Get the angle in radians based off of the heading joysticks.
-
-
getKinematics() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Get the swerve drive kinematics object.
-
-
getModuleConfigurationByName(String, SwerveDriveConfiguration) - Static method in class swervelib.parser.SwerveParser
-
-
Get the swerve module by the json name.
-
-
getModulePositions() - Method in class swervelib.SwerveDrive
-
-
Gets the current module positions (azimuth and wheel position (meters)).
-
-
getModules() - Method in class swervelib.SwerveDrive
-
-
Get the SwerveModules associated with the SwerveDrive.
-
-
getMotor() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Get the motor object from the module.
-
-
getMotor() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Get the motor object from the module.
-
-
getMotor() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Get the motor object from the module.
-
-
getMotor() - Method in class swervelib.motors.SwerveMotor
-
-
Get the motor object from the module.
-
-
getMotor() - Method in class swervelib.motors.TalonFXSwerve
-
-
Get the motor object from the module.
-
-
getMotor() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Get the motor object from the module.
-
-
getPitch() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Gets the current pitch angle of the robot, as reported by the imu.
-
-
getPitch() - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Pitch is not simulated currently, always returns 0.
-
-
getPitch() - Method in class swervelib.SwerveDrive
-
-
Gets the current pitch angle of the robot, as reported by the imu.
-
-
getPose() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Gets the current pose (position and rotation) of the robot, as reported by odometry.
-
-
getPose() - Method in class swervelib.SwerveDrive
-
-
Gets the current pose (position and rotation) of the robot, as reported by odometry.
-
-
getPosition() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Get the position of the integrated encoder.
-
-
getPosition() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Get the position of the integrated encoder.
-
-
getPosition() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Get the position of the integrated encoder.
-
-
getPosition() - Method in class swervelib.motors.SwerveMotor
-
-
Get the position of the integrated encoder.
-
-
getPosition() - Method in class swervelib.motors.TalonFXSwerve
-
-
Get the position of the integrated encoder.
-
-
getPosition() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Get the position of the integrated encoder.
-
-
getPosition() - Method in class swervelib.simulation.SwerveModuleSimulation
-
-
Get the simulated swerve module position.
-
-
getPosition() - Method in class swervelib.SwerveModule
-
-
Get the position of the swerve module.
-
-
getRawRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.NavXSwerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.PigeonSwerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.SwerveIMU
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawTargetSpeeds(double, double, double) - Method in class swervelib.SwerveController
-
-
Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
-
-
getRawTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController
-
-
Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
-
-
getRelativePosition() - Method in class swervelib.SwerveModule
-
-
Get the relative angle in degrees.
-
-
getRobotVelocity() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Gets the current velocity (x, y and omega) of the robot
-
-
getRobotVelocity() - Method in class swervelib.SwerveDrive
-
-
Gets the current robot-relative velocity (x, y and omega) of the robot
-
-
getRoll() - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Roll is not simulated currently, always returns 0.
-
-
getRoll() - Method in class swervelib.SwerveDrive
-
-
Gets the current roll angle of the robot, as reported by the imu.
-
-
getRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.NavXSwerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.PigeonSwerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.SwerveIMU
-
-
Fetch the Rotation3d from the IMU.
-
-
getState() - Method in class swervelib.simulation.SwerveModuleSimulation
-
-
Get the SwerveModuleState of the simulated module.
-
-
getState() - Method in class swervelib.SwerveModule
-
-
Get the Swerve Module state.
-
-
getStates() - Method in class swervelib.SwerveDrive
-
-
Gets the current module states (azimuth and velocity)
-
-
getSwerveController() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Get the SwerveController in the swerve drive.
-
-
getSwerveController() - Method in class swervelib.SwerveDrive
-
-
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.
-
-
getSwerveDriveConfiguration() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Get the SwerveDriveConfiguration object.
-
-
getSwerveModule(SwerveModule[], boolean, boolean) - Static method in class swervelib.math.SwerveMath
-
-
Get the fruthest module from center based on the module locations.
-
-
getSwerveModulePoses(Pose2d) - Method in class swervelib.SwerveDrive
-
-
Get the swerve module poses and on the field relative to the robot.
-
-
getTargetSpeeds(double, double, double, double) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Get the chassis speeds based on controller input of 2 joysticks.
-
-
getTargetSpeeds(double, double, double, double, double) - Method in class swervelib.SwerveController
-
-
Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.
-
-
getTargetSpeeds(double, double, double, double, double, double) - Method in class swervelib.SwerveController
-
-
Get the chassis speeds based on controller input of 2 joysticks.
-
-
getTargetSpeeds(double, double, Rotation2d) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Get the chassis speeds based on controller input of 1 joystick and one angle.
-
-
getTranslation2d(ChassisSpeeds) - Static method in class swervelib.SwerveController
-
-
Helper function to get the Translation2d of the chassis speeds given the ChassisSpeeds.
-
-
getVelocity() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.encoders.CanAndCoderSwerve
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.encoders.CANCoderSwerve
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Get the velocity of the integrated encoder.
-
-
getVelocity() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Get the velocity of the integrated encoder.
-
-
getVelocity() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Get the velocity of the integrated encoder.
-
-
getVelocity() - Method in class swervelib.motors.SwerveMotor
-
-
Get the velocity of the integrated encoder.
-
-
getVelocity() - Method in class swervelib.motors.TalonFXSwerve
-
-
Get the velocity of the integrated encoder.
-
-
getVelocity() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Get the velocity of the integrated encoder.
-
-
getYaw() - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Get the estimated angle of the robot.
-
-
getYaw() - Method in class swervelib.SwerveDrive
-
-
Gets the current yaw angle of the robot, as reported by the imu.
-
-
-

H

-
-
heading - Variable in class swervelib.parser.json.ControllerPropertiesJson
-
-
The PID used to control the robot heading.
-
-
headingCalculate(double, double) - Method in class swervelib.SwerveController
-
-
Calculate the angular velocity given the current and target heading angle in radians.
-
-
headingCorrection - Variable in class swervelib.SwerveDrive
-
-
Whether to correct heading when driving translationally.
-
-
headingPIDF - Variable in class swervelib.parser.SwerveControllerConfiguration
-
-
PIDF for the heading of the robot.
-
-
HIGH - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
Full swerve drive data is sent back in both human and machine readable forms.
-
-
-

I

-
-
i - Variable in class swervelib.parser.PIDFConfig
-
-
Integral Gain for PID.
-
-
id - Variable in class swervelib.parser.json.DeviceJson
-
-
The CAN ID or pin ID of the device.
-
-
imu - Variable in class swervelib.parser.json.SwerveDriveJson
-
-
Robot IMU used to determine heading of the robot.
-
-
imu - Variable in class swervelib.parser.SwerveDriveConfiguration
-
-
Swerve IMU
-
-
initialize() - Method in class frc.robot.commands.swervedrive.auto.AutoBalanceCommand
-
-
The initial subroutine of a command.
-
-
initialize() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDrive
-
 
-
initialize() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv
-
 
-
initialize() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteFieldDrive
-
 
-
initialize() - Method in class frc.robot.commands.swervedrive.drivebase.TeleopDrive
-
 
-
inverted - Variable in class swervelib.parser.json.ModuleJson
-
-
Defines which motors are inverted.
-
-
invertedIMU - Variable in class swervelib.parser.json.SwerveDriveJson
-
-
Invert the IMU of the robot.
-
-
invertedIMU - Variable in class swervelib.parser.SwerveDriveConfiguration
-
-
Invert the imu measurements.
-
-
invertOdometry - Variable in class swervelib.SwerveDrive
-
-
Invert odometry readings of drive motor positions, used as a patch for debugging currently.
-
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Queries whether the absolute encoder is directly attached to the motor controller.
-
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Queries whether the absolute encoder is directly attached to the motor controller.
-
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Queries whether the absolute encoder is directly attached to the motor controller.
-
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SwerveMotor
-
-
Queries whether the absolute encoder is directly attached to the motor controller.
-
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonFXSwerve
-
-
Queries whether the absolute encoder is directly attached to the motor controller.
-
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Queries whether the absolute encoder is directly attached to the motor controller.
-
-
isDriveMotor - Variable in class swervelib.motors.SwerveMotor
-
-
Whether the swerve motor is a drive motor.
-
-
isFinished() - Method in class frc.robot.commands.swervedrive.auto.AutoBalanceCommand
-
-
- Returns whether this command has finished.
-
-
isFinished() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDrive
-
 
-
isFinished() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv
-
 
-
isFinished() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteFieldDrive
-
 
-
isFinished() - Method in class frc.robot.commands.swervedrive.drivebase.TeleopDrive
-
 
-
isSimulation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
State of simulation of the Robot, used to optimize retrieval.
-
-
iz - Variable in class swervelib.parser.PIDFConfig
-
-
Integral zone of the PID.
-
-
-

K

-
-
kinematics - Variable in class swervelib.SwerveDrive
-
-
Swerve Kinematics object.
-
-
-

L

-
-
lastAngleScalar - Variable in class swervelib.SwerveController
-
-
Last angle as a scalar [-1,1] the robot was set to.
-
-
lastState - Variable in class swervelib.SwerveModule
-
-
Last swerve module state applied.
-
-
left - Variable in class swervelib.parser.json.modules.LocationJson
-
-
Location of the swerve module in inches from the center of the robot vertically.
-
-
LEFT_X_DEADBAND - Static variable in class frc.robot.Constants.OperatorConstants
-
 
-
LEFT_Y_DEADBAND - Static variable in class frc.robot.Constants.OperatorConstants
-
 
-
limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, List<Matter>, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath
-
-
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).
-
-
location - Variable in class swervelib.parser.json.ModuleJson
-
-
The location of the swerve module from the center of the robot in inches.
-
-
LocationJson - Class in swervelib.parser.json.modules
-
-
Location JSON parsed class.
-
-
LocationJson() - Constructor for class swervelib.parser.json.modules.LocationJson
-
 
-
lock() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Lock the swerve drive to prevent it from moving.
-
-
lockPose() - Method in class swervelib.SwerveDrive
-
-
Point all modules toward the robot center, thus making the robot very difficult to move.
-
-
LOOP_TIME - Static variable in class frc.robot.Constants
-
 
-
LOW - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
Low telemetry data, only post the robot position on the field.
-
-
-

M

-
-
MACHINE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
Only send the machine readable data related to swerve drive.
-
-
main(String...) - Static method in class frc.robot.Main
-
-
Main initialization function.
-
-
Main - Class in frc.robot
-
-
Do NOT add any static variables to this class, or any initialization at all.
-
-
mass - Variable in class swervelib.math.Matter
-
-
Mass in kg of object.
-
-
massMoment() - Method in class swervelib.math.Matter
-
-
Get the center mass of the object.
-
-
Matter - Class in swervelib.math
-
-
Object with significant mass that needs to be taken into account.
-
-
Matter(Translation3d, double) - Constructor for class swervelib.math.Matter
-
-
Construct an object representing some significant matter on the robot.
-
-
max - Variable in class swervelib.parser.deserializer.PIDFRange
-
-
Maximum value.
-
-
MAX_ACCELERATION - Static variable in class frc.robot.Constants.Auton
-
 
-
maxAngularVelocity - Variable in class swervelib.parser.SwerveControllerConfiguration
-
-
Maximum angular velocity in rad/s
-
-
maxAngularVelocity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The maximum achievable angular velocity of the robot.
-
-
maximumRetries - Variable in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.
-
-
maximumRetries - Variable in class swervelib.motors.SwerveMotor
-
-
The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.
-
-
maximumSpeed - Variable in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Maximum speed of the robot in meters per second, used to limit acceleration.
-
-
maxSpeed - Variable in class swervelib.SwerveModule
-
-
Maximum speed of the drive motors in meters per second.
-
-
maxSpeed - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The maximum achievable speed of the modules, used to adjust the size of the vectors.
-
-
measuredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The maximum achievable angular velocity of the robot.
-
-
measuredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
An array of rotation and velocity values describing the measured state of each swerve module
-
-
min - Variable in class swervelib.parser.deserializer.PIDFRange
-
-
Minimum value.
-
-
moduleCount - Variable in class swervelib.parser.SwerveDriveConfiguration
-
-
Number of modules on the robot.
-
-
moduleCount - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The number of swerve modules
-
-
ModuleJson - Class in swervelib.parser.json
-
-
SwerveModule JSON parsed class.
-
-
ModuleJson() - Constructor for class swervelib.parser.json.ModuleJson
-
 
-
moduleJsons - Static variable in class swervelib.parser.SwerveParser
-
-
Array holding the module jsons given in SwerveDriveJson.
-
-
moduleLocation - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Swerve module location relative to the robot.
-
-
moduleLocationsMeters - Variable in class swervelib.parser.SwerveDriveConfiguration
-
-
Swerve Module locations.
-
-
moduleNumber - Variable in class swervelib.SwerveModule
-
-
Module number for kinematics, usually 0 to 3.
-
-
modules - Variable in class swervelib.parser.json.SwerveDriveJson
-
-
Module JSONs in order clockwise order starting from front left.
-
-
modules - Variable in class swervelib.parser.SwerveDriveConfiguration
-
-
Swerve Modules.
-
-
motor - Variable in class swervelib.motors.SparkFlexSwerve
-
-
SparkMAX Instance.
-
-
motor - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
SparkMAX Instance.
-
-
motor - Variable in class swervelib.motors.SparkMaxSwerve
-
-
SparkMAX Instance.
-
-
MotorConfigDouble - Class in swervelib.parser.json
-
-
Used to store doubles for motor configuration.
-
-
MotorConfigDouble() - Constructor for class swervelib.parser.json.MotorConfigDouble
-
-
Default constructor.
-
-
MotorConfigDouble(double, double) - Constructor for class swervelib.parser.json.MotorConfigDouble
-
-
Default constructor.
-
-
MotorConfigInt - Class in swervelib.parser.json
-
-
Used to store ints for motor configuration.
-
-
MotorConfigInt() - Constructor for class swervelib.parser.json.MotorConfigInt
-
-
Default constructor.
-
-
MotorConfigInt(int, int) - Constructor for class swervelib.parser.json.MotorConfigInt
-
-
Default constructor with values.
-
-
-

N

-
-
name - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Name for the swerve module for telemetry.
-
-
NavXSwerve - Class in swervelib.imu
-
-
Communicates with the NavX as the IMU.
-
-
NavXSwerve(I2C.Port) - Constructor for class swervelib.imu.NavXSwerve
-
-
Constructor for the NavX swerve.
-
-
NavXSwerve(SerialPort.Port) - Constructor for class swervelib.imu.NavXSwerve
-
-
Constructor for the NavX swerve.
-
-
NavXSwerve(SPI.Port) - Constructor for class swervelib.imu.NavXSwerve
-
-
Constructor for the NavX swerve.
-
-
NONE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
No telemetry data is sent back.
-
-
normalizeAngle(double) - Static method in class swervelib.math.SwerveMath
-
-
Normalize an angle to be within 0 to 360.
-
-
-

O

-
-
OperatorConstants() - Constructor for class frc.robot.Constants.OperatorConstants
-
 
-
optimalVoltage - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
The voltage to use for the smart motor voltage compensation, default is 12.
-
-
optimalVoltage - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
The voltage to use for the smart motor voltage compensation.
-
-
output - Variable in class swervelib.parser.PIDFConfig
-
-
The PIDF output range.
-
-
-

P

-
-
p - Variable in class swervelib.parser.PIDFConfig
-
-
Proportional Gain for PID.
-
-
periodic() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
 
-
physicalCharacteristics - Variable in class swervelib.parser.SwerveDriveConfiguration
-
-
Physical characteristics of the swerve drive from physicalproperties.json.
-
-
physicalCharacteristics - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Physical characteristics of the swerve module.
-
-
physicalPropertiesJson - Static variable in class swervelib.parser.SwerveParser
-
-
Parsed modules/physicalproperties.json
-
-
PhysicalPropertiesJson - Class in swervelib.parser.json
-
-
SwerveModulePhysicalCharacteristics parsed data.
-
-
PhysicalPropertiesJson() - Constructor for class swervelib.parser.json.PhysicalPropertiesJson
-
 
-
pid - Variable in class swervelib.motors.SparkFlexSwerve
-
-
Closed-loop PID controller.
-
-
pid - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Closed-loop PID controller.
-
-
pid - Variable in class swervelib.motors.SparkMaxSwerve
-
-
Closed-loop PID controller.
-
-
PIDFConfig - Class in swervelib.parser
-
-
Hold the PIDF and Integral Zone values for a PID.
-
-
PIDFConfig() - Constructor for class swervelib.parser.PIDFConfig
-
-
Used when parsing PIDF values from JSON.
-
-
PIDFConfig(double, double) - Constructor for class swervelib.parser.PIDFConfig
-
-
PIDF Config constructor to contain the values.
-
-
PIDFConfig(double, double, double) - Constructor for class swervelib.parser.PIDFConfig
-
-
PIDF Config constructor to contain the values.
-
-
PIDFConfig(double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
-
-
PIDF Config constructor to contain the values.
-
-
PIDFConfig(double, double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
-
-
PIDF Config constructor to contain the values.
-
-
pidfPropertiesJson - Static variable in class swervelib.parser.SwerveParser
-
-
Parsed modules/pidfproperties.json
-
-
PIDFPropertiesJson - Class in swervelib.parser.json
-
-
SwerveModule PID with Feedforward for the drive motor and angle motor.
-
-
PIDFPropertiesJson() - Constructor for class swervelib.parser.json.PIDFPropertiesJson
-
 
-
PIDFRange - Class in swervelib.parser.deserializer
-
-
Class to hold the minimum and maximum input or output of the PIDF.
-
-
PIDFRange() - Constructor for class swervelib.parser.deserializer.PIDFRange
-
 
-
Pigeon2Swerve - Class in swervelib.imu
-
-
SwerveIMU interface for the Pigeon2
-
-
Pigeon2Swerve(int) - Constructor for class swervelib.imu.Pigeon2Swerve
-
-
Generate the SwerveIMU for pigeon.
-
-
Pigeon2Swerve(int, String) - Constructor for class swervelib.imu.Pigeon2Swerve
-
-
Generate the SwerveIMU for pigeon.
-
-
PigeonSwerve - Class in swervelib.imu
-
-
SwerveIMU interface for the Pigeon.
-
-
PigeonSwerve(int) - Constructor for class swervelib.imu.PigeonSwerve
-
-
Generate the SwerveIMU for pigeon.
-
-
placeInAppropriate0To360Scope(double, double) - Static method in class swervelib.math.SwerveMath
-
-
Put an angle within the 360 deg scope of a reference.
-
-
PoseLog(Pose2d) - Static method in class swervelib.math.SwerveMath
-
-
Logical inverse of the Pose exponential from 254.
-
-
position - Variable in class swervelib.math.Matter
-
-
Position in meters from robot center in 3d space.
-
-
postTrajectory(Trajectory) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Post the trajectory to the field.
-
-
postTrajectory(Trajectory) - Method in class swervelib.SwerveDrive
-
-
Post the trajectory to the field
-
-
pushOffsetsToControllers() - Method in class swervelib.SwerveDrive
-
-
Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.
-
-
pushOffsetsToControllers() - Method in class swervelib.SwerveModule
-
-
Push absolute encoder offset in the memory of the encoder or controller.
-
-
PWMDutyCycleEncoderSwerve - Class in swervelib.encoders
-
-
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.
-
-
PWMDutyCycleEncoderSwerve(int) - Constructor for class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Constructor for the PWM duty cycle encoder.
-
-
-

Q

-
-
queueSynchronizeEncoders() - Method in class swervelib.SwerveModule
-
-
Queue synchronization of the integrated angle encoder with the absolute encoder.
-
-
-

R

-
-
rampRate - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
The minimum number of seconds to take for the motor to go from 0 to full throttle.
-
-
readingError - Variable in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Last angle reading was faulty.
-
-
replaceSwerveModuleFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveDrive
-
-
Setup the swerve module feedforward.
-
-
resetDriveEncoders() - Method in class swervelib.SwerveDrive
-
-
Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in - autonomous.
-
-
resetOdometry(Pose2d) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Resets odometry to the given pose.
-
-
resetOdometry(Pose2d) - Method in class swervelib.SwerveDrive
-
-
Resets odometry to the given pose.
-
-
restoreInternalOffset() - Method in class swervelib.SwerveDrive
-
-
Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0
-
-
restoreInternalOffset() - Method in class swervelib.SwerveModule
-
-
Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value.
-
-
RIGHT_X_DEADBAND - Static variable in class frc.robot.Constants.OperatorConstants
-
 
-
Robot - Class in frc.robot
-
-
The VM is configured to automatically run this class, and to call the functions corresponding to each mode, as - described in the TimedRobot documentation.
-
-
Robot() - Constructor for class frc.robot.Robot
-
 
-
ROBOT_MASS - Static variable in class frc.robot.Constants
-
 
-
RobotContainer - Class in frc.robot
-
-
This class is where the bulk of the robot should be declared.
-
-
RobotContainer() - Constructor for class frc.robot.RobotContainer
-
-
The container for the robot.
-
-
robotInit() - Method in class frc.robot.Robot
-
-
This function is run when the robot is first started up and should be used for any initialization code.
-
-
robotPeriodic() - Method in class frc.robot.Robot
-
-
This function is called every 20 ms, no matter the mode.
-
-
robotRotation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The robot's current rotation based on odometry or gyro readings
-
-
rotationUnit - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The units of the module rotations and robot rotation
-
-
-

S

-
-
set(double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the percentage output.
-
-
set(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the percentage output.
-
-
set(double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the percentage output.
-
-
set(double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the percentage output.
-
-
set(double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the percentage output.
-
-
set(double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the percentage output.
-
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the absolute encoder to be a compatible absolute encoder.
-
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the absolute encoder to be a compatible absolute encoder.
-
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the absolute encoder to be a compatible absolute encoder.
-
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SwerveMotor
-
-
Set the absolute encoder to be a compatible absolute encoder.
-
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the absolute encoder to be a compatible absolute encoder.
-
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the absolute encoder to be a compatible absolute encoder.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Cannot Set the offset of an Analog Absolute Encoder.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.CanAndCoderSwerve
-
-
Cannot set the offset of the CanAndCoder.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.CANCoderSwerve
-
-
Sets the Absolute Encoder Offset within the CANcoder's Memory.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Sets the offset of the Encoder in the WPILib Encoder Library.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Sets the Absolute Encoder offset at the Encoder Level.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Sets the Absolute Encoder Offset inside of the SparkMax's Memory.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Sets the Absolute Encoder offset at the Encoder Level.
-
-
setAngle(double) - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Set the heading of the robot.
-
-
setAngle(double) - Method in class swervelib.SwerveModule
-
-
Set the angle for the module.
-
-
setAngleMotorConversionFactor(double) - Method in class swervelib.SwerveDrive
-
-
Set the conversion factor for the angle/azimuth motor controller.
-
-
setAngleMotorConversionFactor(double) - Method in class swervelib.SwerveModule
-
-
Set the conversion factor for the angle/azimuth motor controller.
-
-
setAngleMotorVoltageCompensation(double) - Method in class swervelib.SwerveModule
-
-
Set the voltage compensation for the swerve module motor.
-
-
setChassisSpeeds(ChassisSpeeds) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Set chassis speeds with closed-loop velocity control.
-
-
setChassisSpeeds(ChassisSpeeds) - Method in class swervelib.SwerveDrive
-
-
Set chassis speeds with closed-loop velocity control.
-
-
setCurrentLimit(int) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
-
-
setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
-
-
setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
-
-
setCurrentLimit(int) - Method in class swervelib.motors.SwerveMotor
-
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
-
-
setCurrentLimit(int) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
-
-
setCurrentLimit(int) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
-
-
setDesiredState(SwerveModuleState, boolean, boolean) - Method in class swervelib.SwerveModule
-
-
Set the desired state of the swerve module.
-
-
setDriveMode() - Method in class frc.robot.RobotContainer
-
 
-
setDriveMotorConversionFactor(double) - Method in class swervelib.SwerveDrive
-
-
Set the conversion factor for the drive motor controller.
-
-
setDriveMotorConversionFactor(double) - Method in class swervelib.SwerveModule
-
-
Set the conversion factor for the drive motor controller.
-
-
setDriveMotorVoltageCompensation(double) - Method in class swervelib.SwerveModule
-
-
Set the voltage compensation for the swerve module motor.
-
-
setGyro(Rotation3d) - Method in class swervelib.SwerveDrive
-
-
Set the expected gyroscope angle using a Rotation3d object.
-
-
setGyroOffset(Rotation3d) - Method in class swervelib.SwerveDrive
-
-
Set the gyro scope offset to a desired known rotation.
-
-
setHeadingCorrection(boolean) - Method in class swervelib.SwerveDrive
-
-
Set the heading correction capabilities of YAGSL.
-
-
setInverted(boolean) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the motor to be inverted.
-
-
setInverted(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the motor to be inverted.
-
-
setInverted(boolean) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the motor to be inverted.
-
-
setInverted(boolean) - Method in class swervelib.motors.SwerveMotor
-
-
Set the motor to be inverted.
-
-
setInverted(boolean) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the motor to be inverted.
-
-
setInverted(boolean) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the motor to be inverted.
-
-
setLoopRampRate(double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the maximum rate the open/closed loop output can change by.
-
-
setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the maximum rate the open/closed loop output can change by.
-
-
setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the maximum rate the open/closed loop output can change by.
-
-
setLoopRampRate(double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the maximum rate the open/closed loop output can change by.
-
-
setLoopRampRate(double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the maximum rate the open/closed loop output can change by.
-
-
setLoopRampRate(double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the maximum rate the open/closed loop output can change by.
-
-
setMaximumAngularVelocity(double) - Method in class swervelib.SwerveController
-
-
Set a new maximum angular velocity that is different from the auto-generated one.
-
-
setMaximumSpeed(double) - Method in class swervelib.SwerveDrive
-
-
Set the maximum speed of the drive motors, modified SwerveDrive.maxSpeedMPS which is used for the - SwerveDrive.setRawModuleStates(SwerveModuleState[], boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
-
-
setMaximumSpeed(double, boolean, double) - Method in class swervelib.SwerveDrive
-
-
Set the maximum speed of the drive motors, modified SwerveDrive.maxSpeedMPS which is used for the - SwerveDrive.setRawModuleStates(SwerveModuleState[], boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
-
-
setMaximumSpeeds(double, double, double) - Method in class swervelib.SwerveDrive
-
-
Set the maximum speeds for desaturation.
-
-
setModuleStates(SwerveModuleState[], boolean) - Method in class swervelib.SwerveDrive
-
-
Set the module states (azimuth and velocity) directly.
-
-
setMotorBrake(boolean) - Method in class frc.robot.RobotContainer
-
 
-
setMotorBrake(boolean) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Sets the drive motors to brake/coast mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the idle mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the idle mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the idle mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.motors.SwerveMotor
-
-
Set the idle mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the idle mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the idle mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.SwerveModule
-
-
Set the brake mode.
-
-
setMotorIdleMode(boolean) - Method in class swervelib.SwerveDrive
-
-
Sets the drive motors to brake/coast mode.
-
-
setOdometryPeriod(double) - Method in class swervelib.SwerveDrive
-
-
Set the odometry update period in seconds.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16448Swerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16470Swerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.ADXRS450Swerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.NavXSwerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.Pigeon2Swerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.PigeonSwerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.SwerveIMU
-
-
Set the gyro offset.
-
-
setPosition(double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the integrated encoder position.
-
-
setPosition(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the integrated encoder position.
-
-
setPosition(double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the integrated encoder position.
-
-
setPosition(double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the integrated encoder position.
-
-
setPosition(double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the integrated encoder position.
-
-
setPosition(double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the integrated encoder position.
-
-
setReference(double, double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double, double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double, double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double, double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double, double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double, double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setupPathPlanner() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Setup AutoBuilder for PathPlanner.
-
-
setVoltageCompensation(double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the voltage compensation for the swerve module motor.
-
-
setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the voltage compensation for the swerve module motor.
-
-
setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the voltage compensation for the swerve module motor.
-
-
setVoltageCompensation(double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the voltage compensation for the swerve module motor.
-
-
setVoltageCompensation(double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the voltage compensation for the swerve module motor.
-
-
setVoltageCompensation(double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the voltage compensation for the swerve module motor.
-
-
simulationInit() - Method in class frc.robot.Robot
-
-
This function is called once when the robot is first started up.
-
-
simulationPeriodic() - Method in class frc.robot.Robot
-
-
This function is called periodically whilst in simulation.
-
-
simulationPeriodic() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
 
-
sizeFrontBack - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The distance between the front and back modules.
-
-
sizeLeftRight - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The distance between the left and right modules.
-
-
SparkFlexSwerve - Class in swervelib.motors
-
-
An implementation of CANSparkFlex as a SwerveMotor.
-
-
SparkFlexSwerve(int, boolean) - Constructor for class swervelib.motors.SparkFlexSwerve
-
-
Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
-
-
SparkFlexSwerve(CANSparkFlex, boolean) - Constructor for class swervelib.motors.SparkFlexSwerve
-
-
Initialize the swerve motor.
-
-
SparkMaxAnalogEncoderSwerve - Class in swervelib.encoders
-
-
SparkMax absolute encoder, attached through the data port analog pin.
-
-
SparkMaxAnalogEncoderSwerve(SwerveMotor) - Constructor for class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Create the SparkMaxAnalogEncoderSwerve object as a analog sensor from the CANSparkMax motor data - port analog pin.
-
-
SparkMaxBrushedMotorSwerve - Class in swervelib.motors
-
-
Brushed motor control with SparkMax.
-
-
SparkMaxBrushedMotorSwerve(int, boolean, SparkRelativeEncoder.Type, int, boolean) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
-
-
SparkMaxBrushedMotorSwerve(CANSparkMax, boolean, SparkRelativeEncoder.Type, int, boolean) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Initialize the swerve motor.
-
-
SparkMaxEncoderSwerve - Class in swervelib.encoders
-
-
SparkMax absolute encoder, attached through the data port.
-
-
SparkMaxEncoderSwerve(SwerveMotor, int) - Constructor for class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Create the SparkMaxEncoderSwerve object as a duty cycle from the CANSparkMax motor.
-
-
SparkMaxSwerve - Class in swervelib.motors
-
-
An implementation of CANSparkMax as a SwerveMotor.
-
-
SparkMaxSwerve(int, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
-
-
Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
-
-
SparkMaxSwerve(CANSparkMax, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
-
-
Initialize the swerve motor.
-
-
stateStdDevs - Variable in class swervelib.SwerveDrive
-
-
Standard deviation of encoders and gyroscopes, usually should not change.
-
-
stopOdometryThread() - Method in class swervelib.SwerveDrive
-
-
Stop the odometry thread in favor of manually updating odometry.
-
-
SwerveAbsoluteEncoder - Class in swervelib.encoders
-
-
Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
-
-
SwerveAbsoluteEncoder() - Constructor for class swervelib.encoders.SwerveAbsoluteEncoder
-
 
-
swerveController - Variable in class swervelib.SwerveDrive
-
-
Swerve controller for controlling heading of the robot.
-
-
SwerveController - Class in swervelib
-
-
Controller class used to convert raw inputs into robot speeds.
-
-
SwerveController(SwerveControllerConfiguration) - Constructor for class swervelib.SwerveController
-
-
Construct the SwerveController object which is used for determining the speeds of the robot based on controller - input.
-
-
SwerveControllerConfiguration - Class in swervelib.parser
-
-
Swerve Controller configuration class which is used to configure SwerveController.
-
-
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
-
-
Construct the swerve controller configuration.
-
-
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
-
-
Construct the swerve controller configuration.
-
-
SwerveDrive - Class in swervelib
-
-
Swerve Drive class representing and controlling the swerve drive.
-
-
SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration, double) - Constructor for class swervelib.SwerveDrive
-
-
Creates a new swerve drivebase subsystem.
-
-
swerveDriveConfiguration - Variable in class swervelib.SwerveDrive
-
-
Swerve drive configuration.
-
-
SwerveDriveConfiguration - Class in swervelib.parser
-
-
Swerve drive configurations used during SwerveDrive construction.
-
-
SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, boolean, SimpleMotorFeedforward, SwerveModulePhysicalCharacteristics) - Constructor for class swervelib.parser.SwerveDriveConfiguration
-
-
Create swerve drive configuration.
-
-
swerveDriveJson - Static variable in class swervelib.parser.SwerveParser
-
-
Parsed swervedrive.json
-
-
SwerveDriveJson - Class in swervelib.parser.json
-
-
SwerveDrive JSON parsed class.
-
-
SwerveDriveJson() - Constructor for class swervelib.parser.json.SwerveDriveJson
-
 
-
swerveDrivePoseEstimator - Variable in class swervelib.SwerveDrive
-
-
Swerve odometry.
-
-
SwerveDriveTelemetry - Class in swervelib.telemetry
-
-
Telemetry to describe the SwerveDrive following frc-web-components.
-
-
SwerveDriveTelemetry() - Constructor for class swervelib.telemetry.SwerveDriveTelemetry
-
 
-
SwerveDriveTelemetry.TelemetryVerbosity - Enum Class in swervelib.telemetry
-
-
Verbosity of telemetry data sent back.
-
-
SwerveIMU - Class in swervelib.imu
-
-
Swerve IMU abstraction to define a standard interface with a swerve drive.
-
-
SwerveIMU() - Constructor for class swervelib.imu.SwerveIMU
-
 
-
SwerveIMUSimulation - Class in swervelib.simulation
-
-
Simulation for SwerveDrive IMU.
-
-
SwerveIMUSimulation() - Constructor for class swervelib.simulation.SwerveIMUSimulation
-
-
Create the swerve drive IMU simulation.
-
-
swervelib - package swervelib
-
-
Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
-
-
swervelib.encoders - package swervelib.encoders
-
-
Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
-
-
swervelib.imu - package swervelib.imu
-
-
IMUs used for controlling the robot heading.
-
-
swervelib.math - package swervelib.math
-
-
Mathematics for swerve drives.
-
-
swervelib.motors - package swervelib.motors
-
-
Swerve motor controller wrappers which implement SwerveMotor.
-
-
swervelib.parser - package swervelib.parser
-
-
JSON Parser for YAGSL configurations.
-
-
swervelib.parser.deserializer - package swervelib.parser.deserializer
-
-
Deserialize specific variables for outside the parser.
-
-
swervelib.parser.json - package swervelib.parser.json
-
-
JSON Mapped classes for parsing configuration files.
-
-
swervelib.parser.json.modules - package swervelib.parser.json.modules
-
-
JSON Mapped Configuration types for modules.
-
-
swervelib.simulation - package swervelib.simulation
-
-
Classes used to simulate the swerve drive.
-
-
swervelib.telemetry - package swervelib.telemetry
-
-
Telemetry package for sending data to NT4 or SmartDashboard.
-
-
SwerveMath - Class in swervelib.math
-
-
Mathematical functions which pertain to swerve drive.
-
-
SwerveMath() - Constructor for class swervelib.math.SwerveMath
-
 
-
SwerveModule - Class in swervelib
-
-
The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
-
-
SwerveModule(int, SwerveModuleConfiguration, SimpleMotorFeedforward) - Constructor for class swervelib.SwerveModule
-
-
Construct the swerve module and initialize the swerve module motors and absolute encoder.
-
-
SwerveModuleConfiguration - Class in swervelib.parser
-
-
Swerve Module configuration class which is used to configure SwerveModule.
-
-
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, String) - Constructor for class swervelib.parser.SwerveModuleConfiguration
-
-
Construct a configuration object for swerve modules.
-
-
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String) - Constructor for class swervelib.parser.SwerveModuleConfiguration
-
-
Construct a configuration object for swerve modules.
-
-
SwerveModulePhysicalCharacteristics - Class in swervelib.parser
-
-
Configuration class which stores physical characteristics shared between every swerve module.
-
-
SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Construct the swerve module physical characteristics.
-
-
SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double, int, int, double, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Construct the swerve module physical characteristics.
-
-
SwerveModuleSimulation - Class in swervelib.simulation
-
-
Class to hold simulation data for SwerveModule
-
-
SwerveModuleSimulation() - Constructor for class swervelib.simulation.SwerveModuleSimulation
-
-
Create simulation class and initialize module at 0.
-
-
SwerveMotor - Class in swervelib.motors
-
-
Swerve motor abstraction which defines a standard interface for motors within a swerve module.
-
-
SwerveMotor() - Constructor for class swervelib.motors.SwerveMotor
-
 
-
SwerveParser - Class in swervelib.parser
-
-
Helper class used to parse the JSON directory with specified configuration options.
-
-
SwerveParser(File) - Constructor for class swervelib.parser.SwerveParser
-
-
Construct a swerve parser.
-
-
SwerveSubsystem - Class in frc.robot.subsystems.swervedrive
-
 
-
SwerveSubsystem(File) - Constructor for class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Initialize SwerveDrive with the directory provided.
-
-
SwerveSubsystem(SwerveDriveConfiguration, SwerveControllerConfiguration) - Constructor for class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Construct the swerve drive.
-
-
synchronizeModuleEncoders() - Method in class swervelib.SwerveDrive
-
-
Synchronize angle motor integrated encoders with data from absolute encoders.
-
-
-

T

-
-
TalonFXSwerve - Class in swervelib.motors
-
-
TalonFX Swerve Motor.
-
-
TalonFXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
-
-
Construct the TalonFX swerve motor given the ID.
-
-
TalonFXSwerve(int, String, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
-
-
Construct the TalonFX swerve motor given the ID and CANBus.
-
-
TalonFXSwerve(TalonFX, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
-
-
Constructor for TalonFX swerve motor.
-
-
TalonSRXSwerve - Class in swervelib.motors
-
-
WPI_TalonSRX Swerve Motor.
-
-
TalonSRXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
-
-
Construct the TalonSRX swerve motor given the ID.
-
-
TalonSRXSwerve(WPI_TalonSRX, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
-
-
Constructor for TalonSRX swerve motor.
-
-
TeleopDrive - Class in frc.robot.commands.swervedrive.drivebase
-
-
An example command that uses an example subsystem.
-
-
TeleopDrive(SwerveSubsystem, DoubleSupplier, DoubleSupplier, DoubleSupplier, BooleanSupplier) - Constructor for class frc.robot.commands.swervedrive.drivebase.TeleopDrive
-
-
Creates a new ExampleCommand.
-
-
teleopInit() - Method in class frc.robot.Robot
-
 
-
teleopPeriodic() - Method in class frc.robot.Robot
-
-
This function is called periodically during operator control.
-
-
testInit() - Method in class frc.robot.Robot
-
 
-
testPeriodic() - Method in class frc.robot.Robot
-
-
This function is called periodically during test mode.
-
-
thetaController - Variable in class swervelib.SwerveController
-
-
PID Controller for the robot heading.
-
-
TranslationPID - Static variable in class frc.robot.Constants.Auton
-
 
-
TURN_CONSTANT - Static variable in class frc.robot.Constants.OperatorConstants
-
 
-
type - Variable in class swervelib.parser.json.DeviceJson
-
-
The device type, e.g.
-
-
-

U

-
-
updateData() - Static method in class swervelib.telemetry.SwerveDriveTelemetry
-
-
Upload data to smartdashboard
-
-
updateOdometry() - Method in class swervelib.SwerveDrive
-
-
Update odometry should be run every loop.
-
-
updateOdometry(SwerveDriveKinematics, SwerveModuleState[], Pose2d[], Field2d) - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Update the odometry of the simulated SwerveDrive and post the SwerveModule - states to the Field2d.
-
-
updateStateAndPosition(SwerveModuleState) - Method in class swervelib.simulation.SwerveModuleSimulation
-
-
Update the position and state of the module.
-
-
updateTelemetry() - Method in class swervelib.SwerveModule
-
-
Update data sent to SmartDashboard.
-
-
-

V

-
-
valueOf(String) - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
Returns the enum constant of this class with the specified name.
-
-
values() - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
Returns an array containing the constants of this enum class, in -the order they are declared.
-
-
velocityPIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
PIDF configuration options for the drive motor closed-loop PID controller.
-
-
verbosity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The current telemetry verbosity level.
-
-
visionMeasurementStdDevs - Variable in class swervelib.SwerveDrive
-
-
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.
-
-
-

W

-
-
WHEEL_LOCK_TIME - Static variable in class frc.robot.Constants.Drivebase
-
 
-
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
The grip tape coefficient of friction on carpet.
-
-
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Wheel grip tape coefficient of friction on carpet, as described by the vendor.
-
-
wheelLocations - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The number of swerve modules
-
-
withinHypotDeadband(double, double) - Method in class swervelib.SwerveController
-
-
Calculate the hypot deadband and check if the joystick is within it.
-
-
-

X

-
-
x - Variable in class swervelib.parser.json.modules.LocationJson
-
-
Location of the swerve module in inches from the center of the robot horizontally.
-
-
xLimiter - Variable in class swervelib.SwerveController
-
-
SlewRateLimiter for movement in the X direction in meters/second.
-
-
-

Y

-
-
y - Variable in class swervelib.parser.json.modules.LocationJson
-
-
Location of the swerve module in inches from the center of the robot vertically.
-
-
yLimiter - Variable in class swervelib.SwerveController
-
-
SlewRateLimiter for movement in the Y direction in meters/second.
-
-
-

Z

-
-
zeroGyro() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
-
-
Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
-
-
zeroGyro() - Method in class swervelib.SwerveDrive
-
-
Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html deleted file mode 100644 index 7db5fd1..0000000 --- a/docs/index-files/index-1.html +++ /dev/null @@ -1,337 +0,0 @@ - - - - -A-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

A

-
-
absoluteEncoder - Variable in class swervelib.motors.SparkFlexSwerve
-
-
Absolute encoder attached to the SparkMax (if exists)
-
-
absoluteEncoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Absolute encoder attached to the SparkMax (if exists)
-
-
absoluteEncoder - Variable in class swervelib.motors.SparkMaxSwerve
-
-
Absolute encoder attached to the SparkMax (if exists)
-
-
absoluteEncoder - Variable in class swervelib.motors.TalonFXSwerve
-
-
Whether the absolute encoder is integrated.
-
-
absoluteEncoder - Variable in class swervelib.motors.TalonSRXSwerve
-
-
Whether the absolute encoder is integrated.
-
-
absoluteEncoder - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
The Absolute Encoder for the swerve module.
-
-
absoluteEncoder - Variable in class swervelib.SwerveModule
-
-
Absolute encoder for swerve drive.
-
-
absoluteEncoderInverted - Variable in class swervelib.parser.json.ModuleJson
-
-
Absolute encoder inversion state.
-
-
absoluteEncoderInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Whether the absolute encoder is inverted.
-
-
absoluteEncoderIssueName - Variable in class swervelib.SwerveModule
-
-
NT3 Absolute encoder read issue.
-
-
absoluteEncoderOffset - Variable in class swervelib.parser.json.ModuleJson
-
-
Absolute encoder offset from 0 in degrees.
-
-
absoluteEncoderOffsetWarning - Variable in class swervelib.motors.SparkFlexSwerve
-
-
An Alert for if the absolute encoder's offset is set in the json instead of the hardware client.
-
-
absolutePositionCache - Variable in class swervelib.SwerveModule
-
-
Absolute encoder position cache.
-
-
active - Variable in class swervelib.telemetry.Alert
-
-
Activation state of alert.
-
-
activeStartTime - Variable in class swervelib.telemetry.Alert
-
-
When the alert was raised.
-
-
addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter) - Method in class swervelib.SwerveController
-
-
Add slew rate limiters to all controls.
-
-
addValue(double) - Method in class swervelib.math.IMULinearMovingAverageFilter
-
-
Add a value to the DoubleCircularBuffer
-
-
addVisionMeasurement(Pose2d, double) - Method in class swervelib.SwerveDrive
-
-
Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
-
-
addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class swervelib.SwerveDrive
-
-
Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
-
-
ADIS16448Swerve - Class in swervelib.imu
-
-
IMU Swerve class for the ADIS16448_IMU device.
-
-
ADIS16448Swerve() - Constructor for class swervelib.imu.ADIS16448Swerve
-
-
Construct the ADIS16448 imu and reset default configurations.
-
-
ADIS16470Swerve - Class in swervelib.imu
-
-
IMU Swerve class for the ADIS16470_IMU device.
-
-
ADIS16470Swerve() - Constructor for class swervelib.imu.ADIS16470Swerve
-
-
Construct the ADIS16470 imu and reset default configurations.
-
-
adjAbsoluteAngleName - Variable in class swervelib.SwerveModule
-
-
NT3 Adjusted Absolute angle publisher for the absolute encoder.
-
-
ADXRS450Swerve - Class in swervelib.imu
-
-
IMU Swerve class for the ADXRS450_Gyro device.
-
-
ADXRS450Swerve() - Constructor for class swervelib.imu.ADXRS450Swerve
-
-
Construct the ADXRS450 imu and reset default configurations.
-
-
Alert - Class in swervelib.telemetry
-
-
Class for managing persistent alerts to be sent over NetworkTables.
-
-
Alert(String, String, Alert.AlertType) - Constructor for class swervelib.telemetry.Alert
-
-
Creates a new Alert.
-
-
Alert(String, Alert.AlertType) - Constructor for class swervelib.telemetry.Alert
-
-
Creates a new Alert in the default group - "Alerts".
-
-
Alert.AlertType - Enum Class in swervelib.telemetry
-
-
Represents an alert's level of urgency.
-
-
Alert.SendableAlerts - Class in swervelib.telemetry
-
-
Sendable alert for advantage scope.
-
-
alerts - Variable in class swervelib.telemetry.Alert.SendableAlerts
-
-
Alert list for sendable.
-
-
AlertType() - Constructor for enum class swervelib.telemetry.Alert.AlertType
-
 
-
AnalogAbsoluteEncoderSwerve - Class in swervelib.encoders
-
-
Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
-
-
AnalogAbsoluteEncoderSwerve(int) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Construct the Encoder given the analog input channel.
-
-
AnalogAbsoluteEncoderSwerve(AnalogInput) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Construct the Thrifty Encoder as a Swerve Absolute Encoder.
-
-
AnalogGyroSwerve - Class in swervelib.imu
-
-
Creates a IMU for AnalogGyro devices, only uses yaw.
-
-
AnalogGyroSwerve(int) - Constructor for class swervelib.imu.AnalogGyroSwerve
-
-
Analog port in which the gyroscope is connected.
-
-
angle - Variable in class swervelib.parser.json.ModuleJson
-
-
Angle motor device configuration.
-
-
angle - Variable in class swervelib.parser.json.modules.BoolMotorJson
-
-
Angle motor inversion state.
-
-
angle - Variable in class swervelib.parser.json.modules.ConversionFactorsJson
-
-
Angle motor conversion factors composition.
-
-
angle - Variable in class swervelib.parser.json.MotorConfigDouble
-
-
Angle motor.
-
-
angle - Variable in class swervelib.parser.json.MotorConfigInt
-
-
Angle motor.
-
-
angle - Variable in class swervelib.parser.json.PIDFPropertiesJson
-
-
The PIDF with Integral Zone used for the angle motor.
-
-
angle - Variable in class swervelib.simulation.SwerveIMUSimulation
-
-
Heading of the robot.
-
-
AngleConversionFactorsJson - Class in swervelib.parser.json.modules
-
-
Angle motor conversion factors composite JSON parse class.
-
-
AngleConversionFactorsJson() - Constructor for class swervelib.parser.json.modules.AngleConversionFactorsJson
-
 
-
angleJoystickRadiusDeadband - Variable in class swervelib.parser.json.ControllerPropertiesJson
-
-
The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
-
-
angleJoyStickRadiusDeadband - Variable in class swervelib.parser.SwerveControllerConfiguration
-
-
hypotenuse deadband for the robot angle control joystick.
-
-
angleLimiter - Variable in class swervelib.SwerveController
-
-
SlewRateLimiter for angular movement in radians/second.
-
-
angleModules(SwerveDrive, Rotation2d) - Static method in class swervelib.SwerveDriveTest
-
-
Set the angle of the modules to a given Rotation2d
-
-
angleMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
The drive motor and angle motor of this swerve module.
-
-
angleMotor - Variable in class swervelib.SwerveModule
-
-
Swerve Motors.
-
-
angleMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Current limits for the Swerve Module.
-
-
angleMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
State of inversion of the angle motor.
-
-
angleMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
The time it takes for the motor to go from 0 to full throttle in seconds.
-
-
angleOffset - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Angle offset in degrees for the Swerve Module.
-
-
angleOffset - Variable in class swervelib.SwerveModule
-
-
Angle offset from the absolute encoder.
-
-
anglePIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
PIDF configuration options for the angle motor closed-loop PID controller.
-
-
angularVelocityCoefficient - Variable in class swervelib.SwerveDrive
-
-
Angular Velocity Correction Coefficent (expected values between -0.15 and 0.15).
-
-
angularVelocityCorrection - Variable in class swervelib.SwerveDrive
-
-
Correct for skew that scales with angular velocity in SwerveDrive.drive(Translation2d, double, boolean, boolean)
-
-
angularVelocitySkewCorrection(ChassisSpeeds) - Method in class swervelib.SwerveDrive
-
-
Correct for skew that worsens as angular velocity increases
-
-
antiJitter(SwerveModuleState, SwerveModuleState, double) - Static method in class swervelib.math.SwerveMath
-
-
Perform anti-jitter within modules if the speed requested is too low.
-
-
antiJitterEnabled - Variable in class swervelib.SwerveModule
-
-
Anti-Jitter AKA auto-centering disabled.
-
-
applyDeadband(double, boolean, double) - Static method in class swervelib.math.SwerveMath
-
-
Algebraically apply a deadband using a piece wise function.
-
-
attainableMaxRotationalVelocityRadiansPerSecond - Variable in class swervelib.SwerveDrive
-
-
The absolute max speed the robot can reach while rotating radians per second.
-
-
attainableMaxTranslationalSpeedMetersPerSecond - Variable in class swervelib.SwerveDrive
-
-
The absolute max speed that your robot can reach while translating in meters per second.
-
-
autonomousAngularVelocityCorrection - Variable in class swervelib.SwerveDrive
-
-
Correct for skew that scales with angular velocity in SwerveDrive.setChassisSpeeds(ChassisSpeeds chassisSpeeds) - during auto.
-
-
autonomousChassisVelocityCorrection - Variable in class swervelib.SwerveDrive
-
-
Correct chassis velocity in SwerveDrive.setChassisSpeeds(ChassisSpeeds chassisSpeeds) (auto) using 254's - correction during auto.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html deleted file mode 100644 index 8fc5d3b..0000000 --- a/docs/index-files/index-10.html +++ /dev/null @@ -1,65 +0,0 @@ - - - - -K-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

K

-
-
kinematics - Variable in class swervelib.SwerveDrive
-
-
Swerve Kinematics object.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html deleted file mode 100644 index a3805bd..0000000 --- a/docs/index-files/index-11.html +++ /dev/null @@ -1,133 +0,0 @@ - - - - -L-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

L

-
-
lastAngleScalar - Variable in class swervelib.SwerveController
-
-
Last angle as a scalar [-1,1] the robot was set to.
-
-
lastHeadingRadians - Variable in class swervelib.SwerveDrive
-
-
The last heading set in radians.
-
-
lastState - Variable in class swervelib.SwerveModule
-
-
Last swerve module state applied.
-
-
lastTime - Variable in class swervelib.simulation.SwerveIMUSimulation
-
-
The last time the timer was read, used to determine position changes.
-
-
lastTime - Variable in class swervelib.simulation.SwerveModuleSimulation
-
-
Last time queried.
-
-
left - Variable in class swervelib.parser.json.modules.LocationJson
-
-
Location of the swerve module in inches from the center of the robot vertically.
-
-
limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, List<Matter>, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath
-
-
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).
-
-
location - Variable in class swervelib.parser.json.ModuleJson
-
-
The location of the swerve module from the center of the robot in inches.
-
-
LocationJson - Class in swervelib.parser.json.modules
-
-
Location JSON parsed class.
-
-
LocationJson() - Constructor for class swervelib.parser.json.modules.LocationJson
-
 
-
lockPose() - Method in class swervelib.SwerveDrive
-
-
Point all modules toward the robot center, thus making the robot very difficult to move.
-
-
logAngularMotorActivity(SwerveModule, SysIdRoutineLog, Supplier<Double>) - Static method in class swervelib.SwerveDriveTest
-
-
Logs info about the angle motor to the SysIdRoutineLog
-
-
logAngularMotorDutyCycle(SwerveModule, SysIdRoutineLog) - Static method in class swervelib.SwerveDriveTest
-
-
Logs info about the angle motor to the SysIdRoutineLog.
-
-
logAngularMotorVoltage(SwerveModule, SysIdRoutineLog) - Static method in class swervelib.SwerveDriveTest
-
-
Logs info about the angle motor to the SysIdRoutineLog
-
-
logDriveMotorActivity(SwerveModule, SysIdRoutineLog, Supplier<Double>) - Static method in class swervelib.SwerveDriveTest
-
-
Logs power, position and velocuty info form the drive motor to the SysIdRoutineLog
-
-
logDriveMotorDutyCycle(SwerveModule, SysIdRoutineLog) - Static method in class swervelib.SwerveDriveTest
-
-
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.
-
-
logDriveMotorVoltage(SwerveModule, SysIdRoutineLog) - Static method in class swervelib.SwerveDriveTest
-
-
Logs voltage, position and velocuty info form the drive motor to the SysIdRoutineLog
-
-
LOW - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
Low telemetry data, only post the robot position on the field.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html deleted file mode 100644 index a00dfb7..0000000 --- a/docs/index-files/index-12.html +++ /dev/null @@ -1,259 +0,0 @@ - - - - -M-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

M

-
-
m_anglePosition - Static variable in class swervelib.SwerveDriveTest
-
-
Tracks the rotations of an angular motor
-
-
m_angleVoltageSetter - Variable in class swervelib.motors.TalonFXSwerve
-
-
Motion magic angle voltage setter.
-
-
m_angVelocity - Static variable in class swervelib.SwerveDriveTest
-
-
Tracks the velocity of an angular motor
-
-
m_appliedVoltage - Static variable in class swervelib.SwerveDriveTest
-
-
Tracks the voltage being applied to a motor
-
-
m_distance - Static variable in class swervelib.SwerveDriveTest
-
-
Tracks the distance travelled of a position motor
-
-
m_inputGain - Variable in class swervelib.math.IMULinearMovingAverageFilter
-
-
Gain on each reading.
-
-
m_inputs - Variable in class swervelib.math.IMULinearMovingAverageFilter
-
-
Circular buffer storing the current IMU readings
-
-
m_velocity - Static variable in class swervelib.SwerveDriveTest
-
-
Tracks the velocity of a positional motor
-
-
m_velocityVoltageSetter - Variable in class swervelib.motors.TalonFXSwerve
-
-
Velocity voltage setter for controlling drive motor.
-
-
MACHINE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
Only send the machine readable data related to swerve drive.
-
-
magnetFieldLessThanIdeal - Variable in class swervelib.encoders.CANCoderSwerve
-
-
An Alert for if the CANCoder magnet field is less than ideal.
-
-
mass - Variable in class swervelib.math.Matter
-
-
Mass in kg of object.
-
-
massMoment() - Method in class swervelib.math.Matter
-
-
Get the center mass of the object.
-
-
Matter - Class in swervelib.math
-
-
Object with significant mass that needs to be taken into account.
-
-
Matter(Translation3d, double) - Constructor for class swervelib.math.Matter
-
-
Construct an object representing some significant matter on the robot.
-
-
max - Variable in class swervelib.parser.deserializer.PIDFRange
-
-
Maximum value.
-
-
maxAngularVelocity - Variable in class swervelib.parser.SwerveControllerConfiguration
-
-
Maximum angular velocity in rad/s
-
-
maxAngularVelocity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The maximum achievable angular velocity of the robot.
-
-
maximumRetries - Variable in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.
-
-
maximumRetries - Variable in class swervelib.motors.SwerveMotor
-
-
The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.
-
-
maxSpeed - Variable in class swervelib.SwerveModule
-
-
Maximum speed of the drive motors in meters per second.
-
-
maxSpeed - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The maximum achievable speed of the modules, used to adjust the size of the vectors.
-
-
maxSpeedMPS - Variable in class swervelib.SwerveDrive
-
-
Maximum speed of the robot in meters per second.
-
-
measuredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The maximum achievable angular velocity of the robot.
-
-
measuredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
An array of rotation and velocity values describing the measured state of each swerve module
-
-
min - Variable in class swervelib.parser.deserializer.PIDFRange
-
-
Minimum value.
-
-
moduleConfigs - Static variable in class swervelib.parser.SwerveParser
-
-
Module number mapped to the JSON name.
-
-
moduleCount - Variable in class swervelib.parser.SwerveDriveConfiguration
-
-
Number of modules on the robot.
-
-
moduleCount - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The number of swerve modules
-
-
ModuleJson - Class in swervelib.parser.json
-
-
SwerveModule JSON parsed class.
-
-
ModuleJson() - Constructor for class swervelib.parser.json.ModuleJson
-
 
-
moduleJsons - Static variable in class swervelib.parser.SwerveParser
-
-
Array holding the module jsons given in SwerveDriveJson.
-
-
moduleLocation - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Swerve module location relative to the robot.
-
-
moduleLocationsMeters - Variable in class swervelib.parser.SwerveDriveConfiguration
-
-
Swerve Module locations.
-
-
moduleNumber - Variable in class swervelib.SwerveModule
-
-
Module number for kinematics, usually 0 to 3.
-
-
modules - Variable in class swervelib.parser.json.SwerveDriveJson
-
-
Module JSONs in order clockwise order starting from front left.
-
-
modules - Variable in class swervelib.parser.SwerveDriveConfiguration
-
-
Swerve Modules.
-
-
moduleSynchronizationCounter - Variable in class swervelib.SwerveDrive
-
-
Counter to synchronize the modules relative encoder with absolute encoder when not moving.
-
-
motor - Variable in class swervelib.motors.SparkFlexSwerve
-
-
SparkMAX Instance.
-
-
motor - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
SparkMAX Instance.
-
-
motor - Variable in class swervelib.motors.SparkMaxSwerve
-
-
SparkMAX Instance.
-
-
motor - Variable in class swervelib.motors.TalonFXSwerve
-
-
TalonFX motor controller.
-
-
motor - Variable in class swervelib.motors.TalonSRXSwerve
-
-
TalonSRX motor controller.
-
-
MotorConfigDouble - Class in swervelib.parser.json
-
-
Used to store doubles for motor configuration.
-
-
MotorConfigDouble() - Constructor for class swervelib.parser.json.MotorConfigDouble
-
-
Default constructor.
-
-
MotorConfigDouble(double, double) - Constructor for class swervelib.parser.json.MotorConfigDouble
-
-
Default constructor.
-
-
MotorConfigInt - Class in swervelib.parser.json
-
-
Used to store ints for motor configuration.
-
-
MotorConfigInt() - Constructor for class swervelib.parser.json.MotorConfigInt
-
-
Default constructor.
-
-
MotorConfigInt(int, int) - Constructor for class swervelib.parser.json.MotorConfigInt
-
-
Default constructor with values.
-
-
movementOptimizations(ChassisSpeeds, boolean, boolean) - Method in class swervelib.SwerveDrive
-
-
Enable desired drive corrections
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html deleted file mode 100644 index 193aec4..0000000 --- a/docs/index-files/index-13.html +++ /dev/null @@ -1,113 +0,0 @@ - - - - -N-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

N

-
-
name - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Name for the swerve module for telemetry.
-
-
navXError - Variable in class swervelib.imu.NavXSwerve
-
-
An Alert for if there is an error instantiating the NavX.
-
-
NavXSwerve - Class in swervelib.imu
-
-
Communicates with the NavX as the IMU.
-
-
NavXSwerve(I2C.Port) - Constructor for class swervelib.imu.NavXSwerve
-
-
Constructor for the NavX swerve.
-
-
NavXSwerve(SerialPort.Port) - Constructor for class swervelib.imu.NavXSwerve
-
-
Constructor for the NavX swerve.
-
-
NavXSwerve(SPI.Port) - Constructor for class swervelib.imu.NavXSwerve
-
-
Constructor for the NavX swerve.
-
-
noEncoderAlert - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
An Alert for if the motor has no encoder.
-
-
noEncoderDefinedAlert - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
An Alert for if the motor has no encoder defined.
-
-
noEncoderWarning - Variable in class swervelib.SwerveModule
-
-
An Alert for if there is no Absolute Encoder on the module.
-
-
nominalVoltage - Variable in class swervelib.motors.TalonSRXSwerve
-
-
Nominal voltage default to use with feedforward.
-
-
NONE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
No telemetry data is sent back.
-
-
normalizeAngle(double) - Static method in class swervelib.math.SwerveMath
-
-
Normalize an angle to be within 0 to 360.
-
-
notifier - Variable in class swervelib.imu.IMUVelocity
-
-
WPILib Notifier to keep IMU velocity up to date.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html deleted file mode 100644 index 2dd5770..0000000 --- a/docs/index-files/index-14.html +++ /dev/null @@ -1,125 +0,0 @@ - - - - -O-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

O

-
-
odometryLock - Variable in class swervelib.SwerveDrive
-
-
Odometry lock to ensure thread safety.
-
-
odometryThread - Variable in class swervelib.SwerveDrive
-
-
WPILib Notifier to keep odometry up to date.
-
-
offset - Variable in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
The Offset in degrees of the PWM absolute encoder.
-
-
offset - Variable in class swervelib.imu.ADIS16448Swerve
-
-
Offset for the ADIS16448.
-
-
offset - Variable in class swervelib.imu.ADIS16470Swerve
-
-
Offset for the ADIS16470.
-
-
offset - Variable in class swervelib.imu.ADXRS450Swerve
-
-
Offset for the ADXRS450.
-
-
offset - Variable in class swervelib.imu.AnalogGyroSwerve
-
-
Offset for the analog gyro.
-
-
offset - Variable in class swervelib.imu.CanandgyroSwerve
-
-
Offset for the Boron Canandgyro.
-
-
offset - Variable in class swervelib.imu.NavXSwerve
-
-
Offset for the NavX.
-
-
offset - Variable in class swervelib.imu.Pigeon2Swerve
-
-
Offset for the Pigeon 2.
-
-
offset - Variable in class swervelib.imu.PigeonSwerve
-
-
Offset for the Pigeon.
-
-
offsetFailure - Variable in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
An Alert for if there is a failure configuring the encoder offset.
-
-
openJson(File) - Method in class swervelib.parser.SwerveParser
-
-
Open JSON file.
-
-
optimalVoltage - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
The voltage to use for the smart motor voltage compensation, default is 12.
-
-
optimalVoltage - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
The voltage to use for the smart motor voltage compensation.
-
-
output - Variable in class swervelib.parser.PIDFConfig
-
-
The PIDF output range.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html deleted file mode 100644 index 0a4ab82..0000000 --- a/docs/index-files/index-15.html +++ /dev/null @@ -1,232 +0,0 @@ - - - - -P-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

P

-
-
p - Variable in class swervelib.parser.PIDFConfig
-
-
Proportional Gain for PID.
-
-
physicalCharacteristics - Variable in class swervelib.parser.SwerveDriveConfiguration
-
-
Physical characteristics of the swerve drive from physicalproperties.json.
-
-
physicalCharacteristics - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Physical characteristics of the swerve module.
-
-
physicalPropertiesJson - Static variable in class swervelib.parser.SwerveParser
-
-
Parsed modules/physicalproperties.json
-
-
PhysicalPropertiesJson - Class in swervelib.parser.json
-
-
SwerveModulePhysicalCharacteristics parsed data.
-
-
PhysicalPropertiesJson() - Constructor for class swervelib.parser.json.PhysicalPropertiesJson
-
 
-
pid - Variable in class swervelib.motors.SparkFlexSwerve
-
-
Closed-loop PID controller.
-
-
pid - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Closed-loop PID controller.
-
-
pid - Variable in class swervelib.motors.SparkMaxSwerve
-
-
Closed-loop PID controller.
-
-
PIDFConfig - Class in swervelib.parser
-
-
Hold the PIDF and Integral Zone values for a PID.
-
-
PIDFConfig() - Constructor for class swervelib.parser.PIDFConfig
-
-
Used when parsing PIDF values from JSON.
-
-
PIDFConfig(double, double) - Constructor for class swervelib.parser.PIDFConfig
-
-
PIDF Config constructor to contain the values.
-
-
PIDFConfig(double, double, double) - Constructor for class swervelib.parser.PIDFConfig
-
-
PIDF Config constructor to contain the values.
-
-
PIDFConfig(double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
-
-
PIDF Config constructor to contain the values.
-
-
PIDFConfig(double, double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
-
-
PIDF Config constructor to contain the values.
-
-
pidfPropertiesJson - Static variable in class swervelib.parser.SwerveParser
-
-
Parsed modules/pidfproperties.json
-
-
PIDFPropertiesJson - Class in swervelib.parser.json
-
-
SwerveModule PID with Feedforward for the drive motor and angle motor.
-
-
PIDFPropertiesJson() - Constructor for class swervelib.parser.json.PIDFPropertiesJson
-
 
-
PIDFRange - Class in swervelib.parser.deserializer
-
-
Class to hold the minimum and maximum input or output of the PIDF.
-
-
PIDFRange() - Constructor for class swervelib.parser.deserializer.PIDFRange
-
 
-
Pigeon2Swerve - Class in swervelib.imu
-
-
SwerveIMU interface for the Pigeon2
-
-
Pigeon2Swerve(int) - Constructor for class swervelib.imu.Pigeon2Swerve
-
-
Generate the SwerveIMU for pigeon.
-
-
Pigeon2Swerve(int, String) - Constructor for class swervelib.imu.Pigeon2Swerve
-
-
Generate the SwerveIMU for pigeon.
-
-
PigeonSwerve - Class in swervelib.imu
-
-
SwerveIMU interface for the Pigeon.
-
-
PigeonSwerve(int) - Constructor for class swervelib.imu.PigeonSwerve
-
-
Generate the SwerveIMU for pigeon.
-
-
placeInAppropriate0To360Scope(double, double) - Static method in class swervelib.math.SwerveMath
-
-
Put an angle within the 360 deg scope of a reference.
-
-
POSE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
Info level + field info
-
-
PoseLog(Pose2d) - Static method in class swervelib.math.SwerveMath
-
-
Logical inverse of the Pose exponential from 254.
-
-
position - Variable in class swervelib.imu.IMUVelocity
-
-
Tracks the previous loop's position as a Rotation2d.
-
-
position - Variable in class swervelib.math.Matter
-
-
Position in meters from robot center in 3d space.
-
-
position - Variable in class swervelib.motors.SparkMaxSwerve
-
-
Supplier for the position of the motor controller.
-
-
Position - Enum constant in enum class swervelib.motors.SparkFlexSwerve.SparkMAX_slotIdx
-
-
Slot 1, used for position PID's.
-
-
Position - Enum constant in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
-
-
Slot 1, used for position PID's.
-
-
positionConversionFactor - Variable in class swervelib.motors.TalonSRXSwerve
-
-
The position conversion factor to convert raw sensor units to Meters Per 100ms, or Ticks to Degrees.
-
-
postTrajectory(Trajectory) - Method in class swervelib.SwerveDrive
-
-
Post the trajectory to the field
-
-
powerAngleMotorsDutyCycle(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest
-
-
Power the angle motors for the swerve drive to a set percentage.
-
-
powerAngleMotorsVoltage(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest
-
-
Power the angle motors for the swerve drive to a set voltage.
-
-
powerDriveMotorsDutyCycle(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest
-
-
Power the drive motors for the swerve drive to a set duty cycle percentage.
-
-
powerDriveMotorsVoltage(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest
-
-
Power the drive motors for the swerve drive to a set voltage.
-
-
printAlert(String) - Method in class swervelib.telemetry.Alert
-
-
Print the alert message.
-
-
pushOffsetsToEncoders() - Method in class swervelib.SwerveDrive
-
-
Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.
-
-
pushOffsetsToEncoders() - Method in class swervelib.SwerveModule
-
-
Push absolute encoder offset in the memory of the encoder or controller.
-
-
PWMDutyCycleEncoderSwerve - Class in swervelib.encoders
-
-
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.
-
-
PWMDutyCycleEncoderSwerve(int) - Constructor for class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Constructor for the PWM duty cycle encoder.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html deleted file mode 100644 index ca2101f..0000000 --- a/docs/index-files/index-16.html +++ /dev/null @@ -1,65 +0,0 @@ - - - - -Q-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

Q

-
-
queueSynchronizeEncoders() - Method in class swervelib.SwerveModule
-
-
Queue synchronization of the integrated angle encoder with the absolute encoder.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html deleted file mode 100644 index c1fa2c8..0000000 --- a/docs/index-files/index-17.html +++ /dev/null @@ -1,122 +0,0 @@ - - - - -R-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

R

-
-
rampRate - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
The minimum number of seconds to take for the motor to go from 0 to full throttle.
-
-
rawAbsoluteAngleName - Variable in class swervelib.SwerveModule
-
-
NT3 Raw Absolute Angle publisher for the absolute encoder.
-
-
rawAngleName - Variable in class swervelib.SwerveModule
-
-
NT3 raw angle motor.
-
-
rawDriveName - Variable in class swervelib.SwerveModule
-
-
NT3 Raw drive motor.
-
-
rawDriveVelName - Variable in class swervelib.SwerveModule
-
-
NT3 Raw drive motor.
-
-
readingError - Variable in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Last angle reading was faulty.
-
-
readingFaulty - Variable in class swervelib.encoders.CANCoderSwerve
-
-
An Alert for if the CANCoder reading is faulty.
-
-
readingIgnored - Variable in class swervelib.encoders.CANCoderSwerve
-
-
An Alert for if the CANCoder reading is faulty and the reading is ignored.
-
-
replaceSwerveModuleFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveDrive
-
-
Setup the swerve module feedforward.
-
-
resetDriveEncoders() - Method in class swervelib.SwerveDrive
-
-
Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in - autonomous.
-
-
resetOdometry(Pose2d) - Method in class swervelib.SwerveDrive
-
-
Resets odometry to the given pose.
-
-
restoreInternalOffset() - Method in class swervelib.SwerveDrive
-
-
Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0
-
-
restoreInternalOffset() - Method in class swervelib.SwerveModule
-
-
Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value.
-
-
robotRotation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The robot's current rotation based on odometry or gyro readings
-
-
rotationUnit - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The units of the module rotations and robot rotation
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html deleted file mode 100644 index da45893..0000000 --- a/docs/index-files/index-18.html +++ /dev/null @@ -1,941 +0,0 @@ - - - - -S-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

S

-
-
scaleTranslation(Translation2d, double) - Static method in class swervelib.math.SwerveMath
-
-
Scale the Translation2d Polar coordinate magnitude.
-
-
SendableAlerts() - Constructor for class swervelib.telemetry.Alert.SendableAlerts
-
 
-
serialCommsIssueWarning - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
NavX serial comm issue.
-
-
set(boolean) - Method in class swervelib.telemetry.Alert
-
-
Sets whether the alert should currently be displayed.
-
-
set(double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the percentage output.
-
-
set(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the percentage output.
-
-
set(double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the percentage output.
-
-
set(double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the percentage output.
-
-
set(double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the percentage output.
-
-
set(double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the percentage output.
-
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the absolute encoder to be a compatible absolute encoder.
-
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the absolute encoder to be a compatible absolute encoder.
-
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the absolute encoder to be a compatible absolute encoder.
-
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SwerveMotor
-
-
Set the absolute encoder to be a compatible absolute encoder.
-
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the absolute encoder to be a compatible absolute encoder.
-
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the absolute encoder to be a compatible absolute encoder.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Cannot Set the offset of an Analog Absolute Encoder.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.CanAndMagSwerve
-
-
Cannot set the offset of the CANandMag.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.CANCoderSwerve
-
-
Sets the Absolute Encoder Offset within the CANcoder's Memory.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
 
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Sets the Absolute Encoder offset at the Encoder Level.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Sets the Absolute Encoder Offset inside of the SparkMax's Memory.
-
-
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Sets the Absolute Encoder offset at the Encoder Level.
-
-
setAngle(double) - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Set the heading of the robot.
-
-
setAngle(double) - Method in class swervelib.SwerveModule
-
-
Set the angle for the module.
-
-
setAngleMotorConversionFactor(double) - Method in class swervelib.SwerveDrive
-
-
Set the conversion factor for the angle/azimuth motor controller.
-
-
setAngleMotorConversionFactor(double) - Method in class swervelib.SwerveModule
-
-
Set the conversion factor for the angle/azimuth motor controller.
-
-
setAngleMotorVoltageCompensation(double) - Method in class swervelib.SwerveModule
-
-
Set the voltage compensation for the swerve module motor.
-
-
setAnglePIDF(PIDFConfig) - Method in class swervelib.SwerveModule
-
-
Set the angle/azimuth/steering motor PID
-
-
setAngleSysIdRoutine(SysIdRoutine.Config, SubsystemBase, SwerveDrive) - Static method in class swervelib.SwerveDriveTest
-
-
Sets up the SysId runner and logger for the angle motors
-
-
setAngularVelocityCompensation(boolean, boolean, double) - Method in class swervelib.SwerveDrive
-
-
Enables angular velocity skew correction in teleop and/or autonomous - and sets the angular velocity coefficient for both modes
-
-
setAntiJitter(boolean) - Method in class swervelib.SwerveModule
-
-
Set the antiJitter functionality, if true the modules will NOT auto center.
-
-
setAutoCenteringModules(boolean) - Method in class swervelib.SwerveDrive
-
-
Enable auto-centering module wheels.
-
-
setChassisDiscretization(boolean, boolean, double) - Method in class swervelib.SwerveDrive
-
-
Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop and/or auto
-
-
setChassisDiscretization(boolean, double) - Method in class swervelib.SwerveDrive
-
-
Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop
-
-
setChassisSpeeds(ChassisSpeeds) - Method in class swervelib.SwerveDrive
-
-
Set chassis speeds with closed-loop velocity control.
-
-
setCosineCompensator(boolean) - Method in class swervelib.SwerveDrive
-
-
Enable or disable the SwerveModuleConfiguration.useCosineCompensator for all - SwerveModule's in the swerve drive.
-
-
setCurrentLimit(int) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
-
-
setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
-
-
setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
-
-
setCurrentLimit(int) - Method in class swervelib.motors.SwerveMotor
-
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
-
-
setCurrentLimit(int) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
-
-
setCurrentLimit(int) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
-
-
setDesiredState(SwerveModuleState, boolean, boolean) - Method in class swervelib.SwerveModule
-
-
Set the desired state of the swerve module.
-
-
setDriveMotorConversionFactor(double) - Method in class swervelib.SwerveDrive
-
-
Set the conversion factor for the drive motor controller.
-
-
setDriveMotorConversionFactor(double) - Method in class swervelib.SwerveModule
-
-
Set the conversion factor for the drive motor controller.
-
-
setDriveMotorVoltageCompensation(double) - Method in class swervelib.SwerveModule
-
-
Set the voltage compensation for the swerve module motor.
-
-
setDrivePIDF(PIDFConfig) - Method in class swervelib.SwerveModule
-
-
Set the drive PIDF values.
-
-
setDriveSysIdRoutine(SysIdRoutine.Config, SubsystemBase, SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest
-
-
Sets up the SysId runner and logger for the drive motors
-
-
setEncoderAutoSynchronize(boolean) - Method in class swervelib.SwerveModule
-
-
Enable auto synchronization for encoders during a match.
-
-
setEncoderAutoSynchronize(boolean, double) - Method in class swervelib.SwerveModule
-
-
Enable auto synchronization for encoders during a match.
-
-
setFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveModule
-
-
Set the feedforward attributes to the given parameters.
-
-
setGyro(Rotation3d) - Method in class swervelib.SwerveDrive
-
-
Set the expected gyroscope angle using a Rotation3d object.
-
-
setGyroOffset(Rotation3d) - Method in class swervelib.SwerveDrive
-
-
Set the gyro scope offset to a desired known rotation.
-
-
setHeadingCorrection(boolean) - Method in class swervelib.SwerveDrive
-
-
Set the heading correction capabilities of YAGSL.
-
-
setHeadingCorrection(boolean, double) - Method in class swervelib.SwerveDrive
-
-
Set the heading correction capabilities of YAGSL.
-
-
setInverted(boolean) - Method in class swervelib.imu.ADIS16448Swerve
-
-
Set the gyro to invert its default direction
-
-
setInverted(boolean) - Method in class swervelib.imu.ADIS16470Swerve
-
-
Set the gyro to invert its default direction
-
-
setInverted(boolean) - Method in class swervelib.imu.ADXRS450Swerve
-
-
Set the gyro to invert its default direction
-
-
setInverted(boolean) - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Set the gyro to invert its default direction
-
-
setInverted(boolean) - Method in class swervelib.imu.CanandgyroSwerve
-
-
Set the gyro to invert its default direction
-
-
setInverted(boolean) - Method in class swervelib.imu.NavXSwerve
-
-
Set the gyro to invert its default direction
-
-
setInverted(boolean) - Method in class swervelib.imu.Pigeon2Swerve
-
-
Set the gyro to invert its default direction
-
-
setInverted(boolean) - Method in class swervelib.imu.PigeonSwerve
-
-
Set the gyro to invert its default direction
-
-
setInverted(boolean) - Method in class swervelib.imu.SwerveIMU
-
-
Set the gyro to invert its default direction.
-
-
setInverted(boolean) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the motor to be inverted.
-
-
setInverted(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the motor to be inverted.
-
-
setInverted(boolean) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the motor to be inverted.
-
-
setInverted(boolean) - Method in class swervelib.motors.SwerveMotor
-
-
Set the motor to be inverted.
-
-
setInverted(boolean) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the motor to be inverted.
-
-
setInverted(boolean) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the motor to be inverted.
-
-
setLoopRampRate(double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the maximum rate the open/closed loop output can change by.
-
-
setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the maximum rate the open/closed loop output can change by.
-
-
setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the maximum rate the open/closed loop output can change by.
-
-
setLoopRampRate(double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the maximum rate the open/closed loop output can change by.
-
-
setLoopRampRate(double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the maximum rate the open/closed loop output can change by.
-
-
setLoopRampRate(double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the maximum rate the open/closed loop output can change by.
-
-
setMaximumAngularVelocity(double) - Method in class swervelib.SwerveController
-
-
Set a new maximum angular velocity that is different from the auto-generated one.
-
-
setMaximumSpeed(double) - Method in class swervelib.SwerveDrive
-
-
Set the maximum speed of the drive motors, modified SwerveDrive.maxSpeedMPS which is used for the - SwerveDrive.setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
-
-
setMaximumSpeed(double, boolean, double) - Method in class swervelib.SwerveDrive
-
-
Set the maximum speed of the drive motors, modified SwerveDrive.maxSpeedMPS which is used for the - SwerveDrive.setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
-
-
setMaximumSpeeds(double, double, double) - Method in class swervelib.SwerveDrive
-
-
Set the maximum speeds for desaturation.
-
-
setModuleEncoderAutoSynchronize(boolean, double) - Method in class swervelib.SwerveDrive
-
-
Enable auto synchronization for encoders during a match.
-
-
setModuleStates(SwerveModuleState[], boolean) - Method in class swervelib.SwerveDrive
-
-
Set the module states (azimuth and velocity) directly.
-
-
setMotorBrake(boolean) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the idle mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the idle mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the idle mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.motors.SwerveMotor
-
-
Set the idle mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the idle mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the idle mode.
-
-
setMotorBrake(boolean) - Method in class swervelib.SwerveModule
-
-
Set the brake mode.
-
-
setMotorIdleMode(boolean) - Method in class swervelib.SwerveDrive
-
-
Sets the drive motors to brake/coast mode.
-
-
setOdometryPeriod(double) - Method in class swervelib.SwerveDrive
-
-
Set the odometry update period in seconds.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16448Swerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16470Swerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.ADXRS450Swerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.CanandgyroSwerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.NavXSwerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.Pigeon2Swerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.PigeonSwerve
-
-
Set the gyro offset.
-
-
setOffset(Rotation3d) - Method in class swervelib.imu.SwerveIMU
-
-
Set the gyro offset.
-
-
setPosition(double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the integrated encoder position.
-
-
setPosition(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the integrated encoder position.
-
-
setPosition(double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the integrated encoder position.
-
-
setPosition(double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the integrated encoder position.
-
-
setPosition(double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the integrated encoder position.
-
-
setPosition(double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the integrated encoder position.
-
-
setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean) - Method in class swervelib.SwerveDrive
-
-
Set the module states (azimuth and velocity) directly.
-
-
setReference(double, double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double, double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double, double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double, double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double, double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setReference(double, double, double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the closed loop PID controller reference point.
-
-
setText(String) - Method in class swervelib.telemetry.Alert
-
-
Updates current alert text.
-
-
setVisionMeasurementStdDevs(Matrix<N3, N1>) - Method in class swervelib.SwerveDrive
-
-
Sets the pose estimator's trust of global measurements.
-
-
setVoltage(double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the voltage of the motor.
-
-
setVoltage(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the voltage of the motor.
-
-
setVoltage(double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the voltage of the motor.
-
-
setVoltage(double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the voltage of the motor.
-
-
setVoltage(double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the voltage of the motor.
-
-
setVoltage(double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the voltage of the motor.
-
-
setVoltageCompensation(double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the voltage compensation for the swerve module motor.
-
-
setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the voltage compensation for the swerve module motor.
-
-
setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the voltage compensation for the swerve module motor.
-
-
setVoltageCompensation(double) - Method in class swervelib.motors.SwerveMotor
-
-
Set the voltage compensation for the swerve module motor.
-
-
setVoltageCompensation(double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the voltage compensation for the swerve module motor.
-
-
setVoltageCompensation(double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the voltage compensation for the swerve module motor.
-
-
simIMU - Variable in class swervelib.SwerveDrive
-
-
Simulation of the swerve drive.
-
-
simModule - Variable in class swervelib.SwerveModule
-
-
Simulated swerve module.
-
-
Simulation - Enum constant in enum class swervelib.motors.SparkFlexSwerve.SparkMAX_slotIdx
-
-
Slot 3, used arbitrarily.
-
-
Simulation - Enum constant in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
-
-
Slot 3, used arbitrarily.
-
-
sizeFrontBack - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The distance between the front and back modules.
-
-
sizeLeftRight - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The distance between the left and right modules.
-
-
SparkFlexSwerve - Class in swervelib.motors
-
-
An implementation of CANSparkFlex as a SwerveMotor.
-
-
SparkFlexSwerve(int, boolean) - Constructor for class swervelib.motors.SparkFlexSwerve
-
-
Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
-
-
SparkFlexSwerve(CANSparkFlex, boolean) - Constructor for class swervelib.motors.SparkFlexSwerve
-
-
Initialize the swerve motor.
-
-
SparkFlexSwerve.SparkMAX_slotIdx - Enum Class in swervelib.motors
-
-
REV Slots for PID configuration.
-
-
SparkMAX_slotIdx() - Constructor for enum class swervelib.motors.SparkFlexSwerve.SparkMAX_slotIdx
-
 
-
SparkMAX_slotIdx() - Constructor for enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
-
 
-
SparkMaxAnalogEncoderSwerve - Class in swervelib.encoders
-
-
SparkMax absolute encoder, attached through the data port analog pin.
-
-
SparkMaxAnalogEncoderSwerve(SwerveMotor, double) - Constructor for class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Create the SparkMaxAnalogEncoderSwerve object as a analog sensor from the CANSparkMax motor data - port analog pin.
-
-
SparkMaxBrushedMotorSwerve - Class in swervelib.motors
-
-
Brushed motor control with SparkMax.
-
-
SparkMaxBrushedMotorSwerve(int, boolean, SparkRelativeEncoder.Type, int, boolean) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
-
-
SparkMaxBrushedMotorSwerve(CANSparkMax, boolean, SparkRelativeEncoder.Type, int, boolean) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Initialize the swerve motor.
-
-
SparkMaxEncoderSwerve - Class in swervelib.encoders
-
-
SparkMax absolute encoder, attached through the data port.
-
-
SparkMaxEncoderSwerve(SwerveMotor, int) - Constructor for class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Create the SparkMaxEncoderSwerve object as a duty cycle from the CANSparkMax motor.
-
-
SparkMaxSwerve - Class in swervelib.motors
-
-
An implementation of CANSparkMax as a SwerveMotor.
-
-
SparkMaxSwerve(int, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
-
-
Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
-
-
SparkMaxSwerve(CANSparkMax, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
-
-
Initialize the swerve motor.
-
-
SparkMaxSwerve.SparkMAX_slotIdx - Enum Class in swervelib.motors
-
-
REV Slots for PID configuration.
-
-
state - Variable in class swervelib.simulation.SwerveModuleSimulation
-
-
Current simulated swerve module state.
-
-
STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.encoders.CANCoderSwerve
-
-
Wait time for status frames to show up.
-
-
STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.imu.CanandgyroSwerve
-
-
Wait time for status frames to show up.
-
-
STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.imu.Pigeon2Swerve
-
-
Wait time for status frames to show up.
-
-
STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.motors.TalonFXSwerve
-
-
Wait time for status frames to show up.
-
-
stopOdometryThread() - Method in class swervelib.SwerveDrive
-
-
Stop the odometry thread in favor of manually updating odometry.
-
-
supplier - Variable in class swervelib.parser.Cache
-
-
Supplier for cached value.
-
-
SwerveAbsoluteEncoder - Class in swervelib.encoders
-
-
Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
-
-
SwerveAbsoluteEncoder() - Constructor for class swervelib.encoders.SwerveAbsoluteEncoder
-
 
-
swerveController - Variable in class swervelib.SwerveDrive
-
-
Swerve controller for controlling heading of the robot.
-
-
SwerveController - Class in swervelib
-
-
Controller class used to convert raw inputs into robot speeds.
-
-
SwerveController(SwerveControllerConfiguration) - Constructor for class swervelib.SwerveController
-
-
Construct the SwerveController object which is used for determining the speeds of the robot based on controller - input.
-
-
SwerveControllerConfiguration - Class in swervelib.parser
-
-
Swerve Controller configuration class which is used to configure SwerveController.
-
-
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
-
-
Construct the swerve controller configuration.
-
-
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
-
-
Construct the swerve controller configuration.
-
-
SwerveDrive - Class in swervelib
-
-
Swerve Drive class representing and controlling the swerve drive.
-
-
SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration, double) - Constructor for class swervelib.SwerveDrive
-
-
Creates a new swerve drivebase subsystem.
-
-
swerveDriveConfiguration - Variable in class swervelib.SwerveDrive
-
-
Swerve drive configuration.
-
-
SwerveDriveConfiguration - Class in swervelib.parser
-
-
Swerve drive configurations used during SwerveDrive construction.
-
-
SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, boolean, SimpleMotorFeedforward, SwerveModulePhysicalCharacteristics) - Constructor for class swervelib.parser.SwerveDriveConfiguration
-
-
Create swerve drive configuration.
-
-
swerveDriveJson - Static variable in class swervelib.parser.SwerveParser
-
-
Parsed swervedrive.json
-
-
SwerveDriveJson - Class in swervelib.parser.json
-
-
SwerveDrive JSON parsed class.
-
-
SwerveDriveJson() - Constructor for class swervelib.parser.json.SwerveDriveJson
-
 
-
swerveDrivePoseEstimator - Variable in class swervelib.SwerveDrive
-
-
Swerve odometry.
-
-
SwerveDriveTelemetry - Class in swervelib.telemetry
-
-
Telemetry to describe the SwerveDrive following frc-web-components.
-
-
SwerveDriveTelemetry() - Constructor for class swervelib.telemetry.SwerveDriveTelemetry
-
 
-
SwerveDriveTelemetry.TelemetryVerbosity - Enum Class in swervelib.telemetry
-
-
Verbosity of telemetry data sent back.
-
-
SwerveDriveTest - Class in swervelib
-
-
Class to perform tests on the swerve drive.
-
-
SwerveDriveTest() - Constructor for class swervelib.SwerveDriveTest
-
 
-
SwerveIMU - Class in swervelib.imu
-
-
Swerve IMU abstraction to define a standard interface with a swerve drive.
-
-
SwerveIMU() - Constructor for class swervelib.imu.SwerveIMU
-
 
-
SwerveIMUSimulation - Class in swervelib.simulation
-
-
Simulation for SwerveDrive IMU.
-
-
SwerveIMUSimulation() - Constructor for class swervelib.simulation.SwerveIMUSimulation
-
-
Create the swerve drive IMU simulation.
-
-
swervelib - package swervelib
-
-
Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
-
-
swervelib.encoders - package swervelib.encoders
-
-
Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
-
-
swervelib.imu - package swervelib.imu
-
-
IMUs used for controlling the robot heading.
-
-
swervelib.math - package swervelib.math
-
-
Mathematics for swerve drives.
-
-
swervelib.motors - package swervelib.motors
-
-
Swerve motor controller wrappers which implement SwerveMotor.
-
-
swervelib.parser - package swervelib.parser
-
-
JSON Parser for YAGSL configurations.
-
-
swervelib.parser.deserializer - package swervelib.parser.deserializer
-
-
Deserialize specific variables for outside the parser.
-
-
swervelib.parser.json - package swervelib.parser.json
-
-
JSON Mapped classes for parsing configuration files.
-
-
swervelib.parser.json.modules - package swervelib.parser.json.modules
-
-
JSON Mapped Configuration types for modules.
-
-
swervelib.simulation - package swervelib.simulation
-
-
Classes used to simulate the swerve drive.
-
-
swervelib.telemetry - package swervelib.telemetry
-
-
Telemetry package for sending data to NT4 or SmartDashboard.
-
-
SwerveMath - Class in swervelib.math
-
-
Mathematical functions which pertain to swerve drive.
-
-
SwerveMath() - Constructor for class swervelib.math.SwerveMath
-
 
-
SwerveModule - Class in swervelib
-
-
The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
-
-
SwerveModule(int, SwerveModuleConfiguration, SimpleMotorFeedforward) - Constructor for class swervelib.SwerveModule
-
-
Construct the swerve module and initialize the swerve module motors and absolute encoder.
-
-
SwerveModuleConfiguration - Class in swervelib.parser
-
-
Swerve Module configuration class which is used to configure SwerveModule.
-
-
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, String, boolean) - Constructor for class swervelib.parser.SwerveModuleConfiguration
-
-
Construct a configuration object for swerve modules.
-
-
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String, boolean) - Constructor for class swervelib.parser.SwerveModuleConfiguration
-
-
Construct a configuration object for swerve modules.
-
-
SwerveModulePhysicalCharacteristics - Class in swervelib.parser
-
-
Configuration class which stores physical characteristics shared between every swerve module.
-
-
SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Construct the swerve module physical characteristics.
-
-
SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double, int, int, double, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Construct the swerve module physical characteristics.
-
-
swerveModules - Variable in class swervelib.SwerveDrive
-
-
Swerve modules.
-
-
SwerveModuleSimulation - Class in swervelib.simulation
-
-
Class to hold simulation data for SwerveModule
-
-
SwerveModuleSimulation() - Constructor for class swervelib.simulation.SwerveModuleSimulation
-
-
Create simulation class and initialize module at 0.
-
-
SwerveMotor - Class in swervelib.motors
-
-
Swerve motor abstraction which defines a standard interface for motors within a swerve module.
-
-
SwerveMotor() - Constructor for class swervelib.motors.SwerveMotor
-
 
-
SwerveParser - Class in swervelib.parser
-
-
Helper class used to parse the JSON directory with specified configuration options.
-
-
SwerveParser(File) - Constructor for class swervelib.parser.SwerveParser
-
-
Construct a swerve parser.
-
-
synchronizeEncoderDeadband - Variable in class swervelib.SwerveModule
-
-
Encoder synchronization deadband in degrees.
-
-
synchronizeEncoderEnabled - Variable in class swervelib.SwerveModule
-
-
Encoder, Absolute encoder synchronization enabled.
-
-
synchronizeEncoderQueued - Variable in class swervelib.SwerveModule
-
-
Encoder synchronization queued.
-
-
synchronizeModuleEncoders() - Method in class swervelib.SwerveDrive
-
-
Synchronize angle motor integrated encoders with data from absolute encoders.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html deleted file mode 100644 index 571c915..0000000 --- a/docs/index-files/index-19.html +++ /dev/null @@ -1,127 +0,0 @@ - - - - -T-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

T

-
-
TalonFXSwerve - Class in swervelib.motors
-
-
TalonFX Swerve Motor.
-
-
TalonFXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
-
-
Construct the TalonFX swerve motor given the ID.
-
-
TalonFXSwerve(int, String, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
-
-
Construct the TalonFX swerve motor given the ID and CANBus.
-
-
TalonFXSwerve(TalonFX, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
-
-
Constructor for TalonFX swerve motor.
-
-
TalonSRXSwerve - Class in swervelib.motors
-
-
WPI_TalonSRX Swerve Motor.
-
-
TalonSRXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
-
-
Construct the TalonSRX swerve motor given the ID.
-
-
TalonSRXSwerve(WPI_TalonSRX, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
-
-
Constructor for TalonSRX swerve motor.
-
-
TelemetryVerbosity() - Constructor for enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
 
-
text - Variable in class swervelib.telemetry.Alert
-
-
Text of the alert.
-
-
thetaController - Variable in class swervelib.SwerveController
-
-
PID Controller for the robot heading.
-
-
timer - Variable in class swervelib.simulation.SwerveIMUSimulation
-
-
Main timer to control movement estimations.
-
-
timer - Variable in class swervelib.simulation.SwerveModuleSimulation
-
-
Main timer to simulate the passage of time.
-
-
timestamp - Variable in class swervelib.imu.IMUVelocity
-
-
Tracks the previous loop's recorded time.
-
-
timestamp - Variable in class swervelib.parser.Cache
-
-
Timestamp in microseconds.
-
-
tunerXRecommendation - Variable in class swervelib.SwerveDrive
-
-
Alert to recommend Tuner X if the configuration is compatible.
-
-
type - Variable in class swervelib.parser.json.DeviceJson
-
-
The device type, e.g.
-
-
type - Variable in class swervelib.telemetry.Alert
-
-
Type of the Alert to raise.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html deleted file mode 100644 index 3360a49..0000000 --- a/docs/index-files/index-2.html +++ /dev/null @@ -1,91 +0,0 @@ - - - - -B-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

B

-
-
BoolMotorJson - Class in swervelib.parser.json.modules
-
-
Inverted motor JSON parsed class.
-
-
BoolMotorJson() - Constructor for class swervelib.parser.json.modules.BoolMotorJson
-
 
-
burnFlash() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Save the configurations from flash to EEPROM.
-
-
burnFlash() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Save the configurations from flash to EEPROM.
-
-
burnFlash() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Save the configurations from flash to EEPROM.
-
-
burnFlash() - Method in class swervelib.motors.SwerveMotor
-
-
Save the configurations from flash to EEPROM.
-
-
burnFlash() - Method in class swervelib.motors.TalonFXSwerve
-
-
Save the configurations from flash to EEPROM.
-
-
burnFlash() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Save the configurations from flash to EEPROM.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html deleted file mode 100644 index 5aa650c..0000000 --- a/docs/index-files/index-20.html +++ /dev/null @@ -1,110 +0,0 @@ - - - - -U-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

U

-
-
update() - Method in class swervelib.imu.IMUVelocity
-
-
Update the robot's rotational velocity based on the current gyro position.
-
-
update() - Method in class swervelib.parser.Cache
-
-
Update the cache value and timestamp.
-
-
updateCacheValidityPeriods(long, long, long) - Method in class swervelib.SwerveDrive
-
-
Update the cache validity period for the robot.
-
-
updateData() - Static method in class swervelib.telemetry.SwerveDriveTelemetry
-
-
Upload data to smartdashboard
-
-
updateOdometry() - Method in class swervelib.SwerveDrive
-
-
Update odometry should be run every loop.
-
-
updateOdometry(SwerveDriveKinematics, SwerveModuleState[], Pose2d[], Field2d) - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Update the odometry of the simulated SwerveDrive and post the SwerveModule - states to the Field2d.
-
-
updateStateAndPosition(SwerveModuleState) - Method in class swervelib.simulation.SwerveModuleSimulation
-
-
Update the position and state of the module.
-
-
updateSupplier(Supplier<T>) - Method in class swervelib.parser.Cache
-
-
Update the supplier to a new source.
-
-
updateTelemetry() - Method in class swervelib.SwerveModule
-
-
Update data sent to SmartDashboard.
-
-
updateValidityPeriod(long) - Method in class swervelib.parser.Cache
-
-
Update the validity period for the cached value, also updates the value.
-
-
useCosineCompensator - Variable in class swervelib.parser.json.ModuleJson
-
-
Should do cosine compensation when not pointing correct direction;.
-
-
useCosineCompensator - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Should do cosine compensation when not pointing correct direction;.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html deleted file mode 100644 index e7d69bf..0000000 --- a/docs/index-files/index-21.html +++ /dev/null @@ -1,134 +0,0 @@ - - - - -V-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

V

-
-
validityPeriod - Variable in class swervelib.parser.Cache
-
-
Validity period in microseconds.
-
-
value - Variable in class swervelib.parser.Cache
-
-
Cached value.
-
-
valueOf(String) - Static method in enum class swervelib.motors.SparkFlexSwerve.SparkMAX_slotIdx
-
-
Returns the enum constant of this class with the specified name.
-
-
valueOf(String) - Static method in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
-
-
Returns the enum constant of this class with the specified name.
-
-
valueOf(String) - Static method in enum class swervelib.telemetry.Alert.AlertType
-
-
Returns the enum constant of this class with the specified name.
-
-
valueOf(String) - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
Returns the enum constant of this class with the specified name.
-
-
values() - Static method in enum class swervelib.motors.SparkFlexSwerve.SparkMAX_slotIdx
-
-
Returns an array containing the constants of this enum class, in -the order they are declared.
-
-
values() - Static method in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
-
-
Returns an array containing the constants of this enum class, in -the order they are declared.
-
-
values() - Static method in enum class swervelib.telemetry.Alert.AlertType
-
-
Returns an array containing the constants of this enum class, in -the order they are declared.
-
-
values() - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
Returns an array containing the constants of this enum class, in -the order they are declared.
-
-
velocity - Variable in class swervelib.imu.IMUVelocity
-
-
The calculated velocity of the robot based on averaged IMU measurements.
-
-
velocity - Variable in class swervelib.motors.SparkMaxSwerve
-
-
Supplier for the velocity of the motor controller.
-
-
Velocity - Enum constant in enum class swervelib.motors.SparkFlexSwerve.SparkMAX_slotIdx
-
-
Slot 2, used for velocity PID's.
-
-
Velocity - Enum constant in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
-
-
Slot 2, used for velocity PID's.
-
-
velocityFilter - Variable in class swervelib.imu.IMUVelocity
-
-
Linear filter used to calculate velocity, we use a custom filter class - to prevent unwanted operations.
-
-
velocityPIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
PIDF configuration options for the drive motor closed-loop PID controller.
-
-
verbosity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The current telemetry verbosity level.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html deleted file mode 100644 index 0d943ca..0000000 --- a/docs/index-files/index-22.html +++ /dev/null @@ -1,85 +0,0 @@ - - - - -W-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

W

-
-
WARNING - Enum constant in enum class swervelib.telemetry.Alert.AlertType
-
-
Medium priority alert - displayed second on the dashboard with a yellow "!" symbol.
-
-
WARNING_TRACE - Enum constant in enum class swervelib.telemetry.Alert.AlertType
-
-
Medium priority alert - displayed second on the dashboard with a yellow "!" symbol.
-
-
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
The grip tape coefficient of friction on carpet.
-
-
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Wheel grip tape coefficient of friction on carpet, as described by the vendor.
-
-
wheelLocations - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The Locations of the swerve drive wheels.
-
-
withinHypotDeadband(double, double) - Method in class swervelib.SwerveController
-
-
Calculate the hypot deadband and check if the joystick is within it.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html deleted file mode 100644 index 96dae00..0000000 --- a/docs/index-files/index-23.html +++ /dev/null @@ -1,69 +0,0 @@ - - - - -X-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

X

-
-
x - Variable in class swervelib.parser.json.modules.LocationJson
-
-
Location of the swerve module in inches from the center of the robot horizontally.
-
-
xLimiter - Variable in class swervelib.SwerveController
-
-
SlewRateLimiter for movement in the X direction in meters/second.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html deleted file mode 100644 index 285117f..0000000 --- a/docs/index-files/index-24.html +++ /dev/null @@ -1,69 +0,0 @@ - - - - -Y-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

Y

-
-
y - Variable in class swervelib.parser.json.modules.LocationJson
-
-
Location of the swerve module in inches from the center of the robot vertically.
-
-
yLimiter - Variable in class swervelib.SwerveController
-
-
SlewRateLimiter for movement in the Y direction in meters/second.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html deleted file mode 100644 index 908a4d3..0000000 --- a/docs/index-files/index-25.html +++ /dev/null @@ -1,65 +0,0 @@ - - - - -Z-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

Z

-
-
zeroGyro() - Method in class swervelib.SwerveDrive
-
-
Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html deleted file mode 100644 index 133f5c3..0000000 --- a/docs/index-files/index-3.html +++ /dev/null @@ -1,557 +0,0 @@ - - - - -C-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

C

-
-
Cache<T> - Class in swervelib.parser
-
-
Cache for frequently requested data.
-
-
Cache(Supplier<T>, long) - Constructor for class swervelib.parser.Cache
-
-
Cache for arbitrary values.
-
-
calcMaxAccel(Rotation2d, List<Matter>, double, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath
-
-
Calculates the maximum acceleration allowed in a direction without tipping the robot.
-
-
calculate() - Method in class swervelib.math.IMULinearMovingAverageFilter
-
-
Calculate the average of the samples in the buffer
-
-
calculate() - Method in class swervelib.parser.json.modules.AngleConversionFactorsJson
-
-
Calculate the drive conversion factor.
-
-
calculate() - Method in class swervelib.parser.json.modules.DriveConversionFactorsJson
-
-
Calculate the drive conversion factor.
-
-
calculateDegreesPerSteeringRotation(double) - Static method in class swervelib.math.SwerveMath
-
-
Calculate the degrees per steering rotation for the integrated encoder.
-
-
calculateDegreesPerSteeringRotation(double, double) - Static method in class swervelib.math.SwerveMath
-
-
Calculate the degrees per steering rotation for the integrated encoder.
-
-
calculateMaxAcceleration(double) - Static method in class swervelib.math.SwerveMath
-
-
Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
-
-
calculateMaxAcceleration(double, double, double, double, double) - Static method in class swervelib.math.SwerveMath
-
-
Calculate the maximum theoretical acceleration without friction.
-
-
calculateMaxAngularVelocity(double, double, double) - Static method in class swervelib.math.SwerveMath
-
-
Calculate the maximum angular velocity.
-
-
calculateMetersPerRotation(double, double) - Static method in class swervelib.math.SwerveMath
-
-
Calculate the meters per rotation for the integrated encoder.
-
-
calculateMetersPerRotation(double, double, double) - Static method in class swervelib.math.SwerveMath
-
-
Calculate the meters per rotation for the integrated encoder.
-
-
CanandgyroSwerve - Class in swervelib.imu
-
-
SwerveIMU interface for the Boron Candandgyro by Redux Robotics
-
-
CanandgyroSwerve(int) - Constructor for class swervelib.imu.CanandgyroSwerve
-
-
Generate the SwerveIMU for Canandgyro.
-
-
CanAndMagSwerve - Class in swervelib.encoders
-
-
HELIUM Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.
-
-
CanAndMagSwerve(int) - Constructor for class swervelib.encoders.CanAndMagSwerve
-
-
Create the Canandmag
-
-
canbus - Variable in class swervelib.parser.json.DeviceJson
-
-
The CAN bus name which the device resides on if using CAN.
-
-
CANCoderSwerve - Class in swervelib.encoders
-
-
Swerve Absolute Encoder for CTRE CANCoders.
-
-
CANCoderSwerve(int) - Constructor for class swervelib.encoders.CANCoderSwerve
-
-
Initialize the CANCoder on the standard CANBus.
-
-
CANCoderSwerve(int, String) - Constructor for class swervelib.encoders.CANCoderSwerve
-
-
Initialize the CANCoder on the CANivore.
-
-
canIdWarning - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
An Alert for if the CAN ID is greater than 40.
-
-
cannotSetOffset - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
An Alert for if the absolute encoder offset cannot be set.
-
-
cannotSetOffset - Variable in class swervelib.encoders.CANCoderSwerve
-
-
An Alert for if the absolute encoder offset cannot be set.
-
-
centerModules(SwerveDrive) - Static method in class swervelib.SwerveDriveTest
-
-
Set the modules to center to 0.
-
-
cfg - Variable in class swervelib.imu.Pigeon2Swerve
-
-
Pigeon2 configurator.
-
-
cfg - Variable in class swervelib.motors.TalonFXSwerve
-
-
Current TalonFX Configurator.
-
-
chassisVelocityCorrection - Variable in class swervelib.SwerveDrive
-
-
Correct chassis velocity in SwerveDrive.drive(Translation2d, double, boolean, boolean) using 254's - correction.
-
-
checkDirectory(File) - Method in class swervelib.parser.SwerveParser
-
-
Check directory structure.
-
-
checkIfTunerXCompatible() - Method in class swervelib.SwerveDrive
-
-
Check all components to ensure that Tuner X Swerve Generator is recommended instead.
-
-
clearStickyFaults() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.encoders.CanAndMagSwerve
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.encoders.CANCoderSwerve
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Clear sticky faults on the encoder.
-
-
clearStickyFaults() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.CanandgyroSwerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.NavXSwerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.PigeonSwerve
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.imu.SwerveIMU
-
-
Clear sticky faults on IMU.
-
-
clearStickyFaults() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Clear the sticky faults on the motor controller.
-
-
clearStickyFaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Clear the sticky faults on the motor controller.
-
-
clearStickyFaults() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Clear the sticky faults on the motor controller.
-
-
clearStickyFaults() - Method in class swervelib.motors.SwerveMotor
-
-
Clear the sticky faults on the motor controller.
-
-
clearStickyFaults() - Method in class swervelib.motors.TalonFXSwerve
-
-
Clear the sticky faults on the motor controller.
-
-
clearStickyFaults() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Clear the sticky faults on the motor controller.
-
-
config - Variable in class swervelib.SwerveController
-
-
SwerveControllerConfiguration object storing data to generate the PIDController for controlling the - robot heading, and deadband for heading joystick.
-
-
configChanged - Variable in class swervelib.motors.TalonSRXSwerve
-
-
If the TalonFX configuration has changed.
-
-
configuration - Variable in class swervelib.motors.TalonFXSwerve
-
-
Current TalonFX configuration.
-
-
configuration - Variable in class swervelib.motors.TalonSRXSwerve
-
-
Current TalonFX configuration.
-
-
configuration - Variable in class swervelib.SwerveModule
-
-
Swerve module configuration options.
-
-
configure(boolean) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Configure the absolute encoder to read from [0, 360) per second.
-
-
configure(boolean) - Method in class swervelib.encoders.CanAndMagSwerve
-
-
Configure the CANandMag to read from [0, 360) per second.
-
-
configure(boolean) - Method in class swervelib.encoders.CANCoderSwerve
-
-
Configure the absolute encoder to read from [0, 360) per second.
-
-
configure(boolean) - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Configure the inversion state of the encoder.
-
-
configure(boolean) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Configure the absolute encoder to read from [0, 360) per second.
-
-
configure(boolean) - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Configure the absolute encoder to read from [0, 360) per second.
-
-
configure(boolean) - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Configure the absolute encoder to read from [0, 360) per second.
-
-
configureCANStatusFrames(int) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the CAN status frames.
-
-
configureCANStatusFrames(int) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the CAN status frames.
-
-
configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Set the CAN status frames.
-
-
configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Set the CAN status frames.
-
-
configureCANStatusFrames(int, int, int, int, int, int, int) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Set the CAN status frames.
-
-
configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonFXSwerve
-
-
Set the CAN status frames.
-
-
configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Set the CAN status frames.
-
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Configure the integrated encoder for the swerve module.
-
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Configure the integrated encoder for the swerve module.
-
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Configure the integrated encoder for the swerve module.
-
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.SwerveMotor
-
-
Configure the integrated encoder for the swerve module.
-
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Configure the integrated encoder for the swerve module.
-
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Configure the integrated encoder for the swerve module.
-
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Configure the PIDF values for the closed loop controller.
-
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Configure the PIDF values for the closed loop controller.
-
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Configure the PIDF values for the closed loop controller.
-
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SwerveMotor
-
-
Configure the PIDF values for the closed loop controller.
-
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonFXSwerve
-
-
Configure the PIDF values for the closed loop controller.
-
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Configure the PIDF values for the closed loop controller.
-
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Configure the PID wrapping for the position closed loop controller.
-
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Configure the PID wrapping for the position closed loop controller.
-
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Configure the PID wrapping for the position closed loop controller.
-
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.SwerveMotor
-
-
Configure the PID wrapping for the position closed loop controller.
-
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonFXSwerve
-
-
Configure the PID wrapping for the position closed loop controller.
-
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Configure the PID wrapping for the position closed loop controller.
-
-
configureSparkFlex(Supplier<REVLibError>) - Method in class swervelib.motors.SparkFlexSwerve
-
-
Run the configuration until it succeeds or times out.
-
-
configureSparkMax(Supplier<REVLibError>) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Run the configuration until it succeeds or times out.
-
-
configureSparkMax(Supplier<REVLibError>) - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Run the configuration until it succeeds or times out.
-
-
configureSparkMax(Supplier<REVLibError>) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Run the configuration until it succeeds or times out.
-
-
configureSparkMax(Supplier<REVLibError>) - Method in class swervelib.motors.SparkMaxSwerve
-
-
Run the configuration until it succeeds or times out.
-
-
controllerPropertiesJson - Static variable in class swervelib.parser.SwerveParser
-
-
Parsed controllerproperties.json
-
-
ControllerPropertiesJson - Class in swervelib.parser.json
-
-
SwerveController parsed class.
-
-
ControllerPropertiesJson() - Constructor for class swervelib.parser.json.ControllerPropertiesJson
-
 
-
conversionFactor - Variable in class swervelib.motors.TalonFXSwerve
-
-
Conversion factor for the motor.
-
-
conversionFactor - Variable in class swervelib.parser.json.ModuleJson
-
-
Conversion factor for the module, if different from the one in swervedrive.json
-
-
conversionFactor - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
Conversion factor applied to the motor controllers PID loops.
-
-
conversionFactor - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
The conversion factors for the drive and angle motors, created by - SwerveMath.calculateMetersPerRotation(double, double, double) and - SwerveMath.calculateDegreesPerSteeringRotation(double, double).
-
-
conversionFactors - Variable in class swervelib.parser.json.ModuleJson
-
-
Conversion Factors composition.
-
-
conversionFactors - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
Conversion Factors composition.
-
-
conversionFactors - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Conversion factor for drive motor onboard PID's and angle PID's.
-
-
ConversionFactorsJson - Class in swervelib.parser.json.modules
-
-
Conversion Factors parsed JSON class
-
-
ConversionFactorsJson() - Constructor for class swervelib.parser.json.modules.ConversionFactorsJson
-
 
-
convertToNativeSensorUnits(double, double) - Method in class swervelib.motors.TalonSRXSwerve
-
-
Convert the setpoint into native sensor units.
-
-
createConfigCustomTimeout(double) - Static method in class swervelib.SwerveDriveTest
-
-
Creates a SysIdRoutine.Config with a custom final timeout
-
-
createControllerConfiguration(SwerveDriveConfiguration, double) - Method in class swervelib.parser.json.ControllerPropertiesJson
-
-
Create the SwerveControllerConfiguration based on parsed and given data.
-
-
createDriveFeedforward(double, double, double) - Static method in class swervelib.math.SwerveMath
-
-
Create the drive feedforward for swerve modules.
-
-
createEncoder(SwerveMotor) - Method in class swervelib.parser.json.DeviceJson
-
-
Create a SwerveAbsoluteEncoder from the current configuration.
-
-
createIMU() - Method in class swervelib.parser.json.DeviceJson
-
-
Create a SwerveIMU from the given configuration.
-
-
createIMUVelocity(SwerveIMU) - Static method in class swervelib.imu.IMUVelocity
-
-
Static factory for IMU Velocity.
-
-
createModuleConfiguration(PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String) - Method in class swervelib.parser.json.ModuleJson
-
-
Create the swerve module configuration based off of parsed data.
-
-
createModules(SwerveModuleConfiguration[], SimpleMotorFeedforward) - Method in class swervelib.parser.SwerveDriveConfiguration
-
-
Create modules based off of the SwerveModuleConfiguration.
-
-
createMotor(boolean) - Method in class swervelib.parser.json.DeviceJson
-
-
Create a SwerveMotor from the given configuration.
-
-
createPhysicalProperties() - Method in class swervelib.parser.json.PhysicalPropertiesJson
-
-
Create the physical characteristics based off the parsed data.
-
-
createPIDController() - Method in class swervelib.parser.PIDFConfig
-
-
Create a PIDController from the PID values.
-
-
createSwerveDrive(double) - Method in class swervelib.parser.SwerveParser
-
-
Create SwerveDrive from JSON configuration directory.
-
-
createSwerveDrive(double, double, double) - Method in class swervelib.parser.SwerveParser
-
-
Create SwerveDrive from JSON configuration directory.
-
-
createSwerveDrive(SimpleMotorFeedforward, double) - Method in class swervelib.parser.SwerveParser
-
-
Create SwerveDrive from JSON configuration directory.
-
-
createSwerveDrive(SimpleMotorFeedforward, double, double, double) - Method in class swervelib.parser.SwerveParser
-
-
Create SwerveDrive from JSON configuration directory.
-
-
cubeTranslation(Translation2d) - Static method in class swervelib.math.SwerveMath
-
-
Cube the Translation2d magnitude given in Polar coordinates.
-
-
currentLimit - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
The current limit in AMPs to apply to the motors.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html deleted file mode 100644 index 29a3575..0000000 --- a/docs/index-files/index-4.html +++ /dev/null @@ -1,190 +0,0 @@ - - - - -D-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

D

-
-
d - Variable in class swervelib.parser.PIDFConfig
-
-
Derivative Gain for PID.
-
-
desiredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
Describes the desired forward, sideways and angular velocity of the robot.
-
-
desiredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
An array of rotation and velocity values describing the desired state of each swerve module
-
-
DeviceJson - Class in swervelib.parser.json
-
-
Device JSON parsed class.
-
-
DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson
-
 
-
diameter - Variable in class swervelib.parser.json.modules.DriveConversionFactorsJson
-
-
Diameter of the wheel in inches.
-
-
discretizationdtSeconds - Variable in class swervelib.SwerveDrive
-
-
Amount of seconds the duration of the timestep the speeds should be applied for.
-
-
doesNotSupportIntegratedOffsets - Variable in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
An Alert for if the absolute encoder does not support integrated offsets.
-
-
drive - Variable in class swervelib.parser.json.ModuleJson
-
-
Drive motor device configuration.
-
-
drive - Variable in class swervelib.parser.json.modules.BoolMotorJson
-
-
Drive motor inversion state.
-
-
drive - Variable in class swervelib.parser.json.modules.ConversionFactorsJson
-
-
Drive motor conversion factors composition.
-
-
drive - Variable in class swervelib.parser.json.MotorConfigDouble
-
-
Drive motor.
-
-
drive - Variable in class swervelib.parser.json.MotorConfigInt
-
-
Drive motor.
-
-
drive - Variable in class swervelib.parser.json.PIDFPropertiesJson
-
-
The PIDF with Integral Zone used for the drive motor.
-
-
drive(Translation2d, double, boolean, boolean) - Method in class swervelib.SwerveDrive
-
-
The primary method for controlling the drivebase.
-
-
drive(Translation2d, double, boolean, boolean, Translation2d) - Method in class swervelib.SwerveDrive
-
-
The primary method for controlling the drivebase.
-
-
drive(ChassisSpeeds) - Method in class swervelib.SwerveDrive
-
-
Secondary method for controlling the drivebase.
-
-
drive(ChassisSpeeds, boolean, Translation2d) - Method in class swervelib.SwerveDrive
-
-
The primary method for controlling the drivebase.
-
-
drive(ChassisSpeeds, Translation2d) - Method in class swervelib.SwerveDrive
-
-
Secondary method for controlling the drivebase.
-
-
DriveConversionFactorsJson - Class in swervelib.parser.json.modules
-
-
Drive motor composite JSON parse class.
-
-
DriveConversionFactorsJson() - Constructor for class swervelib.parser.json.modules.DriveConversionFactorsJson
-
 
-
driveFieldOriented(ChassisSpeeds) - Method in class swervelib.SwerveDrive
-
-
Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
-
-
driveFieldOriented(ChassisSpeeds, Translation2d) - Method in class swervelib.SwerveDrive
-
-
Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
-
-
driveFieldOrientedandRobotOriented(ChassisSpeeds, ChassisSpeeds) - Method in class swervelib.SwerveDrive
-
-
Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same - time.
-
-
driveMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
The drive motor and angle motor of this swerve module.
-
-
driveMotor - Variable in class swervelib.SwerveModule
-
-
Swerve Motors.
-
-
driveMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Current limits for the Swerve Module.
-
-
driveMotorFeedforward - Variable in class swervelib.SwerveModule
-
-
Feedforward for the drive motor during closed loop control.
-
-
driveMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
State of inversion of the drive motor.
-
-
driveMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
The time it takes for the motor to go from 0 to full throttle in seconds.
-
-
drivePositionCache - Variable in class swervelib.SwerveModule
-
-
Drive motor position cache.
-
-
driveVelocityCache - Variable in class swervelib.SwerveModule
-
-
Drive motor velocity cache.
-
-
dt - Variable in class swervelib.simulation.SwerveModuleSimulation
-
-
Time delta since last update
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html deleted file mode 100644 index bf3e39d..0000000 --- a/docs/index-files/index-5.html +++ /dev/null @@ -1,113 +0,0 @@ - - - - -E-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

E

-
-
encoder - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Encoder as Analog Input.
-
-
encoder - Variable in class swervelib.encoders.CanAndMagSwerve
-
-
The Canandmag representing the CANandMag on the CAN bus.
-
-
encoder - Variable in class swervelib.encoders.CANCoderSwerve
-
-
CANCoder with WPILib sendable and support.
-
-
encoder - Variable in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Duty Cycle Encoder.
-
-
encoder - Variable in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
The SparkAnalogSensor representing the duty cycle encoder attached to the SparkMax analog port.
-
-
encoder - Variable in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
-
-
encoder - Variable in class swervelib.motors.SparkFlexSwerve
-
-
Integrated encoder.
-
-
encoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Integrated encoder.
-
-
encoder - Variable in class swervelib.motors.SparkMaxSwerve
-
-
Integrated encoder.
-
-
encoder - Variable in class swervelib.parser.json.ModuleJson
-
-
Absolute encoder device configuration.
-
-
encoderOffsetWarning - Variable in class swervelib.SwerveModule
-
-
An Alert for if pushing the Absolute Encoder offset to the encoder fails.
-
-
ERROR - Enum constant in enum class swervelib.telemetry.Alert.AlertType
-
-
High priority alert - displayed first on the dashboard with a red "X" symbol.
-
-
ERROR_TRACE - Enum constant in enum class swervelib.telemetry.Alert.AlertType
-
-
High priority alert - displayed first on the dashboard with a red "X" symbol.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html deleted file mode 100644 index 1455029..0000000 --- a/docs/index-files/index-6.html +++ /dev/null @@ -1,229 +0,0 @@ - - - - -F-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

F

-
-
f - Variable in class swervelib.parser.PIDFConfig
-
-
Feedforward value for PID.
-
-
factor - Variable in class swervelib.parser.json.modules.AngleConversionFactorsJson
-
-
Calculated or given conversion factor.
-
-
factor - Variable in class swervelib.parser.json.modules.DriveConversionFactorsJson
-
-
Calculated conversion factor.
-
-
factoryDefault() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.encoders.CanAndMagSwerve
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.encoders.CANCoderSwerve
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Reset the encoder to factory defaults.
-
-
factoryDefault() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.CanandgyroSwerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.NavXSwerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.PigeonSwerve
-
-
Reset IMU to factory default.
-
-
factoryDefault() - Method in class swervelib.imu.SwerveIMU
-
-
Reset IMU to factory default.
-
-
factoryDefaultOccurred - Variable in class swervelib.motors.SparkFlexSwerve
-
-
Factory default already occurred.
-
-
factoryDefaultOccurred - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Factory default already occurred.
-
-
factoryDefaultOccurred - Variable in class swervelib.motors.SparkMaxSwerve
-
-
Factory default already occurred.
-
-
factoryDefaultOccurred - Variable in class swervelib.motors.TalonFXSwerve
-
-
Factory default already occurred.
-
-
factoryDefaultOccurred - Variable in class swervelib.motors.TalonSRXSwerve
-
-
Factory default already occurred.
-
-
factoryDefaults() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Configure the factory defaults.
-
-
factoryDefaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Configure the factory defaults.
-
-
factoryDefaults() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Configure the factory defaults.
-
-
factoryDefaults() - Method in class swervelib.motors.SwerveMotor
-
-
Configure the factory defaults.
-
-
factoryDefaults() - Method in class swervelib.motors.TalonFXSwerve
-
-
Configure the factory defaults.
-
-
factoryDefaults() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Configure the factory defaults.
-
-
failureConfiguring - Variable in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
An Alert for if there is a failure configuring the encoder.
-
-
failureConfiguring - Variable in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
An Alert for if there is a failure configuring the encoder.
-
-
failureConfiguring - Variable in class swervelib.motors.SparkFlexSwerve
-
-
An Alert for if there is an error configuring the motor.
-
-
failureConfiguringAlert - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
An Alert for if there is an error configuring the motor.
-
-
fakePos - Variable in class swervelib.simulation.SwerveModuleSimulation
-
-
Fake motor position.
-
-
fakeSpeed - Variable in class swervelib.simulation.SwerveModuleSimulation
-
-
The fake speed of the previous state, used to calculate SwerveModuleSimulation.fakePos.
-
-
field - Variable in class swervelib.SwerveDrive
-
-
Field object.
-
-
findCouplingRatio(SwerveDrive, double, boolean) - Static method in class swervelib.SwerveDriveTest
-
-
Find the coupling ratio for all modules.
-
-
findDriveMotorKV(SwerveDrive, double, double, double) - Static method in class swervelib.SwerveDriveTest
-
-
Find the minimum amount of power required to move the swerve drive motors.
-
-
firstCycle - Variable in class swervelib.imu.IMUVelocity
-
-
Prevents calculation when no previous measurement exists.
-
-
forwardDirection - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
The direction the robot should be facing when the "Robot Rotation" is zero or blank.
-
-
front - Variable in class swervelib.parser.json.modules.LocationJson
-
-
Location of the swerve module in inches from the center of the robot horizontally.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html deleted file mode 100644 index ff4d8e5..0000000 --- a/docs/index-files/index-7.html +++ /dev/null @@ -1,669 +0,0 @@ - - - - -G-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

G

-
-
gearRatio - Variable in class swervelib.parser.json.modules.AngleConversionFactorsJson
-
-
Gear ratio for the angle/steering/azimuth motor on the Swerve Module.
-
-
gearRatio - Variable in class swervelib.parser.json.modules.DriveConversionFactorsJson
-
-
Gear ratio for the drive motor rotations to turn the wheel 1 complete rotation.
-
-
generateSysIdCommand(SysIdRoutine, double, double, double) - Static method in class swervelib.SwerveDriveTest
-
-
Creates a command that can be mapped to a button or other trigger.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Get the instantiated absolute encoder Object.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.CanAndMagSwerve
-
-
Get the instantiated absolute encoder Object.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.CANCoderSwerve
-
-
Get the instantiated absolute encoder Object.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Get the encoder object.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Get the instantiated absolute encoder Object.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Get the instantiated absolute encoder Object.
-
-
getAbsoluteEncoder() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Get the instantiated absolute encoder Object.
-
-
getAbsoluteEncoder() - Method in class swervelib.SwerveModule
-
-
Get the SwerveAbsoluteEncoder for the SwerveModule.
-
-
getAbsoluteEncoderReadIssue() - Method in class swervelib.SwerveModule
-
-
Get if the last Absolute Encoder had a read issue, such as it does not exist.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.CanAndMagSwerve
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.CANCoderSwerve
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Get the absolute position of the encoder.
-
-
getAbsolutePosition() - Method in class swervelib.SwerveModule
-
-
Get the absolute position.
-
-
getAccel() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.CanandgyroSwerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.NavXSwerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.PigeonSwerve
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.imu.SwerveIMU
-
-
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
-
-
getAccel() - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Fetch the acceleration [x, y, z] from the IMU in m/s/s.
-
-
getAccel() - Method in class swervelib.SwerveDrive
-
-
Gets current acceleration of the robot in m/s/s.
-
-
getAngleMotor() - Method in class swervelib.SwerveModule
-
-
Get the angle SwerveMotor for the SwerveModule.
-
-
getAnglePIDF() - Method in class swervelib.SwerveModule
-
-
Get the current angle/azimuth/steering motor PIDF values.
-
-
getAppliedOutput() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Get the applied dutycycle output.
-
-
getAppliedOutput() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Get the applied dutycycle output.
-
-
getAppliedOutput() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Get the applied dutycycle output.
-
-
getAppliedOutput() - Method in class swervelib.motors.SwerveMotor
-
-
Get the applied dutycycle output.
-
-
getAppliedOutput() - Method in class swervelib.motors.TalonFXSwerve
-
-
Get the applied dutycycle output.
-
-
getAppliedOutput() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Get the applied dutycycle output.
-
-
getConfiguration() - Method in class swervelib.SwerveModule
-
-
Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.
-
-
getCosineCompensatedVelocity(SwerveModuleState) - Method in class swervelib.SwerveModule
-
-
Get the cosine compensated velocity to set the swerve module to.
-
-
getDriveBaseRadiusMeters() - Method in class swervelib.parser.SwerveDriveConfiguration
-
-
Calculate the Drive Base Radius
-
-
getDriveMotor() - Method in class swervelib.SwerveModule
-
-
Get the drive SwerveMotor for the SwerveModule.
-
-
getDrivePIDF() - Method in class swervelib.SwerveModule
-
-
Get the current drive motor PIDF values.
-
-
getFieldVelocity() - Method in class swervelib.SwerveDrive
-
-
Gets the current field-relative velocity (x, y and omega) of the robot
-
-
getGyro() - Method in class swervelib.SwerveDrive
-
-
Getter for the SwerveIMU.
-
-
getGyroRotation3d() - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Gets the estimated gyro Rotation3d of the robot.
-
-
getGyroRotation3d() - Method in class swervelib.SwerveDrive
-
-
Gets the current gyro Rotation3d of the robot, as reported by the imu.
-
-
getIMU() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.CanandgyroSwerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.NavXSwerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.PigeonSwerve
-
-
Get the instantiated IMU object.
-
-
getIMU() - Method in class swervelib.imu.SwerveIMU
-
-
Get the instantiated IMU object.
-
-
getJoystickAngle(double, double) - Method in class swervelib.SwerveController
-
-
Get the angle in radians based off of the heading joysticks.
-
-
getMaximumAngularVelocity() - Method in class swervelib.SwerveDrive
-
-
Get the maximum angular velocity, either SwerveDrive.attainableMaxRotationalVelocityRadiansPerSecond or - SwerveControllerConfiguration.maxAngularVelocity.
-
-
getMaximumVelocity() - Method in class swervelib.SwerveDrive
-
-
Get the maximum velocity from SwerveDrive.attainableMaxTranslationalSpeedMetersPerSecond or - SwerveDrive.maxSpeedMPS whichever is higher.
-
-
getModuleConfigurationByName(String, SwerveDriveConfiguration) - Static method in class swervelib.parser.SwerveParser
-
-
Get the swerve module by the json name.
-
-
getModuleMap() - Method in class swervelib.SwerveDrive
-
-
Get the SwerveModule's as a HashMap where the key is the swerve module configuration name.
-
-
getModulePositions() - Method in class swervelib.SwerveDrive
-
-
Gets the current module positions (azimuth and wheel position (meters)).
-
-
getModules() - Method in class swervelib.SwerveDrive
-
-
Get the SwerveModules associated with the SwerveDrive.
-
-
getMotor() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Get the motor object from the module.
-
-
getMotor() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Get the motor object from the module.
-
-
getMotor() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Get the motor object from the module.
-
-
getMotor() - Method in class swervelib.motors.SwerveMotor
-
-
Get the motor object from the module.
-
-
getMotor() - Method in class swervelib.motors.TalonFXSwerve
-
-
Get the motor object from the module.
-
-
getMotor() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Get the motor object from the module.
-
-
getOdometryHeading() - Method in class swervelib.SwerveDrive
-
-
Fetch the latest odometry heading, should be trusted over SwerveDrive.getYaw().
-
-
getPitch() - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Pitch is not simulated currently, always returns 0.
-
-
getPitch() - Method in class swervelib.SwerveDrive
-
-
Gets the current pitch angle of the robot, as reported by the imu.
-
-
getPose() - Method in class swervelib.SwerveDrive
-
-
Gets the current pose (position and rotation) of the robot, as reported by odometry.
-
-
getPosition() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Get the position of the integrated encoder.
-
-
getPosition() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Get the position of the integrated encoder.
-
-
getPosition() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Get the position of the integrated encoder.
-
-
getPosition() - Method in class swervelib.motors.SwerveMotor
-
-
Get the position of the integrated encoder.
-
-
getPosition() - Method in class swervelib.motors.TalonFXSwerve
-
-
Get the position of the integrated encoder.
-
-
getPosition() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Get the position of the integrated encoder.
-
-
getPosition() - Method in class swervelib.simulation.SwerveModuleSimulation
-
-
Get the simulated swerve module position.
-
-
getPosition() - Method in class swervelib.SwerveModule
-
-
Get the position of the swerve module.
-
-
getRate() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Fetch the rotation rate from the IMU in degrees per second.
-
-
getRate() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Fetch the rotation rate from the IMU in degrees per second.
-
-
getRate() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Fetch the rotation rate from the IMU in degrees per second.
-
-
getRate() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Fetch the rotation rate from the IMU in degrees per second.
-
-
getRate() - Method in class swervelib.imu.CanandgyroSwerve
-
-
Fetch the rotation rate from the IMU in degrees per second.
-
-
getRate() - Method in class swervelib.imu.NavXSwerve
-
-
Fetch the rotation rate from the IMU in degrees per second.
-
-
getRate() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Fetch the rotation rate from the IMU in degrees per second.
-
-
getRate() - Method in class swervelib.imu.PigeonSwerve
-
-
Fetch the rotation rate from the IMU in degrees per second.
-
-
getRate() - Method in class swervelib.imu.SwerveIMU
-
-
Fetch the rotation rate from the IMU in degrees per second.
-
-
getRawAbsolutePosition() - Method in class swervelib.SwerveModule
-
-
Get the absolute position.
-
-
getRawRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.CanandgyroSwerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.NavXSwerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.PigeonSwerve
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawRotation3d() - Method in class swervelib.imu.SwerveIMU
-
-
Fetch the Rotation3d from the IMU without any zeroing.
-
-
getRawTargetSpeeds(double, double, double) - Method in class swervelib.SwerveController
-
-
Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
-
-
getRawTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController
-
-
Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
-
-
getRelativePosition() - Method in class swervelib.SwerveModule
-
-
Get the relative angle in degrees.
-
-
getRobotVelocity() - Method in class swervelib.SwerveDrive
-
-
Gets the current robot-relative velocity (x, y and omega) of the robot
-
-
getRoll() - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Roll is not simulated currently, always returns 0.
-
-
getRoll() - Method in class swervelib.SwerveDrive
-
-
Gets the current roll angle of the robot, as reported by the imu.
-
-
getRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.ADIS16470Swerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.ADXRS450Swerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.CanandgyroSwerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.NavXSwerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.Pigeon2Swerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.PigeonSwerve
-
-
Fetch the Rotation3d from the IMU.
-
-
getRotation3d() - Method in class swervelib.imu.SwerveIMU
-
-
Fetch the Rotation3d from the IMU.
-
-
getState() - Method in class swervelib.simulation.SwerveModuleSimulation
-
-
Get the SwerveModuleState of the simulated module.
-
-
getState() - Method in class swervelib.SwerveModule
-
-
Get the Swerve Module state.
-
-
getStates() - Method in class swervelib.SwerveDrive
-
-
Gets the current module states (azimuth and velocity)
-
-
getStrings(Alert.AlertType) - Method in class swervelib.telemetry.Alert.SendableAlerts
-
-
Get alerts based off of type.
-
-
getSwerveController() - Method in class swervelib.SwerveDrive
-
-
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.
-
-
getSwerveModule(SwerveModule[], boolean, boolean) - Static method in class swervelib.math.SwerveMath
-
-
Get the fruthest module from center based on the module locations.
-
-
getSwerveModulePoses(Pose2d) - Method in class swervelib.SwerveDrive
-
-
Get the swerve module poses and on the field relative to the robot.
-
-
getTargetSpeeds(double, double, double, double, double) - Method in class swervelib.SwerveController
-
-
Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.
-
-
getTargetSpeeds(double, double, double, double, double, double) - Method in class swervelib.SwerveController
-
-
Get the chassis speeds based on controller input of 2 joysticks.
-
-
getTranslation2d(ChassisSpeeds) - Static method in class swervelib.SwerveController
-
-
Helper function to get the Translation2d of the chassis speeds given the ChassisSpeeds.
-
-
getValue() - Method in class swervelib.parser.Cache
-
-
Get the most up to date cached value.
-
-
getVelocity() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.encoders.CanAndMagSwerve
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.encoders.CANCoderSwerve
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
-
-
Get the velocity in degrees/sec.
-
-
getVelocity() - Method in class swervelib.imu.IMUVelocity
-
-
Get the robot's angular velocity based on averaged meaasurements from the IMU.
-
-
getVelocity() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Get the velocity of the integrated encoder.
-
-
getVelocity() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Get the velocity of the integrated encoder.
-
-
getVelocity() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Get the velocity of the integrated encoder.
-
-
getVelocity() - Method in class swervelib.motors.SwerveMotor
-
-
Get the velocity of the integrated encoder.
-
-
getVelocity() - Method in class swervelib.motors.TalonFXSwerve
-
-
Get the velocity of the integrated encoder.
-
-
getVelocity() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Get the velocity of the integrated encoder.
-
-
getVoltage() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Get the voltage output of the motor controller.
-
-
getVoltage() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Get the voltage output of the motor controller.
-
-
getVoltage() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Get the voltage output of the motor controller.
-
-
getVoltage() - Method in class swervelib.motors.SwerveMotor
-
-
Get the voltage output of the motor controller.
-
-
getVoltage() - Method in class swervelib.motors.TalonFXSwerve
-
-
Get the voltage output of the motor controller.
-
-
getVoltage() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Get the voltage output of the motor controller.
-
-
getYaw() - Method in class swervelib.simulation.SwerveIMUSimulation
-
-
Get the estimated angle of the robot.
-
-
getYaw() - Method in class swervelib.SwerveDrive
-
-
Gets the current yaw angle of the robot, as reported by the imu.
-
-
groups - Static variable in class swervelib.telemetry.Alert
-
-
Group of the alert.
-
-
gyro - Variable in class swervelib.imu.IMUVelocity
-
-
Swerve IMU.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html deleted file mode 100644 index 32767fe..0000000 --- a/docs/index-files/index-8.html +++ /dev/null @@ -1,85 +0,0 @@ - - - - -H-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

H

-
-
heading - Variable in class swervelib.parser.json.ControllerPropertiesJson
-
-
The PID used to control the robot heading.
-
-
HEADING_CORRECTION_DEADBAND - Variable in class swervelib.SwerveDrive
-
-
Deadband for speeds in heading correction.
-
-
headingCalculate(double, double) - Method in class swervelib.SwerveController
-
-
Calculate the angular velocity given the current and target heading angle in radians.
-
-
headingCorrection - Variable in class swervelib.SwerveDrive
-
-
Whether to correct heading when driving translationally.
-
-
headingPIDF - Variable in class swervelib.parser.SwerveControllerConfiguration
-
-
PIDF for the heading of the robot.
-
-
HIGH - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
Full swerve drive data is sent back in both human and machine readable forms.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html deleted file mode 100644 index ea84de3..0000000 --- a/docs/index-files/index-9.html +++ /dev/null @@ -1,256 +0,0 @@ - - - - -I-Index - - - - - - - - - - - - - - - -
- -
-
-
-

Index

-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values -

I

-
-
i - Variable in class swervelib.parser.PIDFConfig
-
-
Integral Gain for PID.
-
-
i2cLockupWarning - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
An Alert for if there is an I2C lockup issue on the roboRIO.
-
-
id - Variable in class swervelib.parser.json.DeviceJson
-
-
The CAN ID or pin ID of the device.
-
-
imu - Variable in class swervelib.imu.ADIS16448Swerve
-
-
ADIS16448_IMU device to read the current headings from.
-
-
imu - Variable in class swervelib.imu.ADIS16470Swerve
-
-
ADIS16470_IMU device to read the current headings from.
-
-
imu - Variable in class swervelib.imu.ADXRS450Swerve
-
-
ADXRS450_Gyro device to read the current headings from.
-
-
imu - Variable in class swervelib.imu.AnalogGyroSwerve
-
-
Gyroscope object.
-
-
imu - Variable in class swervelib.imu.CanandgyroSwerve
-
-
Boron Canandgyro by Redux Robotics.
-
-
imu - Variable in class swervelib.imu.NavXSwerve
-
-
NavX IMU.
-
-
imu - Variable in class swervelib.imu.Pigeon2Swerve
-
-
Pigeon2 IMU device.
-
-
imu - Variable in class swervelib.imu.PigeonSwerve
-
-
Pigeon v1 IMU device.
-
-
imu - Variable in class swervelib.parser.json.SwerveDriveJson
-
-
Robot IMU used to determine heading of the robot.
-
-
imu - Variable in class swervelib.parser.SwerveDriveConfiguration
-
-
Swerve IMU
-
-
imu - Variable in class swervelib.SwerveDrive
-
-
Swerve IMU device for sensing the heading of the robot.
-
-
IMULinearMovingAverageFilter - Class in swervelib.math
-
-
A linear filter that does not calculate() each time a value is added to - the DoubleCircularBuffer.
-
-
IMULinearMovingAverageFilter(int) - Constructor for class swervelib.math.IMULinearMovingAverageFilter
-
-
Construct a linear moving average fitler
-
-
imuReadingCache - Variable in class swervelib.SwerveDrive
-
-
IMU reading cache for robot readings.
-
-
imuVelocity - Variable in class swervelib.SwerveDrive
-
-
Class that calculates robot's yaw velocity using IMU measurements.
-
-
IMUVelocity - Class in swervelib.imu
-
-
Generic IMU Velocity filter.
-
-
IMUVelocity(SwerveIMU, double, int) - Constructor for class swervelib.imu.IMUVelocity
-
-
Constructor for the IMU Velocity.
-
-
inaccurateVelocities - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
An Alert detailing how the analog absolute encoder may not report accurate velocities.
-
-
inaccurateVelocities - Variable in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
An Alert for if the encoder cannot report accurate velocities.
-
-
INFO - Enum constant in enum class swervelib.telemetry.Alert.AlertType
-
-
Low priority alert - displayed last on the dashboard with a green "i" symbol.
-
-
INFO - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
-
-
Medium telemetry data, swerve directory
-
-
initSendable(SendableBuilder) - Method in class swervelib.telemetry.Alert.SendableAlerts
-
 
-
inverted - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
-
-
Inversion state of the encoder.
-
-
inverted - Variable in class swervelib.parser.json.ModuleJson
-
-
Defines which motors are inverted.
-
-
invertedIMU - Variable in class swervelib.imu.ADIS16448Swerve
-
-
Inversion for the gyro
-
-
invertedIMU - Variable in class swervelib.imu.ADIS16470Swerve
-
-
Inversion for the gyro
-
-
invertedIMU - Variable in class swervelib.imu.ADXRS450Swerve
-
-
Inversion for the gyro
-
-
invertedIMU - Variable in class swervelib.imu.AnalogGyroSwerve
-
-
Inversion for the gyro
-
-
invertedIMU - Variable in class swervelib.imu.CanandgyroSwerve
-
-
Inversion for the gyro
-
-
invertedIMU - Variable in class swervelib.imu.NavXSwerve
-
-
Inversion for the gyro
-
-
invertedIMU - Variable in class swervelib.imu.Pigeon2Swerve
-
-
Inversion for the gyro
-
-
invertedIMU - Variable in class swervelib.imu.PigeonSwerve
-
-
Inversion for the gyro
-
-
invertedIMU - Variable in class swervelib.parser.json.SwerveDriveJson
-
-
Invert the IMU of the robot.
-
-
isAngleEmpty() - Method in class swervelib.parser.json.modules.ConversionFactorsJson
-
-
Check if the conversion factors are set for the angle motor.
-
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkFlexSwerve
-
-
Queries whether the absolute encoder is directly attached to the motor controller.
-
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
-
-
Queries whether the absolute encoder is directly attached to the motor controller.
-
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxSwerve
-
-
Queries whether the absolute encoder is directly attached to the motor controller.
-
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SwerveMotor
-
-
Queries whether the absolute encoder is directly attached to the motor controller.
-
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonFXSwerve
-
-
Queries whether the absolute encoder is directly attached to the motor controller.
-
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonSRXSwerve
-
-
Queries whether the absolute encoder is directly attached to the motor controller.
-
-
isDriveEmpty() - Method in class swervelib.parser.json.modules.ConversionFactorsJson
-
-
Check if the conversion factors are set for the drive motor.
-
-
isDriveMotor - Variable in class swervelib.motors.SwerveMotor
-
-
Whether the swerve motor is a drive motor.
-
-
isInverted - Variable in class swervelib.encoders.PWMDutyCycleEncoderSwerve
-
-
Inversion state.
-
-
isSimulation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
-
-
State of simulation of the Robot, used to optimize retrieval.
-
-
isStale() - Method in class swervelib.parser.Cache
-
-
Return whether the cache is stale.
-
-
iz - Variable in class swervelib.parser.PIDFConfig
-
-
Integral zone of the PID.
-
-
-A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
-
-
- - diff --git a/docs/index.html b/docs/index.html index e5190da..eb09dd7 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,105 +1,3 @@ - - - - -Overview - - - - - - - - - - - - - - - -
- -
-
-
-
Packages
-
-
Package
-
Description
-
swervelib
-
-
Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
-
-
swervelib.encoders
-
-
Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
-
-
swervelib.imu
-
-
IMUs used for controlling the robot heading.
-
-
swervelib.math
-
-
Mathematics for swerve drives.
-
-
swervelib.motors
-
-
Swerve motor controller wrappers which implement SwerveMotor.
-
-
swervelib.parser
-
-
JSON Parser for YAGSL configurations.
-
-
swervelib.parser.deserializer
-
-
Deserialize specific variables for outside the parser.
-
-
swervelib.parser.json
-
-
JSON Mapped classes for parsing configuration files.
-
-
swervelib.parser.json.modules
-
-
JSON Mapped Configuration types for modules.
-
-
swervelib.simulation
-
-
Classes used to simulate the swerve drive.
-
-
swervelib.telemetry
-
-
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, SlewRateLimiter, SlewRateLimiter)","u":"addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter)"},{"p":"swervelib.math","c":"IMULinearMovingAverageFilter","l":"addValue(double)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double, Matrix)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"ADIS16448Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"ADIS16470Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveModule","l":"adjAbsoluteAngleName"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"ADXRS450Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.telemetry","c":"Alert","l":"Alert(String, Alert.AlertType)","u":"%3Cinit%3E(java.lang.String,swervelib.telemetry.Alert.AlertType)"},{"p":"swervelib.telemetry","c":"Alert","l":"Alert(String, String, Alert.AlertType)","u":"%3Cinit%3E(java.lang.String,java.lang.String,swervelib.telemetry.Alert.AlertType)"},{"p":"swervelib.telemetry","c":"Alert.SendableAlerts","l":"alerts"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"AlertType()","u":"%3Cinit%3E()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(AnalogInput)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.AnalogInput)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"AnalogGyroSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angle"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"angle"},{"p":"swervelib.parser.json.modules","c":"ConversionFactorsJson","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"angle"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"angle"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"angle"},{"p":"swervelib.parser.json.modules","c":"AngleConversionFactorsJson","l":"AngleConversionFactorsJson()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"angleJoystickRadiusDeadband"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"angleJoyStickRadiusDeadband"},{"p":"swervelib","c":"SwerveController","l":"angleLimiter"},{"p":"swervelib","c":"SwerveDriveTest","l":"angleModules(SwerveDrive, Rotation2d)","u":"angleModules(swervelib.SwerveDrive,edu.wpi.first.math.geometry.Rotation2d)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotor"},{"p":"swervelib","c":"SwerveModule","l":"angleMotor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorCurrentLimit"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotorInverted"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorRampRate"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleOffset"},{"p":"swervelib","c":"SwerveModule","l":"angleOffset"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"anglePIDF"},{"p":"swervelib","c":"SwerveDrive","l":"angularVelocityCoefficient"},{"p":"swervelib","c":"SwerveDrive","l":"angularVelocityCorrection"},{"p":"swervelib","c":"SwerveDrive","l":"angularVelocitySkewCorrection(ChassisSpeeds)","u":"angularVelocitySkewCorrection(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.math","c":"SwerveMath","l":"antiJitter(SwerveModuleState, SwerveModuleState, double)","u":"antiJitter(edu.wpi.first.math.kinematics.SwerveModuleState,edu.wpi.first.math.kinematics.SwerveModuleState,double)"},{"p":"swervelib","c":"SwerveModule","l":"antiJitterEnabled"},{"p":"swervelib.math","c":"SwerveMath","l":"applyDeadband(double, boolean, double)","u":"applyDeadband(double,boolean,double)"},{"p":"swervelib","c":"SwerveDrive","l":"attainableMaxRotationalVelocityRadiansPerSecond"},{"p":"swervelib","c":"SwerveDrive","l":"attainableMaxTranslationalSpeedMetersPerSecond"},{"p":"swervelib","c":"SwerveDrive","l":"autonomousAngularVelocityCorrection"},{"p":"swervelib","c":"SwerveDrive","l":"autonomousChassisVelocityCorrection"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"BoolMotorJson()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"burnFlash()"},{"p":"swervelib.parser","c":"Cache","l":"Cache(Supplier, long)","u":"%3Cinit%3E(java.util.function.Supplier,long)"},{"p":"swervelib.math","c":"SwerveMath","l":"calcMaxAccel(Rotation2d, List, double, SwerveDriveConfiguration)","u":"calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib.math","c":"IMULinearMovingAverageFilter","l":"calculate()"},{"p":"swervelib.parser.json.modules","c":"AngleConversionFactorsJson","l":"calculate()"},{"p":"swervelib.parser.json.modules","c":"DriveConversionFactorsJson","l":"calculate()"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateDegreesPerSteeringRotation(double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateDegreesPerSteeringRotation(double, double)","u":"calculateDegreesPerSteeringRotation(double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAcceleration(double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAcceleration(double, double, double, double, double)","u":"calculateMaxAcceleration(double,double,double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAngularVelocity(double, double, double)","u":"calculateMaxAngularVelocity(double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMetersPerRotation(double, double)","u":"calculateMetersPerRotation(double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMetersPerRotation(double, double, double)","u":"calculateMetersPerRotation(double,double,double)"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"CanandgyroSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.encoders","c":"CanAndMagSwerve","l":"CanAndMagSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"canbus"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"CANCoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"CANCoderSwerve(int, String)","u":"%3Cinit%3E(int,java.lang.String)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"canIdWarning"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"cannotSetOffset"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"cannotSetOffset"},{"p":"swervelib","c":"SwerveDriveTest","l":"centerModules(SwerveDrive)","u":"centerModules(swervelib.SwerveDrive)"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"cfg"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"cfg"},{"p":"swervelib","c":"SwerveDrive","l":"chassisVelocityCorrection"},{"p":"swervelib.parser","c":"SwerveParser","l":"checkDirectory(File)","u":"checkDirectory(java.io.File)"},{"p":"swervelib","c":"SwerveDrive","l":"checkIfTunerXCompatible()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"CanAndMagSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"clearStickyFaults()"},{"p":"swervelib","c":"SwerveController","l":"config"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configChanged"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configuration"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configuration"},{"p":"swervelib","c":"SwerveModule","l":"configuration"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"CanAndMagSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"configure(boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configureCANStatusFrames(int)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configureCANStatusFrames(int)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"configureCANStatusFrames(int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configureCANStatusFrames(int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configureCANStatusFrames(int, int, int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int,int,int)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int,int,int,int,int,int,int)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int,int,int,int,int,int,int)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"configureSparkFlex(Supplier)","u":"configureSparkFlex(java.util.function.Supplier)"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"configureSparkMax(Supplier)","u":"configureSparkMax(java.util.function.Supplier)"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"configureSparkMax(Supplier)","u":"configureSparkMax(java.util.function.Supplier)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configureSparkMax(Supplier)","u":"configureSparkMax(java.util.function.Supplier)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configureSparkMax(Supplier)","u":"configureSparkMax(java.util.function.Supplier)"},{"p":"swervelib.parser","c":"SwerveParser","l":"controllerPropertiesJson"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"ControllerPropertiesJson()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"conversionFactor"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"conversionFactor"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"conversionFactor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"conversionFactor"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"conversionFactors"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"conversionFactors"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"conversionFactors"},{"p":"swervelib.parser.json.modules","c":"ConversionFactorsJson","l":"ConversionFactorsJson()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"convertToNativeSensorUnits(double, double)","u":"convertToNativeSensorUnits(double,double)"},{"p":"swervelib","c":"SwerveDriveTest","l":"createConfigCustomTimeout(double)"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"createControllerConfiguration(SwerveDriveConfiguration, double)","u":"createControllerConfiguration(swervelib.parser.SwerveDriveConfiguration,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"createDriveFeedforward(double, double, double)","u":"createDriveFeedforward(double,double,double)"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"createEncoder(SwerveMotor)","u":"createEncoder(swervelib.motors.SwerveMotor)"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"createIMU()"},{"p":"swervelib.imu","c":"IMUVelocity","l":"createIMUVelocity(SwerveIMU)","u":"createIMUVelocity(swervelib.imu.SwerveIMU)"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"createModuleConfiguration(PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String)","u":"createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"createModules(SwerveModuleConfiguration[], SimpleMotorFeedforward)","u":"createModules(swervelib.parser.SwerveModuleConfiguration[],edu.wpi.first.math.controller.SimpleMotorFeedforward)"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"createMotor(boolean)"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"createPhysicalProperties()"},{"p":"swervelib.parser","c":"PIDFConfig","l":"createPIDController()"},{"p":"swervelib.parser","c":"SwerveParser","l":"createSwerveDrive(double)"},{"p":"swervelib.parser","c":"SwerveParser","l":"createSwerveDrive(double, double, double)","u":"createSwerveDrive(double,double,double)"},{"p":"swervelib.parser","c":"SwerveParser","l":"createSwerveDrive(SimpleMotorFeedforward, double)","u":"createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward,double)"},{"p":"swervelib.parser","c":"SwerveParser","l":"createSwerveDrive(SimpleMotorFeedforward, double, double, double)","u":"createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward,double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"cubeTranslation(Translation2d)","u":"cubeTranslation(edu.wpi.first.math.geometry.Translation2d)"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"currentLimit"},{"p":"swervelib.parser","c":"PIDFConfig","l":"d"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"desiredChassisSpeeds"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"desiredStates"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"DeviceJson()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.json.modules","c":"DriveConversionFactorsJson","l":"diameter"},{"p":"swervelib","c":"SwerveDrive","l":"discretizationdtSeconds"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"doesNotSupportIntegratedOffsets"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"drive"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"drive"},{"p":"swervelib.parser.json.modules","c":"ConversionFactorsJson","l":"drive"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"drive"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"drive"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"drive"},{"p":"swervelib","c":"SwerveDrive","l":"drive(ChassisSpeeds)","u":"drive(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib","c":"SwerveDrive","l":"drive(ChassisSpeeds, boolean, Translation2d)","u":"drive(edu.wpi.first.math.kinematics.ChassisSpeeds,boolean,edu.wpi.first.math.geometry.Translation2d)"},{"p":"swervelib","c":"SwerveDrive","l":"drive(ChassisSpeeds, Translation2d)","u":"drive(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"},{"p":"swervelib","c":"SwerveDrive","l":"drive(Translation2d, double, boolean, boolean)","u":"drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"drive(Translation2d, double, boolean, boolean, Translation2d)","u":"drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean,edu.wpi.first.math.geometry.Translation2d)"},{"p":"swervelib.parser.json.modules","c":"DriveConversionFactorsJson","l":"DriveConversionFactorsJson()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"driveFieldOriented(ChassisSpeeds)","u":"driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib","c":"SwerveDrive","l":"driveFieldOriented(ChassisSpeeds, Translation2d)","u":"driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"},{"p":"swervelib","c":"SwerveDrive","l":"driveFieldOrientedandRobotOriented(ChassisSpeeds, ChassisSpeeds)","u":"driveFieldOrientedandRobotOriented(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"driveMotor"},{"p":"swervelib","c":"SwerveModule","l":"driveMotor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"driveMotorCurrentLimit"},{"p":"swervelib","c":"SwerveModule","l":"driveMotorFeedforward"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"driveMotorInverted"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"driveMotorRampRate"},{"p":"swervelib","c":"SwerveModule","l":"drivePositionCache"},{"p":"swervelib","c":"SwerveModule","l":"driveVelocityCache"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"dt"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"encoder"},{"p":"swervelib.encoders","c":"CanAndMagSwerve","l":"encoder"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"encoder"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"encoder"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"encoder"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"encoder"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"encoder"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"encoder"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"encoder"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"encoder"},{"p":"swervelib","c":"SwerveModule","l":"encoderOffsetWarning"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"ERROR"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"ERROR_TRACE"},{"p":"swervelib.parser","c":"PIDFConfig","l":"f"},{"p":"swervelib.parser.json.modules","c":"AngleConversionFactorsJson","l":"factor"},{"p":"swervelib.parser.json.modules","c":"DriveConversionFactorsJson","l":"factor"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"factoryDefault()"},{"p":"swervelib.encoders","c":"CanAndMagSwerve","l":"factoryDefault()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"factoryDefault()"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"factoryDefault()"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"factoryDefault()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"factoryDefault()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"factoryDefault()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"factoryDefault()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"factoryDefaults()"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"failureConfiguring"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"failureConfiguring"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"failureConfiguring"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"failureConfiguringAlert"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"fakePos"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"fakeSpeed"},{"p":"swervelib","c":"SwerveDrive","l":"field"},{"p":"swervelib","c":"SwerveDriveTest","l":"findCouplingRatio(SwerveDrive, double, boolean)","u":"findCouplingRatio(swervelib.SwerveDrive,double,boolean)"},{"p":"swervelib","c":"SwerveDriveTest","l":"findDriveMotorKV(SwerveDrive, double, double, double)","u":"findDriveMotorKV(swervelib.SwerveDrive,double,double,double)"},{"p":"swervelib.imu","c":"IMUVelocity","l":"firstCycle"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"forwardDirection"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"front"},{"p":"swervelib.parser.json.modules","c":"AngleConversionFactorsJson","l":"gearRatio"},{"p":"swervelib.parser.json.modules","c":"DriveConversionFactorsJson","l":"gearRatio"},{"p":"swervelib","c":"SwerveDriveTest","l":"generateSysIdCommand(SysIdRoutine, double, double, double)","u":"generateSysIdCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine,double,double,double)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"CanAndMagSwerve","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"getAbsoluteEncoder()"},{"p":"swervelib","c":"SwerveModule","l":"getAbsoluteEncoder()"},{"p":"swervelib","c":"SwerveModule","l":"getAbsoluteEncoderReadIssue()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"getAbsolutePosition()"},{"p":"swervelib.encoders","c":"CanAndMagSwerve","l":"getAbsolutePosition()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"getAbsolutePosition()"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"getAbsolutePosition()"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"getAbsolutePosition()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"getAbsolutePosition()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"getAbsolutePosition()"},{"p":"swervelib","c":"SwerveModule","l":"getAbsolutePosition()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"getAccel()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"getAccel()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"getAccel()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"getAccel()"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"getAccel()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"getAccel()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"getAccel()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"getAccel()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"getAccel()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getAccel()"},{"p":"swervelib","c":"SwerveDrive","l":"getAccel()"},{"p":"swervelib","c":"SwerveModule","l":"getAngleMotor()"},{"p":"swervelib","c":"SwerveModule","l":"getAnglePIDF()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"getAppliedOutput()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"getAppliedOutput()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"getAppliedOutput()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"getAppliedOutput()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"getAppliedOutput()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"getAppliedOutput()"},{"p":"swervelib","c":"SwerveModule","l":"getConfiguration()"},{"p":"swervelib","c":"SwerveModule","l":"getCosineCompensatedVelocity(SwerveModuleState)","u":"getCosineCompensatedVelocity(edu.wpi.first.math.kinematics.SwerveModuleState)"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"getDriveBaseRadiusMeters()"},{"p":"swervelib","c":"SwerveModule","l":"getDriveMotor()"},{"p":"swervelib","c":"SwerveModule","l":"getDrivePIDF()"},{"p":"swervelib","c":"SwerveDrive","l":"getFieldVelocity()"},{"p":"swervelib","c":"SwerveDrive","l":"getGyro()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getGyroRotation3d()"},{"p":"swervelib","c":"SwerveDrive","l":"getGyroRotation3d()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"getIMU()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"getIMU()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"getIMU()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"getIMU()"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"getIMU()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"getIMU()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"getIMU()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"getIMU()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"getIMU()"},{"p":"swervelib","c":"SwerveController","l":"getJoystickAngle(double, double)","u":"getJoystickAngle(double,double)"},{"p":"swervelib","c":"SwerveDrive","l":"getMaximumAngularVelocity()"},{"p":"swervelib","c":"SwerveDrive","l":"getMaximumVelocity()"},{"p":"swervelib.parser","c":"SwerveParser","l":"getModuleConfigurationByName(String, SwerveDriveConfiguration)","u":"getModuleConfigurationByName(java.lang.String,swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib","c":"SwerveDrive","l":"getModuleMap()"},{"p":"swervelib","c":"SwerveDrive","l":"getModulePositions()"},{"p":"swervelib","c":"SwerveDrive","l":"getModules()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"getMotor()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"getMotor()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"getMotor()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"getMotor()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"getMotor()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"getMotor()"},{"p":"swervelib","c":"SwerveDrive","l":"getOdometryHeading()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getPitch()"},{"p":"swervelib","c":"SwerveDrive","l":"getPitch()"},{"p":"swervelib","c":"SwerveDrive","l":"getPose()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"getPosition()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"getPosition()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"getPosition()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"getPosition()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"getPosition()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"getPosition()"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"getPosition()"},{"p":"swervelib","c":"SwerveModule","l":"getPosition()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"getRate()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"getRate()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"getRate()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"getRate()"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"getRate()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"getRate()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"getRate()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"getRate()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"getRate()"},{"p":"swervelib","c":"SwerveModule","l":"getRawAbsolutePosition()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"getRawRotation3d()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"getRawRotation3d()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"getRawRotation3d()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"getRawRotation3d()"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"getRawRotation3d()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"getRawRotation3d()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"getRawRotation3d()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"getRawRotation3d()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"getRawRotation3d()"},{"p":"swervelib","c":"SwerveController","l":"getRawTargetSpeeds(double, double, double)","u":"getRawTargetSpeeds(double,double,double)"},{"p":"swervelib","c":"SwerveController","l":"getRawTargetSpeeds(double, double, double, double)","u":"getRawTargetSpeeds(double,double,double,double)"},{"p":"swervelib","c":"SwerveModule","l":"getRelativePosition()"},{"p":"swervelib","c":"SwerveDrive","l":"getRobotVelocity()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getRoll()"},{"p":"swervelib","c":"SwerveDrive","l":"getRoll()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"getRotation3d()"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"getState()"},{"p":"swervelib","c":"SwerveModule","l":"getState()"},{"p":"swervelib","c":"SwerveDrive","l":"getStates()"},{"p":"swervelib.telemetry","c":"Alert.SendableAlerts","l":"getStrings(Alert.AlertType)","u":"getStrings(swervelib.telemetry.Alert.AlertType)"},{"p":"swervelib","c":"SwerveDrive","l":"getSwerveController()"},{"p":"swervelib.math","c":"SwerveMath","l":"getSwerveModule(SwerveModule[], boolean, boolean)","u":"getSwerveModule(swervelib.SwerveModule[],boolean,boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"getSwerveModulePoses(Pose2d)","u":"getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)"},{"p":"swervelib","c":"SwerveController","l":"getTargetSpeeds(double, double, double, double, double)","u":"getTargetSpeeds(double,double,double,double,double)"},{"p":"swervelib","c":"SwerveController","l":"getTargetSpeeds(double, double, double, double, double, double)","u":"getTargetSpeeds(double,double,double,double,double,double)"},{"p":"swervelib","c":"SwerveController","l":"getTranslation2d(ChassisSpeeds)","u":"getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.parser","c":"Cache","l":"getValue()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"getVelocity()"},{"p":"swervelib.encoders","c":"CanAndMagSwerve","l":"getVelocity()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"getVelocity()"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"getVelocity()"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"getVelocity()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"getVelocity()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"getVelocity()"},{"p":"swervelib.imu","c":"IMUVelocity","l":"getVelocity()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"getVelocity()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"getVelocity()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"getVelocity()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"getVelocity()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"getVelocity()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"getVelocity()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"getVoltage()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"getVoltage()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"getVoltage()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"getVoltage()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"getVoltage()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"getVoltage()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getYaw()"},{"p":"swervelib","c":"SwerveDrive","l":"getYaw()"},{"p":"swervelib.telemetry","c":"Alert","l":"groups"},{"p":"swervelib.imu","c":"IMUVelocity","l":"gyro"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"heading"},{"p":"swervelib","c":"SwerveDrive","l":"HEADING_CORRECTION_DEADBAND"},{"p":"swervelib","c":"SwerveController","l":"headingCalculate(double, double)","u":"headingCalculate(double,double)"},{"p":"swervelib","c":"SwerveDrive","l":"headingCorrection"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"headingPIDF"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"HIGH"},{"p":"swervelib.parser","c":"PIDFConfig","l":"i"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"i2cLockupWarning"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"id"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"imu"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"imu"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"imu"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"imu"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"imu"},{"p":"swervelib.imu","c":"NavXSwerve","l":"imu"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"imu"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"imu"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"imu"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"imu"},{"p":"swervelib","c":"SwerveDrive","l":"imu"},{"p":"swervelib.math","c":"IMULinearMovingAverageFilter","l":"IMULinearMovingAverageFilter(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib","c":"SwerveDrive","l":"imuReadingCache"},{"p":"swervelib","c":"SwerveDrive","l":"imuVelocity"},{"p":"swervelib.imu","c":"IMUVelocity","l":"IMUVelocity(SwerveIMU, double, int)","u":"%3Cinit%3E(swervelib.imu.SwerveIMU,double,int)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"inaccurateVelocities"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"inaccurateVelocities"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"INFO"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"INFO"},{"p":"swervelib.telemetry","c":"Alert.SendableAlerts","l":"initSendable(SendableBuilder)","u":"initSendable(edu.wpi.first.util.sendable.SendableBuilder)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"inverted"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"inverted"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"invertedIMU"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"invertedIMU"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"invertedIMU"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"invertedIMU"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"invertedIMU"},{"p":"swervelib.imu","c":"NavXSwerve","l":"invertedIMU"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"invertedIMU"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"invertedIMU"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"invertedIMU"},{"p":"swervelib.parser.json.modules","c":"ConversionFactorsJson","l":"isAngleEmpty()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.parser.json.modules","c":"ConversionFactorsJson","l":"isDriveEmpty()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"isDriveMotor"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"isInverted"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"isSimulation"},{"p":"swervelib.parser","c":"Cache","l":"isStale()"},{"p":"swervelib.parser","c":"PIDFConfig","l":"iz"},{"p":"swervelib","c":"SwerveDrive","l":"kinematics"},{"p":"swervelib","c":"SwerveController","l":"lastAngleScalar"},{"p":"swervelib","c":"SwerveDrive","l":"lastHeadingRadians"},{"p":"swervelib","c":"SwerveModule","l":"lastState"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"lastTime"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"lastTime"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"left"},{"p":"swervelib.math","c":"SwerveMath","l":"limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, List, SwerveDriveConfiguration)","u":"limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,java.util.List,swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"location"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"LocationJson()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"lockPose()"},{"p":"swervelib","c":"SwerveDriveTest","l":"logAngularMotorActivity(SwerveModule, SysIdRoutineLog, Supplier)","u":"logAngularMotorActivity(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog,java.util.function.Supplier)"},{"p":"swervelib","c":"SwerveDriveTest","l":"logAngularMotorDutyCycle(SwerveModule, SysIdRoutineLog)","u":"logAngularMotorDutyCycle(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)"},{"p":"swervelib","c":"SwerveDriveTest","l":"logAngularMotorVoltage(SwerveModule, SysIdRoutineLog)","u":"logAngularMotorVoltage(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)"},{"p":"swervelib","c":"SwerveDriveTest","l":"logDriveMotorActivity(SwerveModule, SysIdRoutineLog, Supplier)","u":"logDriveMotorActivity(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog,java.util.function.Supplier)"},{"p":"swervelib","c":"SwerveDriveTest","l":"logDriveMotorDutyCycle(SwerveModule, SysIdRoutineLog)","u":"logDriveMotorDutyCycle(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)"},{"p":"swervelib","c":"SwerveDriveTest","l":"logDriveMotorVoltage(SwerveModule, SysIdRoutineLog)","u":"logDriveMotorVoltage(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"LOW"},{"p":"swervelib","c":"SwerveDriveTest","l":"m_anglePosition"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"m_angleVoltageSetter"},{"p":"swervelib","c":"SwerveDriveTest","l":"m_angVelocity"},{"p":"swervelib","c":"SwerveDriveTest","l":"m_appliedVoltage"},{"p":"swervelib","c":"SwerveDriveTest","l":"m_distance"},{"p":"swervelib.math","c":"IMULinearMovingAverageFilter","l":"m_inputGain"},{"p":"swervelib.math","c":"IMULinearMovingAverageFilter","l":"m_inputs"},{"p":"swervelib","c":"SwerveDriveTest","l":"m_velocity"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"m_velocityVoltageSetter"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"MACHINE"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"magnetFieldLessThanIdeal"},{"p":"swervelib.math","c":"Matter","l":"mass"},{"p":"swervelib.math","c":"Matter","l":"massMoment()"},{"p":"swervelib.math","c":"Matter","l":"Matter(Translation3d, double)","u":"%3Cinit%3E(edu.wpi.first.math.geometry.Translation3d,double)"},{"p":"swervelib.parser.deserializer","c":"PIDFRange","l":"max"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"maxAngularVelocity"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"maxAngularVelocity"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"maximumRetries"},{"p":"swervelib.motors","c":"SwerveMotor","l":"maximumRetries"},{"p":"swervelib","c":"SwerveModule","l":"maxSpeed"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"maxSpeed"},{"p":"swervelib","c":"SwerveDrive","l":"maxSpeedMPS"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"measuredChassisSpeeds"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"measuredStates"},{"p":"swervelib.parser.deserializer","c":"PIDFRange","l":"min"},{"p":"swervelib.parser","c":"SwerveParser","l":"moduleConfigs"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"moduleCount"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"moduleCount"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"ModuleJson()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"SwerveParser","l":"moduleJsons"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"moduleLocation"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"moduleLocationsMeters"},{"p":"swervelib","c":"SwerveModule","l":"moduleNumber"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"modules"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"modules"},{"p":"swervelib","c":"SwerveDrive","l":"moduleSynchronizationCounter"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"motor"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"motor"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"motor"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"motor"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"motor"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"MotorConfigDouble()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"MotorConfigDouble(double, double)","u":"%3Cinit%3E(double,double)"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"MotorConfigInt()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"MotorConfigInt(int, int)","u":"%3Cinit%3E(int,int)"},{"p":"swervelib","c":"SwerveDrive","l":"movementOptimizations(ChassisSpeeds, boolean, boolean)","u":"movementOptimizations(edu.wpi.first.math.kinematics.ChassisSpeeds,boolean,boolean)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"name"},{"p":"swervelib.imu","c":"NavXSwerve","l":"navXError"},{"p":"swervelib.imu","c":"NavXSwerve","l":"NavXSwerve(I2C.Port)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.I2C.Port)"},{"p":"swervelib.imu","c":"NavXSwerve","l":"NavXSwerve(SerialPort.Port)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.SerialPort.Port)"},{"p":"swervelib.imu","c":"NavXSwerve","l":"NavXSwerve(SPI.Port)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.SPI.Port)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"noEncoderAlert"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"noEncoderDefinedAlert"},{"p":"swervelib","c":"SwerveModule","l":"noEncoderWarning"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"nominalVoltage"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"NONE"},{"p":"swervelib.math","c":"SwerveMath","l":"normalizeAngle(double)"},{"p":"swervelib.imu","c":"IMUVelocity","l":"notifier"},{"p":"swervelib","c":"SwerveDrive","l":"odometryLock"},{"p":"swervelib","c":"SwerveDrive","l":"odometryThread"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"offset"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"offset"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"offset"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"offset"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"offset"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"offset"},{"p":"swervelib.imu","c":"NavXSwerve","l":"offset"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"offset"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"offset"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"offsetFailure"},{"p":"swervelib.parser","c":"SwerveParser","l":"openJson(File)","u":"openJson(java.io.File)"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"optimalVoltage"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"optimalVoltage"},{"p":"swervelib.parser","c":"PIDFConfig","l":"output"},{"p":"swervelib.parser","c":"PIDFConfig","l":"p"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"physicalCharacteristics"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"physicalCharacteristics"},{"p":"swervelib.parser","c":"SwerveParser","l":"physicalPropertiesJson"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"PhysicalPropertiesJson()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"pid"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"pid"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"pid"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig(double, double)","u":"%3Cinit%3E(double,double)"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig(double, double, double)","u":"%3Cinit%3E(double,double,double)"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig(double, double, double, double)","u":"%3Cinit%3E(double,double,double,double)"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig(double, double, double, double, double)","u":"%3Cinit%3E(double,double,double,double,double)"},{"p":"swervelib.parser","c":"SwerveParser","l":"pidfPropertiesJson"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"PIDFPropertiesJson()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.deserializer","c":"PIDFRange","l":"PIDFRange()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"Pigeon2Swerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"Pigeon2Swerve(int, String)","u":"%3Cinit%3E(int,java.lang.String)"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"PigeonSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.math","c":"SwerveMath","l":"placeInAppropriate0To360Scope(double, double)","u":"placeInAppropriate0To360Scope(double,double)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"POSE"},{"p":"swervelib.math","c":"SwerveMath","l":"PoseLog(Pose2d)","u":"PoseLog(edu.wpi.first.math.geometry.Pose2d)"},{"p":"swervelib.imu","c":"IMUVelocity","l":"position"},{"p":"swervelib.math","c":"Matter","l":"position"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"position"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"Position"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Position"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"positionConversionFactor"},{"p":"swervelib","c":"SwerveDrive","l":"postTrajectory(Trajectory)","u":"postTrajectory(edu.wpi.first.math.trajectory.Trajectory)"},{"p":"swervelib","c":"SwerveDriveTest","l":"powerAngleMotorsDutyCycle(SwerveDrive, double)","u":"powerAngleMotorsDutyCycle(swervelib.SwerveDrive,double)"},{"p":"swervelib","c":"SwerveDriveTest","l":"powerAngleMotorsVoltage(SwerveDrive, double)","u":"powerAngleMotorsVoltage(swervelib.SwerveDrive,double)"},{"p":"swervelib","c":"SwerveDriveTest","l":"powerDriveMotorsDutyCycle(SwerveDrive, double)","u":"powerDriveMotorsDutyCycle(swervelib.SwerveDrive,double)"},{"p":"swervelib","c":"SwerveDriveTest","l":"powerDriveMotorsVoltage(SwerveDrive, double)","u":"powerDriveMotorsVoltage(swervelib.SwerveDrive,double)"},{"p":"swervelib.telemetry","c":"Alert","l":"printAlert(String)","u":"printAlert(java.lang.String)"},{"p":"swervelib","c":"SwerveDrive","l":"pushOffsetsToEncoders()"},{"p":"swervelib","c":"SwerveModule","l":"pushOffsetsToEncoders()"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"PWMDutyCycleEncoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib","c":"SwerveModule","l":"queueSynchronizeEncoders()"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"rampRate"},{"p":"swervelib","c":"SwerveModule","l":"rawAbsoluteAngleName"},{"p":"swervelib","c":"SwerveModule","l":"rawAngleName"},{"p":"swervelib","c":"SwerveModule","l":"rawDriveName"},{"p":"swervelib","c":"SwerveModule","l":"rawDriveVelName"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"readingError"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"readingFaulty"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"readingIgnored"},{"p":"swervelib","c":"SwerveDrive","l":"replaceSwerveModuleFeedforward(SimpleMotorFeedforward)","u":"replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)"},{"p":"swervelib","c":"SwerveDrive","l":"resetDriveEncoders()"},{"p":"swervelib","c":"SwerveDrive","l":"resetOdometry(Pose2d)","u":"resetOdometry(edu.wpi.first.math.geometry.Pose2d)"},{"p":"swervelib","c":"SwerveDrive","l":"restoreInternalOffset()"},{"p":"swervelib","c":"SwerveModule","l":"restoreInternalOffset()"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"robotRotation"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"rotationUnit"},{"p":"swervelib.math","c":"SwerveMath","l":"scaleTranslation(Translation2d, double)","u":"scaleTranslation(edu.wpi.first.math.geometry.Translation2d,double)"},{"p":"swervelib.telemetry","c":"Alert.SendableAlerts","l":"SendableAlerts()","u":"%3Cinit%3E()"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"serialCommsIssueWarning"},{"p":"swervelib.telemetry","c":"Alert","l":"set(boolean)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"set(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"setAbsoluteEncoderOffset(double)"},{"p":"swervelib.encoders","c":"CanAndMagSwerve","l":"setAbsoluteEncoderOffset(double)"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"setAbsoluteEncoderOffset(double)"},{"p":"swervelib.encoders","c":"PWMDutyCycleEncoderSwerve","l":"setAbsoluteEncoderOffset(double)"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"setAbsoluteEncoderOffset(double)"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"setAbsoluteEncoderOffset(double)"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"setAbsoluteEncoderOffset(double)"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"setAngle(double)"},{"p":"swervelib","c":"SwerveModule","l":"setAngle(double)"},{"p":"swervelib","c":"SwerveDrive","l":"setAngleMotorConversionFactor(double)"},{"p":"swervelib","c":"SwerveModule","l":"setAngleMotorConversionFactor(double)"},{"p":"swervelib","c":"SwerveModule","l":"setAngleMotorVoltageCompensation(double)"},{"p":"swervelib","c":"SwerveModule","l":"setAnglePIDF(PIDFConfig)","u":"setAnglePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib","c":"SwerveDriveTest","l":"setAngleSysIdRoutine(SysIdRoutine.Config, SubsystemBase, SwerveDrive)","u":"setAngleSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config,edu.wpi.first.wpilibj2.command.SubsystemBase,swervelib.SwerveDrive)"},{"p":"swervelib","c":"SwerveDrive","l":"setAngularVelocityCompensation(boolean, boolean, double)","u":"setAngularVelocityCompensation(boolean,boolean,double)"},{"p":"swervelib","c":"SwerveModule","l":"setAntiJitter(boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"setAutoCenteringModules(boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"setChassisDiscretization(boolean, boolean, double)","u":"setChassisDiscretization(boolean,boolean,double)"},{"p":"swervelib","c":"SwerveDrive","l":"setChassisDiscretization(boolean, double)","u":"setChassisDiscretization(boolean,double)"},{"p":"swervelib","c":"SwerveDrive","l":"setChassisSpeeds(ChassisSpeeds)","u":"setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib","c":"SwerveDrive","l":"setCosineCompensator(boolean)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib","c":"SwerveModule","l":"setDesiredState(SwerveModuleState, boolean, boolean)","u":"setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState,boolean,boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"setDriveMotorConversionFactor(double)"},{"p":"swervelib","c":"SwerveModule","l":"setDriveMotorConversionFactor(double)"},{"p":"swervelib","c":"SwerveModule","l":"setDriveMotorVoltageCompensation(double)"},{"p":"swervelib","c":"SwerveModule","l":"setDrivePIDF(PIDFConfig)","u":"setDrivePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib","c":"SwerveDriveTest","l":"setDriveSysIdRoutine(SysIdRoutine.Config, SubsystemBase, SwerveDrive, double)","u":"setDriveSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config,edu.wpi.first.wpilibj2.command.SubsystemBase,swervelib.SwerveDrive,double)"},{"p":"swervelib","c":"SwerveModule","l":"setEncoderAutoSynchronize(boolean)"},{"p":"swervelib","c":"SwerveModule","l":"setEncoderAutoSynchronize(boolean, double)","u":"setEncoderAutoSynchronize(boolean,double)"},{"p":"swervelib","c":"SwerveModule","l":"setFeedforward(SimpleMotorFeedforward)","u":"setFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)"},{"p":"swervelib","c":"SwerveDrive","l":"setGyro(Rotation3d)","u":"setGyro(edu.wpi.first.math.geometry.Rotation3d)"},{"p":"swervelib","c":"SwerveDrive","l":"setGyroOffset(Rotation3d)","u":"setGyroOffset(edu.wpi.first.math.geometry.Rotation3d)"},{"p":"swervelib","c":"SwerveDrive","l":"setHeadingCorrection(boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"setHeadingCorrection(boolean, double)","u":"setHeadingCorrection(boolean,double)"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"setInverted(boolean)"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"setInverted(boolean)"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"setInverted(boolean)"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"setInverted(boolean)"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"setInverted(boolean)"},{"p":"swervelib.imu","c":"NavXSwerve","l":"setInverted(boolean)"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"setInverted(boolean)"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"setInverted(boolean)"},{"p":"swervelib.imu","c":"SwerveIMU","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib","c":"SwerveController","l":"setMaximumAngularVelocity(double)"},{"p":"swervelib","c":"SwerveDrive","l":"setMaximumSpeed(double)"},{"p":"swervelib","c":"SwerveDrive","l":"setMaximumSpeed(double, boolean, double)","u":"setMaximumSpeed(double,boolean,double)"},{"p":"swervelib","c":"SwerveDrive","l":"setMaximumSpeeds(double, double, double)","u":"setMaximumSpeeds(double,double,double)"},{"p":"swervelib","c":"SwerveDrive","l":"setModuleEncoderAutoSynchronize(boolean, double)","u":"setModuleEncoderAutoSynchronize(boolean,double)"},{"p":"swervelib","c":"SwerveDrive","l":"setModuleStates(SwerveModuleState[], boolean)","u":"setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[],boolean)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib","c":"SwerveModule","l":"setMotorBrake(boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"setMotorIdleMode(boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"setOdometryPeriod(double)"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"setOffset(Rotation3d)","u":"setOffset(edu.wpi.first.math.geometry.Rotation3d)"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"setOffset(Rotation3d)","u":"setOffset(edu.wpi.first.math.geometry.Rotation3d)"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"setOffset(Rotation3d)","u":"setOffset(edu.wpi.first.math.geometry.Rotation3d)"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"setOffset(Rotation3d)","u":"setOffset(edu.wpi.first.math.geometry.Rotation3d)"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"setOffset(Rotation3d)","u":"setOffset(edu.wpi.first.math.geometry.Rotation3d)"},{"p":"swervelib.imu","c":"NavXSwerve","l":"setOffset(Rotation3d)","u":"setOffset(edu.wpi.first.math.geometry.Rotation3d)"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"setOffset(Rotation3d)","u":"setOffset(edu.wpi.first.math.geometry.Rotation3d)"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"setOffset(Rotation3d)","u":"setOffset(edu.wpi.first.math.geometry.Rotation3d)"},{"p":"swervelib.imu","c":"SwerveIMU","l":"setOffset(Rotation3d)","u":"setOffset(edu.wpi.first.math.geometry.Rotation3d)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"setPosition(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setPosition(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setPosition(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setPosition(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setPosition(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setPosition(double)"},{"p":"swervelib","c":"SwerveDrive","l":"setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean)","u":"setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[],edu.wpi.first.math.kinematics.ChassisSpeeds,boolean)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"setReference(double, double, double)","u":"setReference(double,double,double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setReference(double, double, double)","u":"setReference(double,double,double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setReference(double, double, double)","u":"setReference(double,double,double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setReference(double, double, double)","u":"setReference(double,double,double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setReference(double, double, double)","u":"setReference(double,double,double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setReference(double, double, double)","u":"setReference(double,double,double)"},{"p":"swervelib.telemetry","c":"Alert","l":"setText(String)","u":"setText(java.lang.String)"},{"p":"swervelib","c":"SwerveDrive","l":"setVisionMeasurementStdDevs(Matrix)","u":"setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"setVoltage(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setVoltage(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setVoltage(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setVoltage(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setVoltage(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setVoltage(double)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib","c":"SwerveDrive","l":"simIMU"},{"p":"swervelib","c":"SwerveModule","l":"simModule"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"Simulation"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Simulation"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"sizeFrontBack"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"sizeLeftRight"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"SparkFlexSwerve(CANSparkFlex, boolean)","u":"%3Cinit%3E(com.revrobotics.CANSparkFlex,boolean)"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"SparkFlexSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"SparkMAX_slotIdx()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"SparkMAX_slotIdx()","u":"%3Cinit%3E()"},{"p":"swervelib.encoders","c":"SparkMaxAnalogEncoderSwerve","l":"SparkMaxAnalogEncoderSwerve(SwerveMotor, double)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"SparkMaxBrushedMotorSwerve(CANSparkMax, boolean, SparkRelativeEncoder.Type, int, boolean)","u":"%3Cinit%3E(com.revrobotics.CANSparkMax,boolean,com.revrobotics.SparkRelativeEncoder.Type,int,boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"SparkMaxBrushedMotorSwerve(int, boolean, SparkRelativeEncoder.Type, int, boolean)","u":"%3Cinit%3E(int,boolean,com.revrobotics.SparkRelativeEncoder.Type,int,boolean)"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"SparkMaxEncoderSwerve(SwerveMotor, int)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,int)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"SparkMaxSwerve(CANSparkMax, boolean)","u":"%3Cinit%3E(com.revrobotics.CANSparkMax,boolean)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"SparkMaxSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"state"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"STATUS_TIMEOUT_SECONDS"},{"p":"swervelib.imu","c":"CanandgyroSwerve","l":"STATUS_TIMEOUT_SECONDS"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"STATUS_TIMEOUT_SECONDS"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"STATUS_TIMEOUT_SECONDS"},{"p":"swervelib","c":"SwerveDrive","l":"stopOdometryThread()"},{"p":"swervelib.parser","c":"Cache","l":"supplier"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"SwerveAbsoluteEncoder()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"swerveController"},{"p":"swervelib","c":"SwerveController","l":"SwerveController(SwerveControllerConfiguration)","u":"%3Cinit%3E(swervelib.parser.SwerveControllerConfiguration)"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double, double)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double,double)"},{"p":"swervelib","c":"SwerveDrive","l":"SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration, double)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.SwerveControllerConfiguration,double)"},{"p":"swervelib","c":"SwerveDrive","l":"swerveDriveConfiguration"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, boolean, SimpleMotorFeedforward, SwerveModulePhysicalCharacteristics)","u":"%3Cinit%3E(swervelib.parser.SwerveModuleConfiguration[],swervelib.imu.SwerveIMU,boolean,edu.wpi.first.math.controller.SimpleMotorFeedforward,swervelib.parser.SwerveModulePhysicalCharacteristics)"},{"p":"swervelib.parser","c":"SwerveParser","l":"swerveDriveJson"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"SwerveDriveJson()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"swerveDrivePoseEstimator"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"SwerveDriveTelemetry()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDriveTest","l":"SwerveDriveTest()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"SwerveIMU()","u":"%3Cinit%3E()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"SwerveIMUSimulation()","u":"%3Cinit%3E()"},{"p":"swervelib.math","c":"SwerveMath","l":"SwerveMath()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveModule","l":"SwerveModule(int, SwerveModuleConfiguration, SimpleMotorFeedforward)","u":"%3Cinit%3E(int,swervelib.parser.SwerveModuleConfiguration,edu.wpi.first.math.controller.SimpleMotorFeedforward)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, String, boolean)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.parser.json.MotorConfigDouble,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,java.lang.String,boolean)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String, boolean)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.parser.json.MotorConfigDouble,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String,boolean)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double)","u":"%3Cinit%3E(swervelib.parser.json.MotorConfigDouble,double,double)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double, int, int, double, double)","u":"%3Cinit%3E(swervelib.parser.json.MotorConfigDouble,double,double,int,int,double,double)"},{"p":"swervelib","c":"SwerveDrive","l":"swerveModules"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"SwerveModuleSimulation()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"SwerveMotor()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"SwerveParser","l":"SwerveParser(File)","u":"%3Cinit%3E(java.io.File)"},{"p":"swervelib","c":"SwerveModule","l":"synchronizeEncoderDeadband"},{"p":"swervelib","c":"SwerveModule","l":"synchronizeEncoderEnabled"},{"p":"swervelib","c":"SwerveModule","l":"synchronizeEncoderQueued"},{"p":"swervelib","c":"SwerveDrive","l":"synchronizeModuleEncoders()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, String, boolean)","u":"%3Cinit%3E(int,java.lang.String,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(TalonFX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix6.hardware.TalonFX,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(WPI_TalonSRX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX,boolean)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"TelemetryVerbosity()","u":"%3Cinit%3E()"},{"p":"swervelib.telemetry","c":"Alert","l":"text"},{"p":"swervelib","c":"SwerveController","l":"thetaController"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"timer"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"timer"},{"p":"swervelib.imu","c":"IMUVelocity","l":"timestamp"},{"p":"swervelib.parser","c":"Cache","l":"timestamp"},{"p":"swervelib","c":"SwerveDrive","l":"tunerXRecommendation"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"type"},{"p":"swervelib.telemetry","c":"Alert","l":"type"},{"p":"swervelib.imu","c":"IMUVelocity","l":"update()"},{"p":"swervelib.parser","c":"Cache","l":"update()"},{"p":"swervelib","c":"SwerveDrive","l":"updateCacheValidityPeriods(long, long, long)","u":"updateCacheValidityPeriods(long,long,long)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"updateData()"},{"p":"swervelib","c":"SwerveDrive","l":"updateOdometry()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"updateOdometry(SwerveDriveKinematics, SwerveModuleState[], Pose2d[], Field2d)","u":"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)"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"updateStateAndPosition(SwerveModuleState)","u":"updateStateAndPosition(edu.wpi.first.math.kinematics.SwerveModuleState)"},{"p":"swervelib.parser","c":"Cache","l":"updateSupplier(Supplier)","u":"updateSupplier(java.util.function.Supplier)"},{"p":"swervelib","c":"SwerveModule","l":"updateTelemetry()"},{"p":"swervelib.parser","c":"Cache","l":"updateValidityPeriod(long)"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"useCosineCompensator"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"useCosineCompensator"},{"p":"swervelib.parser","c":"Cache","l":"validityPeriod"},{"p":"swervelib.parser","c":"Cache","l":"value"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"values()"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"values()"},{"p":"swervelib.imu","c":"IMUVelocity","l":"velocity"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"velocity"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.imu","c":"IMUVelocity","l":"velocityFilter"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"velocityPIDF"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"verbosity"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"WARNING"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"WARNING_TRACE"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"wheelLocations"},{"p":"swervelib","c":"SwerveController","l":"withinHypotDeadband(double, double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib","c":"SwerveController","l":"xLimiter"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib","c":"SwerveController","l":"yLimiter"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/module-search-index.js b/docs/module-search-index.js deleted file mode 100644 index 0d59754..0000000 --- a/docs/module-search-index.js +++ /dev/null @@ -1 +0,0 @@ -moduleSearchIndex = [];updateSearchResults(); \ No newline at end of file diff --git a/docs/overview-summary.html b/docs/overview-summary.html deleted file mode 100644 index e7074d2..0000000 --- a/docs/overview-summary.html +++ /dev/null @@ -1,26 +0,0 @@ - - - - -Generated Documentation (Untitled) - - - - - - - - - - - -
- -

index.html

-
- - diff --git a/docs/overview-tree.html b/docs/overview-tree.html deleted file mode 100644 index 0aedfe6..0000000 --- a/docs/overview-tree.html +++ /dev/null @@ -1,162 +0,0 @@ - - - - -Class Hierarchy - - - - - - - - - - - - - - - -
- -
-
-
-

Hierarchy For All Packages

-Package Hierarchies: - -
-
-

Class Hierarchy

- -
-
-

Enum Class Hierarchy

- -
-
-
-
- - diff --git a/docs/package-search-index.js b/docs/package-search-index.js deleted file mode 100644 index 0f0b91e..0000000 --- a/docs/package-search-index.js +++ /dev/null @@ -1 +0,0 @@ -packageSearchIndex = [{"l":"All Packages","u":"allpackages-index.html"},{"l":"swervelib"},{"l":"swervelib.encoders"},{"l":"swervelib.imu"},{"l":"swervelib.math"},{"l":"swervelib.motors"},{"l":"swervelib.parser"},{"l":"swervelib.parser.deserializer"},{"l":"swervelib.parser.json"},{"l":"swervelib.parser.json.modules"},{"l":"swervelib.simulation"},{"l":"swervelib.telemetry"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/resources/glass.png b/docs/resources/glass.png deleted file mode 100644 index a7f591f467a1c0c949bbc510156a0c1afb860a6e..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 499 zcmVJoRsvExf%rEN>jUL}qZ_~k#FbE+Q;{`;0FZwVNX2n-^JoI; zP;4#$8DIy*Yk-P>VN(DUKmPse7mx+ExD4O|;?E5D0Z5($mjO3`*anwQU^s{ZDK#Lz zj>~{qyaIx5K!t%=G&2IJNzg!ChRpyLkO7}Ry!QaotAHAMpbB3AF(}|_f!G-oI|uK6 z`id_dumai5K%C3Y$;tKS_iqMPHg<*|-@e`liWLAggVM!zAP#@l;=c>S03;{#04Z~5 zN_+ss=Yg6*hTr59mzMwZ@+l~q!+?ft!fF66AXT#wWavHt30bZWFCK%!BNk}LN?0Hg z1VF_nfs`Lm^DjYZ1(1uD0u4CSIr)XAaqW6IT{!St5~1{i=i}zAy76p%_|w8rh@@c0Axr!ns=D-X+|*sY6!@wacG9%)Qn*O zl0sa739kT-&_?#oVxXF6tOnqTD)cZ}2vi$`ZU8RLAlo8=_z#*P3xI~i!lEh+Pdu-L zx{d*wgjtXbnGX_Yf@Tc7Q3YhLhPvc8noGJs2DA~1DySiA&6V{5JzFt ojAY1KXm~va;tU{v7C?Xj0BHw!K;2aXV*mgE07*qoM6N<$f;4TDA^-pY diff --git a/docs/script-dir/images/ui-bg_glass_55_fbf9ee_1x400.png b/docs/script-dir/images/ui-bg_glass_55_fbf9ee_1x400.png deleted file mode 100644 index 34abd18f32d3a55a297fdcf93409bd033ae573e7..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 335 zcmeAS@N?(olHy`uVBq!ia0vp^j6gI&fCnc6a#?2AmP!?*K(O3p^r= zfwTu0yPeFo12TF&T^vI^j=w#x$i?I+((tf;UXnmgbH|3oY>pC!)f}(GR!16S-u+#{ ze6YEqRkW=8vGl=5qArKM<9}TC-}iEvB{zdaTcX5$wyRTK&ALRXUCGx5b?-VBQkUm|IuXOmYJrBRJgj{Vx zMbNnqUkncy+qa2-mWYc>swkcIuvGK#>(0d)B7)5f`@$Ei28nH~0h*~=;u=wsl30>z zm0Xkxq!^403@vmGjdTsnLJUl-Obo4zO|=aStPBhe<(7X!(U6;;l9^VCTf=69^L{`L N44$rjF6*2UngDu&PXPb` diff --git a/docs/script-dir/images/ui-bg_glass_75_e6e6e6_1x400.png b/docs/script-dir/images/ui-bg_glass_75_e6e6e6_1x400.png deleted file mode 100644 index a90afb8bf8028404d206114965669b023dcb85ea..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 262 zcmeAS@N?(olHy`uVBq!ia0vp^j6gI&0LWmFTHNUZq?nSt-Ch3w7g=q17Rci)@Q5r1 z(jH*!b~4)z#PD=+46!(!TrvH)L6@80)r*_cdCvDr%)6ghVL16=s@mbz7H!uRdGeDa z?kzLg)16i!f8fKx84s0>4hES%`s&m5HI1v5B^Uft7(lid2moiiX_$l+3hB+!{pPkNg5^ OVDNPHb6Mw<&;$T*0!_~V diff --git a/docs/script-dir/images/ui-bg_glass_95_fef1ec_1x400.png b/docs/script-dir/images/ui-bg_glass_95_fef1ec_1x400.png deleted file mode 100644 index dbe091f6dc036fc1dc11b005738e951e27a43f7a..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 332 zcmeAS@N?(olHy`uVBq!ia0vp^j6gI&fCnc6a#?2AmP!?*K(O3p^r= zfwTu0yPeFo12VciT^vI^j=w#>k(V)1qW$CZ|6)SVV-&*#dav<$DMuV&n0Dbpw@aE%W-S*bfB&J`pw9sa4-R?IGW?p~6`>jMSP&M+u3 zY@9al)zrvpHlQu4C9V-ADTyViR>?)FK#IZ0z|cb1&`8(7EX2UX%EZvh*hJgFz{Ot{4q9c^pg%OaK6Yqo^RG1puHty#h|2KYM!0=6Ogw z8K9N2ybORL_{i$}QxC&U!O-)`D*V04jXJ#n04P`#Wh8ZcmyUA%?QMqxhsEu>DC;^~ z{8O8G!7ta)D{l)9O_iD5-A{FwUpb*$IVfjou`0AAQAiyPXs{~wzE|2cZ&-acSF5PE zECGBcRRVEnRHOae;6NyU=IDOFj1wfusG0S<3Q6l>z)~KZvoIliF0!*y?O)1|ko7+n z>+zd%4dS;8>iMJUMwP(40V}{-=QZ#}vlkKtjgT?gI8R3`s`{eg^A0iB|9C;N3jtvV z-Ng~;#kXO^6$qh)N`faRB-+@-bRYixX&v+7cZ47thp08jNs?kcf|lu#~em zp9vU17gB)u1qJ$;?70533PMsKum#Eq1WJ#2?+bZ7pACeTd>j>;rVp1okB*+jU>j7I z%j60+UbCER>?m`t-k_0UMwtLk6PNMY=f5dhQ8l$!D_vWBr7CGPcDXr`NYC0uXipIi(5RZ4R25t$~o-$U3fdSZ+t8-MmF==ihWU zps_B2WTuZJSqfEd1jJTJmIrBIIwGFP-`8)$-Iqppx}nZ^1vgyQ|l#q!hDI^2df&H%uZ~e0(cO7rqdczX@s)(9Eo-vb-MZ9T{=?X2emAalsxjR} zDp-RS7ef2fYsNm|W!_~xs+U7sTjX>);xAM$zqqaVh4|Euxo{YB$Ue0yH`R1%LS$R3 z_E+lO@6`C-O(hNK66x`)5glEd?{N3v6k%2iXu|DB7JlD_tIlHzQyL8|YqSl}2YGDC zVO=PpVE0uei+57#cSm-&mw%S6mdRjiXxq5W{LsvhSJ)azPC6$j8(XY|f^_Z&*1)W@ zy3m>x-39!zm0@c~zOZVs=NV_}R#gjtmK1&jPTBe7AFZ@zbRGz_6UwWLFcH!wR&|Kh zZORU;Y=?b=mQgrwQ7Jg5s`cWOAy<{^y4=~BY|8kNP41J6stuM$_oKMaSoT+r{gE=%vLbm}y-G-s!n*{3q^tC?7saRyDEHx#C%bDVlF- zT{dLhAcKm7_JHGWuM**1_IMVdiq^ z7D85%apck0)*q}ipK9LUem#)m&v^B|Widn`=US)y=oK{$PHqJfvPxXB01zn#HFdLP zQ&f?0$}kSU6DYm1#Q#-wfTbj=yH!1g2x|0WP2z>tuyO>41bFp+m<`<8K(}e{bVRRc z;_)`s&>3Igl%b}j4U`xH6cyED;w`@e*RvZRe2WjElbi=jJ?KR2PO|E4(J3bsCK3K3 zO01O90g8f8lG@TKjOF|Rq%J+HV&UYOoY19`zLkp~FG{YsK8Ir~X$|7*;yB&_zla!o zjYA=|t$atYh-F)y4Yz_vl#Mfhr7?c5+w!f^NDNI!Z?A?TFj8jfkyqH$zWRai4c9qe^hVZXz8Ua{_Qt*H|88x@P1f|(u2`*pny^DSvt z0cPlYpbVeN$&S_0igz=*jS?B}QmUqqvPHqKaAx2G>fO4YRa{E>XB6Xs(Qzm?KF6{) zH*UG(7f?FngNv=%+Zmde2NyXUJG!M`!A5Mki?MT(W9PZmXv@ zmep!=;N_2(YH&j9mbmVOT4-HZILhZTNTy1NuR|!sWu45-D4y_D0QqJt{zs;jlrvoW zMFI`6#{NR91Oga_$sPvQT2>*W zRIBmn5wo&P6T=9La7LKS#PfEKzLL;iMp+{1Q`z*5zFAs*0Ls&H`$&3{Kj4$V_i@Y3 zQ5#cDOZZXP4LiO`exN`(4@q9eQ8uV|2&zu8c<`IAi}X>xjQ2rZjo9+7c~B?p(#|;v zer1U!kvAG8TJgQf$Vb%&$$*?mTT^8q!mb=&j!S9)P#ih$wSndg2IQ$5(%D4r5YvN6 zSlmi#A+9~6hT+SJhfNn)&@?dH$60LL#zBHZW2#jikLi?i+d6FT_TdaEj!3q>= zs3B{;qsuhOi~=T+n7bcnD>mKC9SPia&sf-S6=bWBZ&k_0DVVff(=-5WLMn9=GM7-h zI0uf;xB8kYZb^lJ0n~JvuvK$V>}r19I>e+O66f|wPr+;wZh})Gw^&qqYZA}x4c57y`^h7)C>5Z1%3*cW z)cL6g#o{A8TI2pxi@_j)Q_eBD)Y1zWnK6FCJ*Vusx`G!m)?EOSA0act>OlBcw2kno znt+5a_hNxdJ!=)?x{qU|#3A*G_rm|KnYzPYV{szQS;o+Vc_nTJny7jnL?4}g| zq}9Rn^^$O}pD>4Wzz073HN<|S{OaO`3SdI%H!gr$kE|3cZg#S#ZmtN6jU!-W@kLCX2^KjZN_cvo3qAj2yCB?L16iZiG(a`(MHoh@NuA?dUdwAZsu^p~Uhti2ZH!rb9pRfx3K8kW z_?}^DSUvk!SkI1_Ny((_yDi!;g+*N#ElFI*hGVTo^~6evaow^^-a3wu+^vYErC)MU zEPyLe@#)2))oWu=PU`!)g^X7j-n;da0;cWGPIx}|{5}0&Gqw&mh_FTI_8yp+ZyIs# zi~~~V0>b733>{kC2`xluGp9ko+Syq=cLVEdK6dYbAnqPQpJ0yP1^$LT-{4Y$I*shl-3{@hbXlEaQ{OVJr6@vM$U7%VXui z69mW&G~@=wLkd6GC5LthA@FO8P^{E$HP}ph8}5s#;Fxy2?&9$ADS==?cc9DBgZ^BP z_DJ*8;w>hq(8u#n@8pPzhy{cF{4*+k-5}N1fZ&QXpqw@-WKbl7G-h<-fqQ5cUWgtZ ziPTTk*ivA(LV;7lZd*s>eSsM}+`^Lx#d$*#KPXr1pVrK0_^RM)uk}!!5L8>TO42Ru)kIb>l@A`(fi(etM0m#G<>kwwV~O zw(xaW6da4~#^(Y}PMxbp(iU(Th3CZf}3l^;h0r| z=MBo3m?-`p-VaQZT{78zLHSWNm32oJxoy&ks72t34^d!Gj8=dH+swRGn`d&6|j&n&PXLhwd zY?@dYT9b2uRt2;Fk>XXgPObcg`WLnv)u0L7*LN9TQ!dI4(B!mp9~}26atgA|Vl-1g zG1Mt)k?;6P4~*b9-+9z*fz4Xirg8k=gdS5xM_x#bV2|fmb8UMyiN$jH6WDG-k&!?G z7St9U#R|{RkKRcgSQnjdIK`zJd)?yFvD(DPh5-hpASH|!dA=)}N`Sxzdd7x9cr;&x z0?>+V`+=QN8F#cdo=5>iLeFsFc?ywL+hR9-dzt%0?%k)DK`Q zQ)!Pt6Auj>-6d23k2rTJpgSt=6SoV46u@%xuQKC8?cPl+>*s=DEZVpN7$>q1boY5* zW0O0~;UO$-=GT`m&GNYD-B<_TuV1~NR7&M0g7vw8=6o*KiL1c-3(y&pYSCOg_bjc`cG%->f>UT`;z zd<`+z@DhiS8g3Ej`NeU079;}kV+@JEqw=S1M4S)vpZ>f#e9Sb7)?;J*jPQ$o%jcL( z9$^>WxCE2zM$4Kh%Eo-KYvU}3BuuOxw#eC!({l2D6&`xunIoF$i2=Gg0oOH^x|Al; ziE$^IzopsMH;7d|WB#*{?LS*KYZR`8vFpVXe0x7M7(cI?fu)Yy9Qf zJg5w2#h`;t_ksT~YSk0fp6bXA&oHh|`M_xKx|irpxo|F)x82hH58PF|R4t27)9cKqaDz~7a@Ub32?mq5-4r4x9%Iem7Lr&xv>xdzdT4a%LsTjG12W?qN^+ z@!iZ3G`0DLzjcvM4RBD?gd5nN<_J(I18CxC>BNi_)y31reLH!#llOMD_Bg16eH%Z+ zI@5tf6YFG76bE+OR-tMscC-@k{FJTg^1cx>`h^6`{VI4q?#JA4s=KcG>oiD^L_xi+ zB9fNx(}VD&&!0Vp)p;!Sq@biL&x|Y2nRO@szL>_T7f_d^t2f=H1rP6$*dNk9oAK?! zN8kT+^=Y)gvMi3OX~M4qet%`%xvxqm{V^J4{^~Hs3Q6-Ozj$q&l*nDAhHS?*SuBJT z>1JWh2gQ14CnBI6K5U@JQIZuh#0MSj4qreM_!q_$+5dMzf-WI`F#D0l6JQxO0w~nN zN+2rI*O$V^wBuB(e=TPm5fA@tIVG9)#Aa$#3gm`FIbATR^{iB-qf&ubqlbcZ1yjl| zD-G(`AB!|X{kCx~J&%J(tINbfI_uV-SBuuHe1`iI;+Fc-{}H>dI0Y8;hq-TLYGv#= zhtQaY6vT2bzz+NAc&43SvdjlIGFF&@ybK!Fw*HDu_i7fBlm1z0*!SY)u7<9ZY$O+TBqN|FN9Is93lc2hfxq9nTU-D+<)*)73G?0Tbyq-0-Cy$ptt z(t0Hr5qmTCUdNWnmw-k*AjEr&Our;Q8=j1&G=lNvQt&r`N(Za9h0Hi?xKemGQofjwQ6 zEfOUxr~hNrrOY=DeNV)MHAz2xVyBip17X`9g*GZTExdiraYcBBk4MP1N-uBUATzwL z(z076^l1D(WzqG?hXB;P+t~YZT{6!yRk<1RRh#?lrI~d^{5EioHD^r!QsGeT9$#Nb z=cJt4L(J8!Yu(LMHCXyUUA*XMAeb%To(5CqTah||6kx@DMr!X_#1p!dW0fQv&nulS zOv9Nvw>;;%zuZ&z>2W@Ns^9w*v8;KpQHLsLeN%B9pufo^@$Abp1*uxTLE-IYWFj2A zo?eRJCYJFH-lL(A0b6A2icAbemDxEoRkbBCSVS_#pQZc^@503DOu6mquJ*#i`7CSU zMLUE>+8QgcPYL34g1*$KkR6=qQRmqHEk5A1LG#i4S-PJ+D|g(Jh=NHlAfcI&rk`Bg_ySed@e8Hq&)UIEwY_S;&-MbLul^u<^-*}B?;p5!e6 z5#0kXU8Yj~oxOH^gOg$mH;Nk3ap)|~){hGPm0MolJMP^O6W{JFcGSzvT?l;Xk)@<@x=`k3Q*F8qv z;&cbNL}{uYIMz@oRd|#JJSZ&(jm~LzN~q&j#$eMOEX1PL&m{W^W+%XLYMki&Z$kJW z3%K>=u5Y0?M}#F))ibW!sD-!weE{?W7W#FTzQ-*BBc@RDU+x!dFQ4_as9bt?>+JL;8sTYo&@eAiY~+@<*P0<1~jO0P2;5hMtQ<13y0#*{n`AT zj!xOv50?u8TDy6x1^-ynNWte0LY)Htw>Vyb?a?C|D6~gIOy>lWpLKmbHtoGfBOUdN zNTcrHea*|K-6wfOB>G~L9QHlr^�_j6WK+Gj+xJRxVvl#lh7y-4uY);t)n47k4ot z9YsU`HVk7fg4;r{;)FHk7ZHyZJ+W|$aKwj=g&_$VCVFn5%XzSA`|z}+4ItZ|`hB}R z>h-6Be`d>nmv8;kQHJg!HMr^cCGG=T5;3HhZ_JRq0_4a3TsY7Pz{V+}z>;!R^U4*c zJ>wRI59B-)92Vi?b&EWvH(`<(G5A?W)z>EuDMG@VENAb7aHa`I#tKw{0uUc3(#J8& z*_S%A_ZxCIY385{%qN-b1K)TWmCjUA4nWKx_ZnKLSvEf0($&_0@DS~ zN8JOXJXXcaFm^OCYrz(R7N5DQkXKGnnt}yzfw^8s%=A?7hxza;ylJ;XQ&XtC`pM%b z6$5Ff0{(ALcSlTKvIbr@mR`0Z)*iM`2EfO|E5OMk$jQsE!^mat*drqV diff --git a/docs/script-dir/images/ui-icons_2e83ff_256x240.png b/docs/script-dir/images/ui-icons_2e83ff_256x240.png deleted file mode 100644 index 1f5f49756ca64bd20a1048bd7a3a584457d4bf00..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 4549 zcmeHK2U8PFw@yL`geFZ|P@*V;w1D&)N-z*QNarO;QRz)l2oR(yU5bE$@JbZ~M4A){ zMUW<7Xc|gHkY1#>kc)mZ-`x8j?lU`k&hG3pXZP8eGv_=pHoVEqz{dap0GM^r+NJ;i z@XQ5l($k#H6S{hbXB#ZW`sOH!2L%N^&k_wk58Uw#*BX~{9Oe{(!2H)ZKd9X_X#oyfU5m#1Q82_f^tw6O11(<7c zWrG0%qDlJqcA8#ZrRU7cn@;N9VJUYHk^lTY3j(~2xv33^rM-YYTR?r#*8XSqkBCLbg&Z9G zp-dC_BuoqAkc7;MJ$9jCDbZN_FFIp=mvYI8l)OlkJ2GcKGFRh03>eyeeRF`W3VO-< zC@;;5k3f&*z5C#XoxT-q8o(%^R8K&f=k{8C{Y0uqmWi%PaU6jYo(5);yFd`Pn(!El z9h1vEhwlH1Q*|5X!lGvH`BD!7(^?OdAd$XP8=x~O{-Q}sy<2@T8`8IN;o*)L;K1*C zz~`x^5S%i=-8fHXQ{cyPiZj`|pV*e}T1g-QFmGBzZJ}z9t&~LL?-9yqp3x_EMw?h% zR0P^RfsG7yxX`l^uHgxl8V3PJTxM-b@>%bt-xEPCC)WNC4L*~?BL_6;e`XLVLVOkZ zaY1crUf;C9r#r|ebAHIp$KdM#$G60s#+4?*)mH)^4Rrn^&ZPOyOvZQO09veRcnbCX zWQc5fEAPmQd7=aqrZPBYAy;!Ph{cmfC@z-hpTuotqr$Mt? zY7woww1bOdZZNt7uHxGKm9$w8ozW}U!S8~V?{0A^bi{^$t00v7M zy;S7sm>vMCBz+=8TH~>zJ3!E9INJ1E6=!x^{;q9Biu$){2DGEIbB=oh!`QMCEx$ds$)Rc&7P*}`pd3{PqA}tIjp&y&{w{YrsPqhxaO4qerTDpM`WTlW5 zu*{F5ID98N%XU%ltVphxZ4Tra!)bpNih&)&Xx+d#q1{G`5icBuvTfv^7X{W}JXD*B z5!u=L*x{^0TXODlF@ziPt+=ars9OiJOv1hU4sSKFa z=)|j@+%OFH1Oa3f>ffz{O6~wHhDJrN4=)Y|I6DD)9CPw@Ytx6M2-O;{GQTQG&gg?A zr_VPJ&6+f^hXn|7pvwa+o;bXAc{n)lTn{~TF;3#>=AS1_iaGZheU=*xbHD8CUNUCj z^3&DKA#op+3tPQa@eK1RUg%D!n%5J4ICni7xELQIvd$Qz&+%!EZ!S{js)F!S5x>3O zLCB>-TbYHXS1?}__Xfm{r>(wAU3INPvHaWIIYbsxO^Oe0h0xglZWFakn6z+$6`V(< zSimFunLw;GdHMnWx=-GqPeuvo)l|sHaFJ~`DxMN)4Y7U!J8D=^MqeQn$`lS|1%mdN zK^morEND%3ee@_Yb<>IVIW2*6NZ^*QDg@w`H$3}uYsbleFidycDox+uzraGexRKEV z)Wd(JYU$(enZkGJ3{9REQOJppi6EBrWrXU;Ho*EGRUG&RC-ceTd@*C1J$c=Jk~Ty0 zAJE}+ZgP611Nw}-*K%$Od}R)=^6W|sl);faH`l2OA>=zFmy@8vVK$&%4OTWEhnx^< zs6V-c51bUMvJ@`4zcieGu?{L+ z6(ZMYhQND%M5s7uB)($Pv`1e&xPRDwWGD>e&;;;sA;yn_>F>rJH-M!+=wbl1_|+h6ttu(NB3r*FCdU;|1QOB?AGaVz-O zFMj-^FpfDR$apG zp!5Ji|53`FLrz-d>YnYEv6T0wDN8?-+$@_Nk-6nai){TtA=w&Qa=^woXbB~azV{PSFnB7zJF-k|zJbp8E$W1!v#tcX8%TiKFo-n7uCut-v(fLn$6ypSnrZ z$*S34s_(`S1jtESyVuI|{3uW2BhK-{jQp05>-^UGi}#K$%3bE8bM>i8<~MKu=Z4e! zh0A#tX_IOB39o+SdnJzu7<`KoCri$9{I*mr4A2uJr&$q1-r=Lzfussme7r{sQYl;m0a`a^hI)69ux681k(h4* zN9|Ywb^i7xF=uPVr*az7RYlVWPxhKmOE)Fgo>mlB<7pYaz6VsBW7J04%DxENck4rx zgM6#>hT78o;>S1Jt8MqV+4Jng1ERmSoX9dGIW`CC2VaF9CwL8-Bi|83mD2!Dee`Lm zCU-luuD>aLYJU7ZD?3R8tYYSVzoEVM_7n=hEcv1FN{h`Dk*ik1Q)z?ie^&}a1;86B!(s%}s%T_y4o&Ilh~d4DHn(86bo>p-*Ct4!-v)W$h1{J?4IrLKT@^?`26FF*@(2A4^@6og<7ngtWmIBVp>g{gwCG=1WX4srm*>E(6gC>!E~o-<{=AHg;~h zr)4{j`glAMBt_n{+%n8))~tNAyYCizc)D8wlZ8(Mn(svkWSi{A*vq>kCT}fIzl|Cn zy>PR|9cIRx;PBE5*-4+O?~_|$F<}5ur(2S|FAw=N&4pNnTk#=xhxAK3L=6a{X{DRocw%r8utUc^U?}*_ zr(y*T#U}{tCh=GT-ig;Dn~K`ilK*9stV#@EBAC9TOf4ugkA;~Nt2ej0?du%%-=F_m zz_LA$2jOO2Xk0r}zAZwZs7;VwA4S}3#)0t0SXSerLIo`;%;<|0ji~+vl}hOk9i+zx zUuZGWeo-DskUoPx=uJ)C!2Ep5@-PzwsF1^fj6kXJV!gU9L;{+5Gue#|!$uOssQo@K zR+uvJS*YTwuIPpVsz4PRkj93f17`97b|eBhl?7-Z9~n0f6EDor>foo2fPb$h4?A7> zT%r7x%5bpcUlV8+ByvZ7G1za^zhKiWJonD$xaS#k!hAE4p;QgaM*&tH)GI*HnxRE` zKM&1Lk7kAdR0w0M^qbP-LBil+NXKi;ihqCio{6=#|O(C$v0m`Z##4NXD+__-g z(_-U=I?+`IvcD6z77?Nw;fys4D9CFwg)Aldh6fQ?7N5`ui7^y6CC!+Es(Gr9qTHPK z-0ma)tFN+?V$ZP1e1t=yi(Zs8_S&zkh{hmaoulswfZ1Dqa1RNYC-25^Rm!I<>GW3k zjUOHLY78yVOfQ4@4mA&>xohn_3&n{JwbI7c3dEV^o%%0Fv=51+iH6T4?jF;IPPfqw zokxnwN5uxo9?XI&Sz@-f12P;WQ%GNbFK1CCdDhs}sVDCdBr~;?W)WZ)U0iw42JJnB z7i*tnrsnBMBpw^Ay}gobnSM$V#D;&2_@aql^X86vylX4gc?Y;m(y8v2NuB;;wJQoV^z3UpIO6adgOK|rh`I83cQ92vN z*nDrN5bxLa^N8pN&PPh7e;t?O#;^ACf0T)hr9bD^{p0K0aKs6fP=#ZL0@Q)?jH1G4 zmGhC&x$cBzQD~bW$K$+5{ylRuGYJ=lL0%_3KE(evW+WZI`zqmN3H0Yi?*N0(R64#J z>}+>eAmE{uko29IXjycIN3NS#IqY;9$u>caW?(bvKw+_ zgG{F`FVBpFDwJwR~R;O-V!9D+Lphp>2% zCAeJPdrp0I&;9O?nVzZYuAY9Td#2`@Ff|ofJRC|K004j|F9+2C0DzA}z%e%ZV=t5G zEb%Bnri!vqfK1uzM9#CcN_%;z#n=8gA#PS3;tcI;~uofXisxsK~{&;VR#1 z!o>>A2X%jk6mmfdq0-jyMN=cu0=VG)#_Jf_>&KuMX8ti@lH{h`>lhL}=z0k4IB519 z2z+_ZC;46kNd^v6LH`zyWz zc=pCDRd~N_<2su2s8&{(HU!aVC@&H;3-}=D4 zmn4&Xqtz|N;fr4ZX*`x)O>~I#fDAFWbF}%9b@c^V1-YMxSf6U)DQRkB+43Xqb9MFy zjo;f7Zl(+0@U{ZOZ-5LtI^A(gphls-(I>bAO%b)X0%Rr}JgWGZvD+JlsTxN^% zxJBLbH-$q!0L=#%jxX5Vq_FKJ<2w!*===-Y@qzQ*_ z&ov@B+(5Xb?{lf2ViA!OfgI3o#$9BtFq%%7KSq&MDxi7pySJYoi*Mo(W6r!DLSMQT z5R^D?yx*g7)k}}4ziwHEoWI5K%3hPst6voipJkIw?!%9N$K$TWC4VuQM9)7yVq;a$ z=Z;n#4~)-1561t|Pxey=Qu^0P2#JYboJR5co5Ktl*iAC2?$BN>JINDo_+7dptH4MZ z=#a=xrMtj%`CVN()`GKp3RFADpy$xF7~O&&p0-yeG=xW8uhj9Af`YV6uf@~_v;;D#h=*T)D!O`_6(IwY zIw^B!$W|O05eRI*b>Pe%GGlOW`<(mkpbS$G@7HEko`s{=g~2c4kqO2D{R_c$HXzr|(vU9~bVZ9Zw90;2AsK2ig}XTGY6fY#HgGpEaxY zO`D_Z@O8%f#^@5G;myQ5fA(JXK{rgcieDr!{s`~{nU%CRe=1;4og^%^Ts{A8>Sq8@ z7MLFuiJ9lh@TXEbSXQb0;l#nbg^u{Ky;vCuCLR537HT%5FxM^fs5pS1gq3J(Tf!*6 zAc~!aiCB8(;cEmBeX<`V&xqvsk92&%dsXd*G@M$W7!TVsoD%c%!p~lGHEz(ckd{tR z##JAyc1)YR0b@JW|HWX=EIHNMaui<>jUPal5F|-#l#?ar-oHSbCyZG*EuqOC?V5Iz zROd8mBy{ukJ_DuzLTBsPdF^WZ7NW}CWcww?Uwp))_brh+D#JdL%%G}bh zEbmg}yJc_xX1_|6iSomOV4IgTV&UNVe-P4B!*v}&@hLXe=h7%`bcW^Eta_BE?bf*&82)UKj^6nE@ zA$RoKncM;1&!nmY^=yjr6=wgBr%e9BXAxKh^0A1=&iQhn5mfUB$_1N5DJ-DZ4!pLCChW*MHin>-!AX+Twe_SsV%)n#? z9m<01Z}*b;{SU$Rd-`axfZ;y8#-Dau@wD~tukEo#I1b5JhkDp%r;hf2&TH29Y`$=G zCT=}&CU#_(G5)E0y~*>piG@IHnT&WP>Bef5eoMnuRP?tb7aFH_AYy@I!S34oD{g9j zt&5vt`pheqh=GvgZDzlqDuidT)11qC;R35@PC4Z4(p=SICoeHq+3uEqgbmq)}q|_NRzcOHv0J`WLpt+1=j?0A{<5%OLxd!f~^V zfofe-Y;s4+yganmBlRs9L-MCkb@HkcIGzakx6p52sHx;MA}LA_@xo(MP} zDc);OVH(SgwrVlgqy!Vb7cIqe8X$!ECB5e#-)15warssOnkR%x%-o>1T_T=}^z83m z>?c?Vcl|}zH)Gve#!UTymO66c$B^I*%B*@2y23hf5=?aCeBzz7EJe|b9Sex0(wO>7 zRb>P4peOZ<5iwK?l!Imu++&w7Syj6VQ7HaGhAd%tr!?^1W9BpDb9K6w6&K*5X?Mg{ zJ-9!QlR>z>DK+)226mPe<+h_rzFAHI!mzVV#GU?Fzw~_RoaIT4yg6y4BAsT`&lzDE zN8&hg3mPdVnZE*z(B&{cUCbdEZcwCc!M07oJQWk{gQd-> zr9dqLy@o0}77srWq=#f}hD*4;Wr{`XhNy3(QRG7u=})1~*VvvJg7)}?r}&$RlQwv$ zXdGV%bswf)=onk3jFfL;P++Q%v8Zx@HLpgdXD??Rgfd0J7%TheMo&G8Ri zY%xQ58GYjiumJ@R#%;;*4f6=Jqyt;B^WLz4)&y*MwAuEm);Ad)VfKQ8Sr0CY@t@~> zUQjgZ#QB*y&{~9gc(!{BsVt<##<@4;&)IsJD6YtQmo_p%?&3O=8)wZazJdioWa<4X zlrD5`HRzYUVx9XSHNrRMeJbsZXE$L%`CjK>#AvI+17q)*ws2o~m+2h|RXRpuvZ;D* zQY%WR`fzBy@JjoZU*XW8`Fqv?ZRVOCeS4``J028Q{72zS6OggtuOq;?NrF=gLU{T1 z2Ey5bAX2R!_@I`V<&n7vuSD$!&t^oE$C16?6i^2+oXgJEQ^GRtyq7y|3J zjS5W(iH2Od&+O~1mD#qt_V(U2`D~yWIe}Wmh)Pz z`3B*tPj%Q1@@njj!dC^nL67Y3HjBux!~dkMt88TTtEyZ&gy!?kq=hW3X+P_Vrv0a= zk$G`d4jR#UC3q&uVr_NfxeAI|1?9Qb7nKH>x*7HzWEl1J7=Vy~_xZtg^d+=;~q6HX~P<3!HF61g_w>7y^ge1>z>0>CJBlwhy*m zu^e%|FDE`Pg>^K2tw_~`;#;lt;kHE=dWx%}d@{Ep`+}fUYEkRY@7R4z^Gi3a z%p3!^U0{T-%L?kl_g;>HbVbT_)6tT-&YtzE=5CeyU1!c&e8r`X(rWY(&&Hn$;!z<3 z@ZD^M|7w69ux8!!$a=u3Jm9vMnxk@c@;-#Vi;?20XYrZU4{Zg*wkL!!)33(XXlz1R zYdSCxbAF4VGcc|P>jR^>ye$Fvd;}`W;VnrnsgUp09az2h?}6$Hh^S}<)Tc=<&3>*uCLEyR_hY_tr{or zrLSkS#T^|h1|_TSdo$fLueegLlN{0i)^=e2EtbySBh*?saAY}fWW_pZPj89qIdGQG zuxq;}FZf}T8*ZUnyil7Q8o@Dmf8dp6l_IDkJXm0=&ivCe1tvmX*|Y9)KZx>*u)cj!gV3~eOWE0KE$Vd(C$NowTz3Z#GR58MoW7U>(7WibQR7zU zr(M+U)R3#cCD?IbC3MmtR7?nlyi9(d)Z8dBwm5Yv#gE zH~5Y@zD>tVcGN_vSwLt5=jvf;p2JDnXQDL55iWH_(o7-&$C@w1ezEAGF`loMo{^9s z+qL-4cT!g|bS7(^aDM{#4CP=QsdpQhA-B3WQ@8x}1Z~5_L6>yv41-IOKT3S%nn6e5 zjJw+eepy<9mtX+LaCH|?5I*+c*Y9Mnr%8@i5vn4Hu@i=9XtWGol{AM#ixz~m!Q15N zdc*o)e1I~VccQpl$M!|<;DHX$F%un;kJwM!;3X{(+24sQz;UoP+D;pG5OrK;NSpRJ zAoo7h4z`5^2%$YZK@il;j!YY-k-Zk}e^u&AqL*9qyz-Oxo3!(5hwER%GJ1>eeJHnI(0ne%RzAyI5mDgG%|(-4~b=*CY8r|1uLy`6pa z`a`AqLvAMzmPMnOi;v!%;Z#k2RPeMo!UaOYtBz2^Z@;8%ZuCM|L0q-P*6`3fqiw^L zL3`*T0~C5-#Fy`zV$lw~_4mI6WLZS@zu$b)@(M16E0J%hHBZ=3P0gJyo*6+fXZ0|) zB~_}943 z?Lc#&-_51qs+HcN0==Y{;S2E*(c#J}TF1dOq>+oBq7^BO)gtN36`@RskHQ1S3iYcE zdr^>R{%$WSvX(kRE8=0x3WtG3iW!hA)a`Qss{lN*6S62fAT80qpF>~U0K*^ef>uYa zroXwa>=4bE(Me{aSAcQ#S=$1-=uQTg;;=5KvvH5q>2fiJX)f+RsBB9uXVi%6<=o_J z;Fb|nE-|%J+QxjX*FPtOMZ0yTw$HWu++eB$65&pLY_$8rd6A`F5DZM&a@ox>EyZF; zI35+4PUyZ(Fq1PdiWWylndF0L`Bi&mEFQ4%ig#h6sXl- zY}`wuiiW&n92*N#!?nXU?R|&(llg1N@n!AqFF{IZ&>!ujl|0-wU5gGY2E08{lSjF4 zt|sNhwGNVmJc`EVWEc7S%r0=*uWj19qAzg@1=s-H)o&Wz<Lli7-+}2Ha{kq=!XZ~pZc&+Q=0Cr|?#_d2wy>XJyrz^0!NJym zO7^0TjMo8~-}C35db!jXTrFn2nwOg2p{IJ)TMKtnrmOTK9*AKe0{j(&<)*eqt8N!v zpq|U58&sl=USB36p%G@>`5=>n9`TBDZ+p}y$w2uADdGxvcz^~D|-g+X6KZ?b`a6w%sL2=P|o1#BP})wq9P6^I;EBnI=7-f6T*2aKAh(r zXjh?;*}}bE?&sMes#m4`20olUS!0kmkhy2DS0V9I zOVfN+i{L@-)F3v$JA2t)D}TAUs6WZNKJ{$kx`%Omgx%I7Je24zhTUZh(V%L!aHijs zeCcMA`}iNqfj%Fu?+*QOj<}bl1LV*Ss@{fNU5=lL+RyR}X`nw|5$c(I=~X%=VUF8A zjt6XyO6Eiq%OTZ+GJkTSuKVD2LWrlV!?~tMbg?upc?2iFnnE_oJ8?xt5w%`pFE$TSofbGY9Nn%^00N{i~> z!<-d}5xbK}N##I0*iFO8_PIgdMSVO=^HewXRYhMjzGFhagblsyGGu2-wW7GZZ{ zQoU1S*zc%l7-^UdxP0GxT<1fpCrTSsH9D$z?_|R6 z_Vg7Qh~N<#KqCEj{{Z9*u}7$G?~LK>=6PI~v3uf)l@UJV^0t@wG+ak)aZ`yOwUxZ0 ziHYw>>qDBv?tyTN>lry=XZ*IuTz=$P-6wpGW>1{a66PVs?H#@p6~=_6dhZ zQ_C6oC7I*oSKm7UI^y|S@_%pNF_jc0z9XL9|03`HyXxpE1D3c|=~P-|F$QK4)n|(p zysic<{o^^p=+kD)6#_wCVnRh3{vm;FfO(3hp^DhdCadwzK8XzOBXkoPy^at}Pap*v zBU(QN-y|aejaOi@kWw<2H}EDHC;A&JKG2L*Bi1ZUvuMuO9`swC=#*((@P6()>?sWt zSXDf0QV4qoH^Tn-f32+A7sI%V8~ZP)1~6@8g`2`)UUIaRX&f=wzC8&T0D+%B;88ZL z&{X@v#(SwT20&G$4|rq^D~AiK(oG-XF=1UsB7s4^AE5^`5hh(e;#fOR%+1EhfO@H| z^%1^X;6oC2lZX7+_QP$!5C2yH7CdlD4a*frVc;CDYPb|XeSReoPs*JS;SMlZ9?j#N z08l}h{pNsNINt0bkR@G~?a{{%xO{8T{LwZ*OrlaiqT}-+i-P#Wt~zlIz^>o7J46EY zIKG)9Tbm%h6~Cx4ESc-WZhQQJVs@2z?`m%1Y5_5Gws;f(UNDa!Cs>G+hwmK^7{bc~ z5fI@3gCSrr6)-H~KMd?0&220_|EB?11i~u_5#axq0cs?h@X_G;KOQt4EnVGBoGk#7 j=8mQoFXZh_tSmGvOw2u<1}#J%l>qWGD$oikWB>mG5~xOM diff --git a/docs/script-dir/images/ui-icons_888888_256x240.png b/docs/script-dir/images/ui-icons_888888_256x240.png deleted file mode 100644 index ee5e33f27235d1b5cf0259f63f3894a6be33c679..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 6999 zcmZvBWmsH6vi9I^!4hPU5L^Zs2n2T@2=4Cg4nwd3lHdeFfC<5aTkx4cu%N-+2@Dnp z?w8&DzUSG!cYmByefref{ZyTr&!bfS=cPE{A_)M{_^Qau=myRos0#;zfZ>Q;mcGYRie@({fXRC!lf?(~P}uA5O=^WkN6w$E?Bk(QZ@d56yF zvzCin``<%De?$=3f{5%D%>3Rj1G6Iggn@+A<^UREK7ar#ZuV1uR{tmF0D1KqJXc{A z%xfM%w}%vYbcT&PdfJXWqe{@F-Trf1G!PdObSLjZ_+aq%)c>XFRvZg-spg=oj_&;fOm^QKjzig4q;#%o~svm01A0n%NG{&+6qNHCHpjv5-Fjdm&ppQW@gOQc^ZHpV-IqO+^k-I=s7UxRF z-R`7Yak0kmg&9$h1hga2of%GS5j?9PZP3G8 zY0qVzY1dmU>_646Aaqp@=~(-1S>H3%0EF{C8r?%6R{leTHmW}L4@byn3zD(w<~E9O z=Fn0y) zY}2L1AsRK!Z$gx%=12t}dqV5_&hRH<7OR=c;+t`wxrz(}MSDEjxp{*oahH%kyf6V` zAo0S<{8~I3yH)g{!uPj5<8J|IT@-Tc^VzIyi?Tzb@L}&FlF5%e%5=Qa7^9eVC$*`A z82?nDIx;)K2d}6&TMusbX4q*~w<0H@sgZGE!VEh_&x+dXmDx|3XGE*TVtenrF_d@& zOU1DjvGy|ES4oRGhn5;zFm!vDs_}%x318u~U0qSGUuPr#>uUIi_kw&J*SY-yYi=+Y zSWKOfJiwcNofx>;_vN4L2ROpKgvHuiY9Bx)xB^t%?MF zP?PQuootUA?J1D>+&m*iHdeItn?^Q2;v3DFgbnkz4*vq({R&KBB3%!cV5_LAc2V8- z%u0X{E5>%S@Xqv9^EGx&wLfk}FC%4`U@@CmaTcu!eHJ*GV~aaFP>(5pa6C#n46Fa{ zL)oQX4`ZT>4YUe>7xww~^l$y45w{tA^R6X5E9FWBI~%}{6KQ_uk5|hIXc^T%=0M0<<#BJ0RRd_O;3 zsb-D8O$U4S5BOLl_;#4cj;)2Hw;;O_e`}b{FVzp-3IL54{lXt|va~$t(hFS=qc!L) z-3e~P6-a%iT5Ri_Lr?B+gKG~s+?*f;UVI_B^JO>bs$O@!q-4u7(Ml7m|0^KP0oU)W zKGt(FB7jKjw2q%eJLKSlr6|R_MXbz$Lo%+mpGFNp){u);^4_8Q@dp# z(C`~#{#iw$hiaH|e>D#7J1QrG#1@WlsC!qB+e+0yo@4d=SpTXkr--hWpbISfyP>Mc zYi2kQBa1khy84P)({Me9RIes%E`2#p2KKd*kKN1Q%(M|Y>o1(dB7l}m6tl%M{_Fc- zlLA37rfpNZGi_--$j?kmH>Ao0CMGF~4OIuoyBJeGYckr{@11Tf=O-0{8O!w>=)vwA ztf$Cr5BLRwW%tqR@{BrIoS1n(hReKhl7J@GP8|Zf-XdoS7Rn{}qED97tGi<4k7H9*9qX~33TOxusi*f(HP z&viDOR1te?v8OHDy4Pj1M2(q+$ELZQcTaHtGdXfknhJ2j-5AvL%4v$HRh0~PBL4N+ za)Hyn-KMJqXLDdZLy3~% zQze#I%SMB6QK>s`t`$If5J3%(O9R7zZ9!7WBrhq&sWhXw*%Vp!4Eey}bMe=Y??HU! zb)us6SBE=Ax*ulxk;mrf0T*OMQ8$rfO}qtCpd_?icx1?f8OWKKSv<}E=@$orqgn0$ zf1W(L`+WxsKnJDXJt;lDGWz|}V={IGOp1qeHTB{e($_>WB^Is3CQpnzN7ku-vgWz# zEPgAYrzU=WLN!xAEIf0P`5LphqD6{EC&@YQbIF2r7miQFZ?-~Hd`Wt}`#V!iV{U@T zdV{*T(|fvYAr*(4T`JMaY;~#>68=#ibONi$`qx`kTV0TP^EbTPS{ZF$+S%_Ud)3DO zM466a+aQJA%vb%~h)VOdU8#yO3NRcJo-%(8GI=&pb|Rn3hh9^j9b=-8+s`SuQ&T#C zG`x0elQvoRIyHRm%}r*NmJCMWxu~l#gL1zt92X?FvBzCq(!TY=%}T(M`2fk%*IK;L zBXT~eU|)AqjR&~?Fz|X7o3)jQBygoIaU$uRnV2WVA*`hie6NFj{fSYR$tSf6-H=*d zdg}V*#wU?b6zPJx_?i*)^2ZdWsa5|LJ@!W|k<1z1=y^2{->z_u{ii?p@!+*1 z{h8i=ictpi5|yFmiDrcW;%N!e{dA-3vMkJ6wh__#hsHxo;NDM7S9sqrR*Ea%B8bay z%X~oeF6AiMIIttj{)0rXEtx0%X!)!~g*1q(y!4>GqHs<~ni<`37IN#`5Y=we;sV48 z0^j>rz6pk@HOv9#P1osT_@$Rqji)f6X1^9>Z_zAx7ZYa@{Y<|wF-ZqzZ;N3*tvyWUlgZae9C@OZ_LDT2H`F?q&u z!k&TYj{q-6?lkD3=IGZNqwuV3sEQZglk180ch%^iZfE(@dqorO^(^oR2@#VUjpZ92 z*us5g!F35st14zVf55PT_N3~({Bvd_NP8L)=`w+^BdtEgl=jgASgv%&x1HhxA5DJI zz6c)lWhxJ6F7wU9r|m)ug)F^-AVN@O;4qgQPN2i#$La#d(AxaQE-p)9WvV}$aZXJ# zz)-VGidtmqQHL?Egt@AMsbz!!2?#$6J>2Z_?vp(u*f1Jy86l;U1fr|I&^Aw>lTt-r z<)_$xVFFdc`nS+{OiM!u^4E2?nETPkyl1m2;|2$E+_PRAPnKYr_#g8`WNKaK4F7^` z?Ubvq{W1>s1^7Y{HItAy&8^_JgrpO%s=DZp4tZCbahEi+1%pC0#fCYEu7hL3$tZ50 zXuFu6Yp-chB5r{mj(GFKp_Ly^d~x}|agLYR8*{vMq*5frzoTSB4MIX`VXWcT5J(p$ zvb|v$4c?8v;T!4IdUfGv>>H^7+@>gzX^B|paL3B~Eke}ziUGpPQ}dIn03g4gRNJh8wrgjZppN344yAl%PT>?dXQfM#P!sRwL z;KMIu(ce?sUkiv?!Vy1m=vGTp^K>83Yjo?d$#<=t-KkL}_==YbTSL3tgWR6)-Ro8r zg>cv=%3Rb9yeFBfD78$8J*?6gjy>9c`q1R8Qn(CxX}XM8Mj^JBOyR>=?rRKQXO9*gvJyjfbJrs0U~2168KVOU;jdTE zc^Mh^)?{DY*$cO1{5f&&9Bm`e-;2K6o#q?)^0k*DB`UkBhVcdDfrep|D->3J#MJp+ zXY1nE?S}HFz60zQiVNOD@25Sa*0SK_@r3 zC(tKK+*fXb0BXgdWEt29pxJlcGHzY zJkOun3<4jbr>1T_TTE+(G2fT~#EBMFE0%pmldkXeM2*ccV3jW|Q1%;GkEKr2f0jK$5CC(%my!&suy}Ege*D+mwSTsfwKm{=38iPdckt95#-u`Gvf%NB z;Jh9Y$q!*z#v9yQDy~nPEHhs8Qkw?&{9op;3~$xMQ7^lQ+Vhi5nq!hLeB_uq=fV`i z!E)geaw+Zv{3e01>Ja?YPHdnFy?gNc=tt*_9!=`7Pxa?6vDx7m z-0>Iz7kq>(phWuFYjg~71xPKq{iPwgaFzo`h735{1u|PL&;op4?W}XU z*Zy62q5Zpw>NWW%j9#6bduP-Wx-U7vc>pnX^^HJeuMF)nYzFL z%R|OuztH2Mvi-7KmK*i^jJvfjk^KvfFB=8yB`>Tf2m;=skPWJI`bo3orf~30518bt<-Gc+ep2#?If-gL z;_V5G4bEA`J=zvwI~Q@$Og=!W8uwTmkeO|h{T!d3G}TRwN4S(@6%mj>r>tEd-;I6xK}CyHNR z`W}vjd36p~^P67IHm7n0WplM~-h0G4d(^lQdh*;f$GS9QH}m7A_@SjdB<{Q@lSpks z#9Z>MGSepD!)70Z0=($IJ>f|tC992?O1@XfyaXPp;h$rKrsx6fGn7zu0DK-m%11pb zGs9l*hMI>!-euGLyZpfz$09N2tK7I|b;S-_#kFUjE5M#v)sglMJH-hP9PYzL!(X=C z&l?pTPZ)^!L+CzJldxTEnRX$U#7DonI=OJLC|?k4#%1GNfv4AB1Wnw!xI3XLtci;D z>-ZQ7cE%tm1TrT|p*;#G65?!pEWW|rV?DJVanShnI9f(F!n8!3pJz=ASgeotHM#nQlcCth-Uv8eYLIFq|3 z$8;wJtnCMzOA2y}?03AoxqP{&<<^LHq+AC=(zuu(*k+;i3vxtnzWwUcSRvqT@9p9U z6B$%<@gcw_XUet5{BmU@iP+3ij=x_$z4QHD)k`HvNGXwccALGY(cnw0iuw^T!X3kM zCPp%7p}~l8b7j81O$PF3Yj&4)EbM@*agLVppE|pzn$sS(tEqN45aMSbu8N?*|P}v74M2!K~C@*$2i}SB=KKK-lw5%5K-;( zx7f;>L=##Ydm&d@RA~naR#0%3 z%Jt(5o)V(kBwAXNS$kQ*X>zg{Hz$*p)jQ~CPvPAOXWSlU?UV&`;kEB#yUYYnQYm~( zM{Wz^qIPF1>EY9Qm zs(bJSW9*o|Vh+{F4kmXlq<#GjIhTPKk38K-n5^lF$9s-<)ehAI3h7s(%ZAM}PxI~BVn6$b^R>=qIM4`F$ zHJIDKBpfOts&!OC?+vc@YFza+(}>X6gGd#)^)Y1hg_B@0JN)W{o&aj8uTC07^&Ms0 z+%4m=-h-4rU;#PK3cr=COqN7gJd2o&8|~IR-aaTjI5t4v;163AT%imiB9*B`OHKYd z7NM%=d}-LtFW0pp5c*3wNhme>^b+O=nYY9$&%s0Sj+J~*BL>Kh_`#Nl)sIOAZg z@t&kUUg#t5=ox78pG2wvT1_sF)`xJ~q{34riYgi$4F=znBeG~miClofeMJwEaUBJtDa?9tQBUX0F$_zoU8SmzfCfb$uMED{p)utjDJe)DYI z|CEyh*7Tn9ST3$vSa2?msDZYHy%xc@6F?0j`BW54t!2@(cVeLa`6Iqa(Vt=&R~pre z+kdK%&@j?q&W~Vtepw;nuBC_|N39bWl{VjCMLK`6Dg076ctt`Gz>vl+96WWc@{?M> zSc-4f6T=QQ^XGcPBDe*8N z6p)h91fy@X^D`W}r!QrGa69d*j; z0IVCMHC8T5WH;YpbB8+~JA^kzJs&&r?!uzKV&i7BhyG;ZzAYoGHQ!UkNW2O?$))({W;@58;aMHIOGn@%AJsy8Vz3^2q^tH9}wG*@PwtEx+0T9114@iWE zUr?7HBqqQw1{UQ4fy6){TD17Y{{Xmo*gDw<{W}08DkdN-1{V4k;A9w1`UrUTj~R44 r?0o~QyzKxowjS1Yj4Ezc4tB5YtZak42JFNil>jOVn(|e$mT&$CkHH7} diff --git a/docs/script-dir/images/ui-icons_cd0a0a_256x240.png b/docs/script-dir/images/ui-icons_cd0a0a_256x240.png deleted file mode 100644 index 7e8ebc180a2d2a74739059799407b8b7b57a9092..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 4549 zcmeHK2U8PFw@yL`geFb85=9ZD1*F$df}vOGyaXvKy$K2df>fnT5l|3bse%xZCPhLK zq(s2bG?a)Sy-1T5a?x+*n|uGmeP(CR*`0mn>^?hl=A6f-#y6Q6_!s~H0J9!S#~c6v zp1FW6dYZF&QcwTzY=gzr&=N^tVEF&>Uj<|d!K-Hi*#?;#TL5@jZ-D7d+aKjhUB2ay za7XiT$P6-HQsvS@8Ne>u30;%65Ra9O$98#q8tPF*3bZzTz*N?kB)u+wBUmd+0T!5D z*<^r#Xj1>ZovB|~<30Q0ri+GeWcuAh#6Q2zf&gzD+|&Ui&|W~DEuelV+rTsX$43El z`#jYFfOD>TI+~UbzO6elx{w;!AbqIU%Q;US-y3k0y&ZS`{PXJ9%GKuT? zA=YB~_}-7h}grk~UMM~1{IJu5z36&nH&VPs=tlLlQ$TWf}@j0@_1Mr{7PN}kZ@ zU@9N%V%HL9eSE z*BdLzdW%d9Pf1SA5`lAsx?6C@pGL*pIra&^83Gx%WYG^8aT%R?OG4Ou=0P3R5)KZ5 z2&PGFszDp$u%zsXBYLrEImJ}xFS--_mkY=#l)@OKCnEoMOo8S*eqcoB^(_J&4tmM< zs4&xp4^NNgy&HVP!O(^_6JQclp)V-Ib9=q9aWcaz*Gx~fED_HM%LFsYU%*S)OnQwc zjLYYoLk)hxsCi6qp^!9HRp8G%b|f68yfB?n<^DBz9!E*WgJ2gV*g5_E7alHp*g2_wbc8Pw7*-B9ToxV53c2rO-Vs4Px{7M!NqIXUcMSHv1cqfD&&RnMQs) z8771gCX+j09M{&*+~vB&SSU^b{}8I6?+$$T9I*OL*{LYxAHX;*iW?dX43jc> zp~TZQLjbC#e#FPvV$ou|K+q=`%KR&iGq0m)&%Qcc{(18s?cH)B<=dn&oKq#&CVm$KVlo#Io;OGBX$ckfqw0sl%9n2giktQ~NFXr`I; z@h650el?%I!6y~!d;+G2vdswoOkzni?&A=OT9T`SipWyQFEyIunl_G*e?HE^ zx7hkb*WF(Q-{^pB`|k8FH76TXH6UL4I}2h>bLnbqDDskSJx^zYBqL{y$Sn($8Qire zMAVY2aEEb~T~WwSd>Zm#SF3TtfRem42m@SaPkNC3#AX)UgT%TW=5u7S=dxp|3h~tk+8yZee}?!M9HI@f1WTU?%HqiNq#8O^RmBZ`M8nW z4|fZvl;5BN{Lb=BYDGdiZ)y8 zAJE}UL0VRg6Y7k--*#>qd}SW1`t(XXl);%iKi{ne!56tAR#KrNk#?YdO;$EPr~Ghg zL?F4G51g8yyaYA|gz0Frg48>AICegIAO6!sUwFPVn!UV}NVFIh?iYutyf9vPz5yy( z6DHSbg~R&3N2@w%ro3d+aztG`xPRDrWGn*Y&;syq!6%Nw=lpy*v1>S; zz{fdE9!dF+My~C&wlU5dQQi|liohaCEU{7=clSmk*wsDU+doSXunDD0ppEf~z7_WK zr+{Ip?==2A3sWeggPH~cD#9z$y`Scm$bJE%)>E|H9P>`Q=3WWq&5Gckv?(2+idix- z=}@U*Mw5z1u`6g?w5skq?WtvLzqBse`dg0I`$C5Hc0=;s zkPHED_%Qv>At$X$ZQoAYc=|i@^yMF^9@eeSh=MAFRi5FHuyr-LC*Z!C9W%qiV99!$ z+O4V2zvRN1wsMwg1WGvGv~LqgOA2pQZi~E#pY5Lj`j`sW1jcRidq&GPu(oq7&iz*W zKqyJ$uZ1uC=#zeW>zJF-nx-gt-}Ak+qN{)H+eFKjl(8fvzoS10rN}hbM=2ZHn7&EW z&8^#HYV0+@3zAc}_pVhH22dU+MW5s4HwjodZU|T(EZaZ2D1Vuc&fO1}CSck5&kdJ% zi5gTPGKuKSk8XiGTl>tjIdMWO%>rJ^?&*|Ie1H+ zQLN{pqOrow2FVb%V>X_jBIhzH6s6~oS_oYp;iE>C%Z8w|lf!Ev?jfhYkP?FOAJ=__ zr3Ndn*>IP;iK|Ccxw##$W6H7snuYuHC7o)bP}ir&X4B|!Zd3cDm`a244dW*}1CN%5 zXbw16r3xZMsYF85zpYIaVr} z?@&!YCHZY9Dhmzcwq`}f17^3P{$})GtY|@wRkgs2TGgSwUV|As8%gAY&4}SLTG6V7 zW4_tEA;9}Q!A@(ZaEcrzDlf2bSL%{R)ka6gH9z06;tUEGAxQhi>~Q}sg1^506i46bzM;PHOzX~mY*`jhIiS}ZN2&$pmjO9S=Mj>^wMj=hEu zl~8}2{%}WDK+?okXRZA{H+!LjL{Qw9wi7vK1jiPkap+~_ak9^lCE_h!OeGWGGC-f1 zVRpAm`}*sOCzi+Ga`RF(!KxOX_nSKFZ%-ou%u?^0ue8}s6S?Xo-QGlc{EYuH{+mQ} z>M!OEuy)pxcgz<<{Cz|GC0u}FhbpDfLsov{TnAe9J`HN1 za$1aaKcULuO}iD`>6xOm$wW+_K_~{}#cJyGb!F&r_u_WE*8>}sUhJ6ueSj+chaBTO z_5$EOo-Ic;$S9Ktg;7Yrv0}eqi8w*$7sq2td!fj=Cb#w8?(xBoqj;W#K&Bk`$}tA3 z9AGH_)V?G6ZC=jUdQlN6RDFWODgd0RQQ;0q(jfFwegfKM0~6S+>;@7olQV~&k49?f4c6ReTPQa($S^cob|b_kZ$#iX{C8Kz*x0%0 zo>cBW9N_VWlazSRa?1##MXSou-fxeD!_&QLemU3-p!Hs?V4m6Uct-_K_|&bHnK!W$ zV;63=dGgzIvcKFCOuQk~(75AeyWPI#G+g@N6{x%iJmUeHX;4Zap?8EBjG*?Rg>>ai z2KP;zLI>J)rrvOVNW5NFP3LK%e~$B;2#8-H>%?dKvqQey7_%N$0BA{1=_#M`>JpGj zx^=X=@Ue4rw&8wAx+E@QbDpFk)D;j9<|OP%PJua#2WVcDDKfA63c=(IOQ-ItOLyLj z#xi9OEcg{vTTL1PH0YM4?khk(&TzrkU^aY+ypr5 z{jp4uL+LRby+u5hgmq)J$>w4X_2hrqq;M%gOnCFRl<7qk=J7~NV(r#;uVaI=;k)yH z3s|;iNg&Le8;yH+`qw4sWA#bWtE1?ftr!s26wPW{TB4{eZ7}vcT{CttS+z#yeHZD` z!Dm{7xPVwM1jvxV5cImPfv~WUzB0lD0V?KmAfl1#yl9`E3o(FJ-W+yQ`0C&D)y6G7Fqei&raMZE$9ts7fa z4f4?J_L;XiwLe#tFZPq{Hi=d2HL_a#J6156HfF@TAh; z*?Y}c7mP70lKYjiy#yEAjAE=?L_%I!DCR2DHw8zdS^Oe`Q{pKe%3AToxCN@8lKi~y z{NBUBt1t6X6V9;2e1t)uN}rcE_dBkxip3*do}=#z;&-%u?-?GxK;Dbzs!>Q^*6ptj zm^eD>*BoA?nOOnx9cmrMao0O|mq-wu>SauA6^XMeyN#cZXde*AQjDKU-aV#`nCYM! zK93Mnh)oEUJD3C2u*7fg1Z6u(rIWt=TFIqI@vO6HP*2{$Nfzqqt)jply2Pr`P1<{K zAJze>9Iexn7%VzWXJ<9dI_s1qgpT?U{aFjU?#mtfXwP1}`wno0q-!-Ch4te$o&7NO zv0K{_tOX8j$%GwNi1XUiA4V4r(b+)i-C0MYc`g)V`!_Vllu=)fmSLWy3MWmjV{~>( z2}Qmx;l8gN7vOQhu1Ct|e;v2u<}Z#5f0Ri`pg-r)`~A!ONc0I6kHauS0UE#sMlq4I z%K6CTTyOG<7_>u(<5A(mz`ps}+2ji&AfFQ+KjMEIGm>t=ebp$kBvqJzq Mq_Ix57W&cu0AIB!=l}o! diff --git a/docs/script-dir/jquery-3.5.1.min.js b/docs/script-dir/jquery-3.5.1.min.js deleted file mode 100644 index b061403..0000000 --- a/docs/script-dir/jquery-3.5.1.min.js +++ /dev/null @@ -1,2 +0,0 @@ -/*! jQuery v3.5.1 | (c) JS Foundation and other contributors | jquery.org/license */ -!function(e,t){"use strict";"object"==typeof module&&"object"==typeof module.exports?module.exports=e.document?t(e,!0):function(e){if(!e.document)throw new Error("jQuery requires a window with a document");return t(e)}:t(e)}("undefined"!=typeof window?window:this,function(C,e){"use strict";var t=[],r=Object.getPrototypeOf,s=t.slice,g=t.flat?function(e){return t.flat.call(e)}:function(e){return t.concat.apply([],e)},u=t.push,i=t.indexOf,n={},o=n.toString,v=n.hasOwnProperty,a=v.toString,l=a.call(Object),y={},m=function(e){return"function"==typeof e&&"number"!=typeof e.nodeType},x=function(e){return null!=e&&e===e.window},E=C.document,c={type:!0,src:!0,nonce:!0,noModule:!0};function b(e,t,n){var r,i,o=(n=n||E).createElement("script");if(o.text=e,t)for(r in c)(i=t[r]||t.getAttribute&&t.getAttribute(r))&&o.setAttribute(r,i);n.head.appendChild(o).parentNode.removeChild(o)}function w(e){return null==e?e+"":"object"==typeof e||"function"==typeof e?n[o.call(e)]||"object":typeof e}var f="3.5.1",S=function(e,t){return new S.fn.init(e,t)};function p(e){var t=!!e&&"length"in e&&e.length,n=w(e);return!m(e)&&!x(e)&&("array"===n||0===t||"number"==typeof t&&0+~]|"+M+")"+M+"*"),U=new RegExp(M+"|>"),X=new RegExp(F),V=new RegExp("^"+I+"$"),G={ID:new RegExp("^#("+I+")"),CLASS:new RegExp("^\\.("+I+")"),TAG:new RegExp("^("+I+"|[*])"),ATTR:new RegExp("^"+W),PSEUDO:new RegExp("^"+F),CHILD:new RegExp("^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\("+M+"*(even|odd|(([+-]|)(\\d*)n|)"+M+"*(?:([+-]|)"+M+"*(\\d+)|))"+M+"*\\)|)","i"),bool:new RegExp("^(?:"+R+")$","i"),needsContext:new RegExp("^"+M+"*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\("+M+"*((?:-\\d)?\\d*)"+M+"*\\)|)(?=[^-]|$)","i")},Y=/HTML$/i,Q=/^(?:input|select|textarea|button)$/i,J=/^h\d$/i,K=/^[^{]+\{\s*\[native \w/,Z=/^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/,ee=/[+~]/,te=new RegExp("\\\\[\\da-fA-F]{1,6}"+M+"?|\\\\([^\\r\\n\\f])","g"),ne=function(e,t){var n="0x"+e.slice(1)-65536;return t||(n<0?String.fromCharCode(n+65536):String.fromCharCode(n>>10|55296,1023&n|56320))},re=/([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g,ie=function(e,t){return t?"\0"===e?"\ufffd":e.slice(0,-1)+"\\"+e.charCodeAt(e.length-1).toString(16)+" ":"\\"+e},oe=function(){T()},ae=be(function(e){return!0===e.disabled&&"fieldset"===e.nodeName.toLowerCase()},{dir:"parentNode",next:"legend"});try{H.apply(t=O.call(p.childNodes),p.childNodes),t[p.childNodes.length].nodeType}catch(e){H={apply:t.length?function(e,t){L.apply(e,O.call(t))}:function(e,t){var n=e.length,r=0;while(e[n++]=t[r++]);e.length=n-1}}}function se(t,e,n,r){var i,o,a,s,u,l,c,f=e&&e.ownerDocument,p=e?e.nodeType:9;if(n=n||[],"string"!=typeof t||!t||1!==p&&9!==p&&11!==p)return n;if(!r&&(T(e),e=e||C,E)){if(11!==p&&(u=Z.exec(t)))if(i=u[1]){if(9===p){if(!(a=e.getElementById(i)))return n;if(a.id===i)return n.push(a),n}else if(f&&(a=f.getElementById(i))&&y(e,a)&&a.id===i)return n.push(a),n}else{if(u[2])return H.apply(n,e.getElementsByTagName(t)),n;if((i=u[3])&&d.getElementsByClassName&&e.getElementsByClassName)return H.apply(n,e.getElementsByClassName(i)),n}if(d.qsa&&!N[t+" "]&&(!v||!v.test(t))&&(1!==p||"object"!==e.nodeName.toLowerCase())){if(c=t,f=e,1===p&&(U.test(t)||z.test(t))){(f=ee.test(t)&&ye(e.parentNode)||e)===e&&d.scope||((s=e.getAttribute("id"))?s=s.replace(re,ie):e.setAttribute("id",s=S)),o=(l=h(t)).length;while(o--)l[o]=(s?"#"+s:":scope")+" "+xe(l[o]);c=l.join(",")}try{return H.apply(n,f.querySelectorAll(c)),n}catch(e){N(t,!0)}finally{s===S&&e.removeAttribute("id")}}}return g(t.replace($,"$1"),e,n,r)}function ue(){var r=[];return function e(t,n){return r.push(t+" ")>b.cacheLength&&delete e[r.shift()],e[t+" "]=n}}function le(e){return e[S]=!0,e}function ce(e){var t=C.createElement("fieldset");try{return!!e(t)}catch(e){return!1}finally{t.parentNode&&t.parentNode.removeChild(t),t=null}}function fe(e,t){var n=e.split("|"),r=n.length;while(r--)b.attrHandle[n[r]]=t}function pe(e,t){var n=t&&e,r=n&&1===e.nodeType&&1===t.nodeType&&e.sourceIndex-t.sourceIndex;if(r)return r;if(n)while(n=n.nextSibling)if(n===t)return-1;return e?1:-1}function de(t){return function(e){return"input"===e.nodeName.toLowerCase()&&e.type===t}}function he(n){return function(e){var t=e.nodeName.toLowerCase();return("input"===t||"button"===t)&&e.type===n}}function ge(t){return function(e){return"form"in e?e.parentNode&&!1===e.disabled?"label"in e?"label"in e.parentNode?e.parentNode.disabled===t:e.disabled===t:e.isDisabled===t||e.isDisabled!==!t&&ae(e)===t:e.disabled===t:"label"in e&&e.disabled===t}}function ve(a){return le(function(o){return o=+o,le(function(e,t){var n,r=a([],e.length,o),i=r.length;while(i--)e[n=r[i]]&&(e[n]=!(t[n]=e[n]))})})}function ye(e){return e&&"undefined"!=typeof e.getElementsByTagName&&e}for(e in d=se.support={},i=se.isXML=function(e){var t=e.namespaceURI,n=(e.ownerDocument||e).documentElement;return!Y.test(t||n&&n.nodeName||"HTML")},T=se.setDocument=function(e){var t,n,r=e?e.ownerDocument||e:p;return r!=C&&9===r.nodeType&&r.documentElement&&(a=(C=r).documentElement,E=!i(C),p!=C&&(n=C.defaultView)&&n.top!==n&&(n.addEventListener?n.addEventListener("unload",oe,!1):n.attachEvent&&n.attachEvent("onunload",oe)),d.scope=ce(function(e){return a.appendChild(e).appendChild(C.createElement("div")),"undefined"!=typeof e.querySelectorAll&&!e.querySelectorAll(":scope fieldset div").length}),d.attributes=ce(function(e){return e.className="i",!e.getAttribute("className")}),d.getElementsByTagName=ce(function(e){return e.appendChild(C.createComment("")),!e.getElementsByTagName("*").length}),d.getElementsByClassName=K.test(C.getElementsByClassName),d.getById=ce(function(e){return a.appendChild(e).id=S,!C.getElementsByName||!C.getElementsByName(S).length}),d.getById?(b.filter.ID=function(e){var t=e.replace(te,ne);return function(e){return e.getAttribute("id")===t}},b.find.ID=function(e,t){if("undefined"!=typeof t.getElementById&&E){var n=t.getElementById(e);return n?[n]:[]}}):(b.filter.ID=function(e){var n=e.replace(te,ne);return function(e){var t="undefined"!=typeof e.getAttributeNode&&e.getAttributeNode("id");return t&&t.value===n}},b.find.ID=function(e,t){if("undefined"!=typeof t.getElementById&&E){var n,r,i,o=t.getElementById(e);if(o){if((n=o.getAttributeNode("id"))&&n.value===e)return[o];i=t.getElementsByName(e),r=0;while(o=i[r++])if((n=o.getAttributeNode("id"))&&n.value===e)return[o]}return[]}}),b.find.TAG=d.getElementsByTagName?function(e,t){return"undefined"!=typeof t.getElementsByTagName?t.getElementsByTagName(e):d.qsa?t.querySelectorAll(e):void 0}:function(e,t){var n,r=[],i=0,o=t.getElementsByTagName(e);if("*"===e){while(n=o[i++])1===n.nodeType&&r.push(n);return r}return o},b.find.CLASS=d.getElementsByClassName&&function(e,t){if("undefined"!=typeof t.getElementsByClassName&&E)return t.getElementsByClassName(e)},s=[],v=[],(d.qsa=K.test(C.querySelectorAll))&&(ce(function(e){var t;a.appendChild(e).innerHTML="",e.querySelectorAll("[msallowcapture^='']").length&&v.push("[*^$]="+M+"*(?:''|\"\")"),e.querySelectorAll("[selected]").length||v.push("\\["+M+"*(?:value|"+R+")"),e.querySelectorAll("[id~="+S+"-]").length||v.push("~="),(t=C.createElement("input")).setAttribute("name",""),e.appendChild(t),e.querySelectorAll("[name='']").length||v.push("\\["+M+"*name"+M+"*="+M+"*(?:''|\"\")"),e.querySelectorAll(":checked").length||v.push(":checked"),e.querySelectorAll("a#"+S+"+*").length||v.push(".#.+[+~]"),e.querySelectorAll("\\\f"),v.push("[\\r\\n\\f]")}),ce(function(e){e.innerHTML="";var t=C.createElement("input");t.setAttribute("type","hidden"),e.appendChild(t).setAttribute("name","D"),e.querySelectorAll("[name=d]").length&&v.push("name"+M+"*[*^$|!~]?="),2!==e.querySelectorAll(":enabled").length&&v.push(":enabled",":disabled"),a.appendChild(e).disabled=!0,2!==e.querySelectorAll(":disabled").length&&v.push(":enabled",":disabled"),e.querySelectorAll("*,:x"),v.push(",.*:")})),(d.matchesSelector=K.test(c=a.matches||a.webkitMatchesSelector||a.mozMatchesSelector||a.oMatchesSelector||a.msMatchesSelector))&&ce(function(e){d.disconnectedMatch=c.call(e,"*"),c.call(e,"[s!='']:x"),s.push("!=",F)}),v=v.length&&new RegExp(v.join("|")),s=s.length&&new RegExp(s.join("|")),t=K.test(a.compareDocumentPosition),y=t||K.test(a.contains)?function(e,t){var n=9===e.nodeType?e.documentElement:e,r=t&&t.parentNode;return e===r||!(!r||1!==r.nodeType||!(n.contains?n.contains(r):e.compareDocumentPosition&&16&e.compareDocumentPosition(r)))}:function(e,t){if(t)while(t=t.parentNode)if(t===e)return!0;return!1},D=t?function(e,t){if(e===t)return l=!0,0;var n=!e.compareDocumentPosition-!t.compareDocumentPosition;return n||(1&(n=(e.ownerDocument||e)==(t.ownerDocument||t)?e.compareDocumentPosition(t):1)||!d.sortDetached&&t.compareDocumentPosition(e)===n?e==C||e.ownerDocument==p&&y(p,e)?-1:t==C||t.ownerDocument==p&&y(p,t)?1:u?P(u,e)-P(u,t):0:4&n?-1:1)}:function(e,t){if(e===t)return l=!0,0;var n,r=0,i=e.parentNode,o=t.parentNode,a=[e],s=[t];if(!i||!o)return e==C?-1:t==C?1:i?-1:o?1:u?P(u,e)-P(u,t):0;if(i===o)return pe(e,t);n=e;while(n=n.parentNode)a.unshift(n);n=t;while(n=n.parentNode)s.unshift(n);while(a[r]===s[r])r++;return r?pe(a[r],s[r]):a[r]==p?-1:s[r]==p?1:0}),C},se.matches=function(e,t){return se(e,null,null,t)},se.matchesSelector=function(e,t){if(T(e),d.matchesSelector&&E&&!N[t+" "]&&(!s||!s.test(t))&&(!v||!v.test(t)))try{var n=c.call(e,t);if(n||d.disconnectedMatch||e.document&&11!==e.document.nodeType)return n}catch(e){N(t,!0)}return 0":{dir:"parentNode",first:!0}," ":{dir:"parentNode"},"+":{dir:"previousSibling",first:!0},"~":{dir:"previousSibling"}},preFilter:{ATTR:function(e){return e[1]=e[1].replace(te,ne),e[3]=(e[3]||e[4]||e[5]||"").replace(te,ne),"~="===e[2]&&(e[3]=" "+e[3]+" "),e.slice(0,4)},CHILD:function(e){return e[1]=e[1].toLowerCase(),"nth"===e[1].slice(0,3)?(e[3]||se.error(e[0]),e[4]=+(e[4]?e[5]+(e[6]||1):2*("even"===e[3]||"odd"===e[3])),e[5]=+(e[7]+e[8]||"odd"===e[3])):e[3]&&se.error(e[0]),e},PSEUDO:function(e){var t,n=!e[6]&&e[2];return G.CHILD.test(e[0])?null:(e[3]?e[2]=e[4]||e[5]||"":n&&X.test(n)&&(t=h(n,!0))&&(t=n.indexOf(")",n.length-t)-n.length)&&(e[0]=e[0].slice(0,t),e[2]=n.slice(0,t)),e.slice(0,3))}},filter:{TAG:function(e){var t=e.replace(te,ne).toLowerCase();return"*"===e?function(){return!0}:function(e){return e.nodeName&&e.nodeName.toLowerCase()===t}},CLASS:function(e){var t=m[e+" "];return t||(t=new RegExp("(^|"+M+")"+e+"("+M+"|$)"))&&m(e,function(e){return t.test("string"==typeof e.className&&e.className||"undefined"!=typeof e.getAttribute&&e.getAttribute("class")||"")})},ATTR:function(n,r,i){return function(e){var t=se.attr(e,n);return null==t?"!="===r:!r||(t+="","="===r?t===i:"!="===r?t!==i:"^="===r?i&&0===t.indexOf(i):"*="===r?i&&-1:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i;function D(e,n,r){return m(n)?S.grep(e,function(e,t){return!!n.call(e,t,e)!==r}):n.nodeType?S.grep(e,function(e){return e===n!==r}):"string"!=typeof n?S.grep(e,function(e){return-1)[^>]*|#([\w-]+))$/;(S.fn.init=function(e,t,n){var r,i;if(!e)return this;if(n=n||j,"string"==typeof e){if(!(r="<"===e[0]&&">"===e[e.length-1]&&3<=e.length?[null,e,null]:q.exec(e))||!r[1]&&t)return!t||t.jquery?(t||n).find(e):this.constructor(t).find(e);if(r[1]){if(t=t instanceof S?t[0]:t,S.merge(this,S.parseHTML(r[1],t&&t.nodeType?t.ownerDocument||t:E,!0)),N.test(r[1])&&S.isPlainObject(t))for(r in t)m(this[r])?this[r](t[r]):this.attr(r,t[r]);return this}return(i=E.getElementById(r[2]))&&(this[0]=i,this.length=1),this}return e.nodeType?(this[0]=e,this.length=1,this):m(e)?void 0!==n.ready?n.ready(e):e(S):S.makeArray(e,this)}).prototype=S.fn,j=S(E);var L=/^(?:parents|prev(?:Until|All))/,H={children:!0,contents:!0,next:!0,prev:!0};function O(e,t){while((e=e[t])&&1!==e.nodeType);return e}S.fn.extend({has:function(e){var t=S(e,this),n=t.length;return this.filter(function(){for(var e=0;e\x20\t\r\n\f]*)/i,he=/^$|^module$|\/(?:java|ecma)script/i;ce=E.createDocumentFragment().appendChild(E.createElement("div")),(fe=E.createElement("input")).setAttribute("type","radio"),fe.setAttribute("checked","checked"),fe.setAttribute("name","t"),ce.appendChild(fe),y.checkClone=ce.cloneNode(!0).cloneNode(!0).lastChild.checked,ce.innerHTML="",y.noCloneChecked=!!ce.cloneNode(!0).lastChild.defaultValue,ce.innerHTML="",y.option=!!ce.lastChild;var ge={thead:[1,"","
"],col:[2,"","
"],tr:[2,"","
"],td:[3,"","
"],_default:[0,"",""]};function ve(e,t){var n;return n="undefined"!=typeof e.getElementsByTagName?e.getElementsByTagName(t||"*"):"undefined"!=typeof e.querySelectorAll?e.querySelectorAll(t||"*"):[],void 0===t||t&&A(e,t)?S.merge([e],n):n}function ye(e,t){for(var n=0,r=e.length;n",""]);var me=/<|&#?\w+;/;function xe(e,t,n,r,i){for(var o,a,s,u,l,c,f=t.createDocumentFragment(),p=[],d=0,h=e.length;d\s*$/g;function qe(e,t){return A(e,"table")&&A(11!==t.nodeType?t:t.firstChild,"tr")&&S(e).children("tbody")[0]||e}function Le(e){return e.type=(null!==e.getAttribute("type"))+"/"+e.type,e}function He(e){return"true/"===(e.type||"").slice(0,5)?e.type=e.type.slice(5):e.removeAttribute("type"),e}function Oe(e,t){var n,r,i,o,a,s;if(1===t.nodeType){if(Y.hasData(e)&&(s=Y.get(e).events))for(i in Y.remove(t,"handle events"),s)for(n=0,r=s[i].length;n").attr(n.scriptAttrs||{}).prop({charset:n.scriptCharset,src:n.url}).on("load error",i=function(e){r.remove(),i=null,e&&t("error"===e.type?404:200,e.type)}),E.head.appendChild(r[0])},abort:function(){i&&i()}}});var Ut,Xt=[],Vt=/(=)\?(?=&|$)|\?\?/;S.ajaxSetup({jsonp:"callback",jsonpCallback:function(){var e=Xt.pop()||S.expando+"_"+Ct.guid++;return this[e]=!0,e}}),S.ajaxPrefilter("json jsonp",function(e,t,n){var r,i,o,a=!1!==e.jsonp&&(Vt.test(e.url)?"url":"string"==typeof e.data&&0===(e.contentType||"").indexOf("application/x-www-form-urlencoded")&&Vt.test(e.data)&&"data");if(a||"jsonp"===e.dataTypes[0])return r=e.jsonpCallback=m(e.jsonpCallback)?e.jsonpCallback():e.jsonpCallback,a?e[a]=e[a].replace(Vt,"$1"+r):!1!==e.jsonp&&(e.url+=(Et.test(e.url)?"&":"?")+e.jsonp+"="+r),e.converters["script json"]=function(){return o||S.error(r+" was not called"),o[0]},e.dataTypes[0]="json",i=C[r],C[r]=function(){o=arguments},n.always(function(){void 0===i?S(C).removeProp(r):C[r]=i,e[r]&&(e.jsonpCallback=t.jsonpCallback,Xt.push(r)),o&&m(i)&&i(o[0]),o=i=void 0}),"script"}),y.createHTMLDocument=((Ut=E.implementation.createHTMLDocument("").body).innerHTML="
",2===Ut.childNodes.length),S.parseHTML=function(e,t,n){return"string"!=typeof e?[]:("boolean"==typeof t&&(n=t,t=!1),t||(y.createHTMLDocument?((r=(t=E.implementation.createHTMLDocument("")).createElement("base")).href=E.location.href,t.head.appendChild(r)):t=E),o=!n&&[],(i=N.exec(e))?[t.createElement(i[1])]:(i=xe([e],t,o),o&&o.length&&S(o).remove(),S.merge([],i.childNodes)));var r,i,o},S.fn.load=function(e,t,n){var r,i,o,a=this,s=e.indexOf(" ");return-1").append(S.parseHTML(e)).find(r):e)}).always(n&&function(e,t){a.each(function(){n.apply(this,o||[e.responseText,t,e])})}),this},S.expr.pseudos.animated=function(t){return S.grep(S.timers,function(e){return t===e.elem}).length},S.offset={setOffset:function(e,t,n){var r,i,o,a,s,u,l=S.css(e,"position"),c=S(e),f={};"static"===l&&(e.style.position="relative"),s=c.offset(),o=S.css(e,"top"),u=S.css(e,"left"),("absolute"===l||"fixed"===l)&&-1<(o+u).indexOf("auto")?(a=(r=c.position()).top,i=r.left):(a=parseFloat(o)||0,i=parseFloat(u)||0),m(t)&&(t=t.call(e,n,S.extend({},s))),null!=t.top&&(f.top=t.top-s.top+a),null!=t.left&&(f.left=t.left-s.left+i),"using"in t?t.using.call(e,f):("number"==typeof f.top&&(f.top+="px"),"number"==typeof f.left&&(f.left+="px"),c.css(f))}},S.fn.extend({offset:function(t){if(arguments.length)return void 0===t?this:this.each(function(e){S.offset.setOffset(this,t,e)});var e,n,r=this[0];return r?r.getClientRects().length?(e=r.getBoundingClientRect(),n=r.ownerDocument.defaultView,{top:e.top+n.pageYOffset,left:e.left+n.pageXOffset}):{top:0,left:0}:void 0},position:function(){if(this[0]){var e,t,n,r=this[0],i={top:0,left:0};if("fixed"===S.css(r,"position"))t=r.getBoundingClientRect();else{t=this.offset(),n=r.ownerDocument,e=r.offsetParent||n.documentElement;while(e&&(e===n.body||e===n.documentElement)&&"static"===S.css(e,"position"))e=e.parentNode;e&&e!==r&&1===e.nodeType&&((i=S(e).offset()).top+=S.css(e,"borderTopWidth",!0),i.left+=S.css(e,"borderLeftWidth",!0))}return{top:t.top-i.top-S.css(r,"marginTop",!0),left:t.left-i.left-S.css(r,"marginLeft",!0)}}},offsetParent:function(){return this.map(function(){var e=this.offsetParent;while(e&&"static"===S.css(e,"position"))e=e.offsetParent;return e||re})}}),S.each({scrollLeft:"pageXOffset",scrollTop:"pageYOffset"},function(t,i){var o="pageYOffset"===i;S.fn[t]=function(e){return $(this,function(e,t,n){var r;if(x(e)?r=e:9===e.nodeType&&(r=e.defaultView),void 0===n)return r?r[i]:e[t];r?r.scrollTo(o?r.pageXOffset:n,o?n:r.pageYOffset):e[t]=n},t,e,arguments.length)}}),S.each(["top","left"],function(e,n){S.cssHooks[n]=$e(y.pixelPosition,function(e,t){if(t)return t=Be(e,n),Me.test(t)?S(e).position()[n]+"px":t})}),S.each({Height:"height",Width:"width"},function(a,s){S.each({padding:"inner"+a,content:s,"":"outer"+a},function(r,o){S.fn[o]=function(e,t){var n=arguments.length&&(r||"boolean"!=typeof e),i=r||(!0===e||!0===t?"margin":"border");return $(this,function(e,t,n){var r;return x(e)?0===o.indexOf("outer")?e["inner"+a]:e.document.documentElement["client"+a]:9===e.nodeType?(r=e.documentElement,Math.max(e.body["scroll"+a],r["scroll"+a],e.body["offset"+a],r["offset"+a],r["client"+a])):void 0===n?S.css(e,t,i):S.style(e,t,n,i)},s,n?e:void 0,n)}})}),S.each(["ajaxStart","ajaxStop","ajaxComplete","ajaxError","ajaxSuccess","ajaxSend"],function(e,t){S.fn[t]=function(e){return this.on(t,e)}}),S.fn.extend({bind:function(e,t,n){return this.on(e,null,t,n)},unbind:function(e,t){return this.off(e,null,t)},delegate:function(e,t,n,r){return this.on(t,e,n,r)},undelegate:function(e,t,n){return 1===arguments.length?this.off(e,"**"):this.off(t,e||"**",n)},hover:function(e,t){return this.mouseenter(e).mouseleave(t||e)}}),S.each("blur focus focusin focusout resize scroll click dblclick mousedown mouseup mousemove mouseover mouseout mouseenter mouseleave change select submit keydown keypress keyup contextmenu".split(" "),function(e,n){S.fn[n]=function(e,t){return 0+~]|"+M+")"+M+"*"),U=new RegExp(M+"|>"),X=new RegExp(F),V=new RegExp("^"+I+"$"),G={ID:new RegExp("^#("+I+")"),CLASS:new RegExp("^\\.("+I+")"),TAG:new RegExp("^("+I+"|[*])"),ATTR:new RegExp("^"+W),PSEUDO:new RegExp("^"+F),CHILD:new RegExp("^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\("+M+"*(even|odd|(([+-]|)(\\d*)n|)"+M+"*(?:([+-]|)"+M+"*(\\d+)|))"+M+"*\\)|)","i"),bool:new RegExp("^(?:"+R+")$","i"),needsContext:new RegExp("^"+M+"*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\("+M+"*((?:-\\d)?\\d*)"+M+"*\\)|)(?=[^-]|$)","i")},Y=/HTML$/i,Q=/^(?:input|select|textarea|button)$/i,J=/^h\d$/i,K=/^[^{]+\{\s*\[native \w/,Z=/^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/,ee=/[+~]/,te=new RegExp("\\\\[\\da-fA-F]{1,6}"+M+"?|\\\\([^\\r\\n\\f])","g"),ne=function(e,t){var n="0x"+e.slice(1)-65536;return t||(n<0?String.fromCharCode(n+65536):String.fromCharCode(n>>10|55296,1023&n|56320))},re=/([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g,ie=function(e,t){return t?"\0"===e?"\ufffd":e.slice(0,-1)+"\\"+e.charCodeAt(e.length-1).toString(16)+" ":"\\"+e},oe=function(){T()},ae=be(function(e){return!0===e.disabled&&"fieldset"===e.nodeName.toLowerCase()},{dir:"parentNode",next:"legend"});try{H.apply(t=O.call(p.childNodes),p.childNodes),t[p.childNodes.length].nodeType}catch(e){H={apply:t.length?function(e,t){L.apply(e,O.call(t))}:function(e,t){var n=e.length,r=0;while(e[n++]=t[r++]);e.length=n-1}}}function se(t,e,n,r){var i,o,a,s,u,l,c,f=e&&e.ownerDocument,p=e?e.nodeType:9;if(n=n||[],"string"!=typeof t||!t||1!==p&&9!==p&&11!==p)return n;if(!r&&(T(e),e=e||C,E)){if(11!==p&&(u=Z.exec(t)))if(i=u[1]){if(9===p){if(!(a=e.getElementById(i)))return n;if(a.id===i)return n.push(a),n}else if(f&&(a=f.getElementById(i))&&y(e,a)&&a.id===i)return n.push(a),n}else{if(u[2])return H.apply(n,e.getElementsByTagName(t)),n;if((i=u[3])&&d.getElementsByClassName&&e.getElementsByClassName)return H.apply(n,e.getElementsByClassName(i)),n}if(d.qsa&&!N[t+" "]&&(!v||!v.test(t))&&(1!==p||"object"!==e.nodeName.toLowerCase())){if(c=t,f=e,1===p&&(U.test(t)||z.test(t))){(f=ee.test(t)&&ye(e.parentNode)||e)===e&&d.scope||((s=e.getAttribute("id"))?s=s.replace(re,ie):e.setAttribute("id",s=S)),o=(l=h(t)).length;while(o--)l[o]=(s?"#"+s:":scope")+" "+xe(l[o]);c=l.join(",")}try{return H.apply(n,f.querySelectorAll(c)),n}catch(e){N(t,!0)}finally{s===S&&e.removeAttribute("id")}}}return g(t.replace($,"$1"),e,n,r)}function ue(){var r=[];return function e(t,n){return r.push(t+" ")>b.cacheLength&&delete e[r.shift()],e[t+" "]=n}}function le(e){return e[S]=!0,e}function ce(e){var t=C.createElement("fieldset");try{return!!e(t)}catch(e){return!1}finally{t.parentNode&&t.parentNode.removeChild(t),t=null}}function fe(e,t){var n=e.split("|"),r=n.length;while(r--)b.attrHandle[n[r]]=t}function pe(e,t){var n=t&&e,r=n&&1===e.nodeType&&1===t.nodeType&&e.sourceIndex-t.sourceIndex;if(r)return r;if(n)while(n=n.nextSibling)if(n===t)return-1;return e?1:-1}function de(t){return function(e){return"input"===e.nodeName.toLowerCase()&&e.type===t}}function he(n){return function(e){var t=e.nodeName.toLowerCase();return("input"===t||"button"===t)&&e.type===n}}function ge(t){return function(e){return"form"in e?e.parentNode&&!1===e.disabled?"label"in e?"label"in e.parentNode?e.parentNode.disabled===t:e.disabled===t:e.isDisabled===t||e.isDisabled!==!t&&ae(e)===t:e.disabled===t:"label"in e&&e.disabled===t}}function ve(a){return le(function(o){return o=+o,le(function(e,t){var n,r=a([],e.length,o),i=r.length;while(i--)e[n=r[i]]&&(e[n]=!(t[n]=e[n]))})})}function ye(e){return e&&"undefined"!=typeof e.getElementsByTagName&&e}for(e in d=se.support={},i=se.isXML=function(e){var t=e&&e.namespaceURI,n=e&&(e.ownerDocument||e).documentElement;return!Y.test(t||n&&n.nodeName||"HTML")},T=se.setDocument=function(e){var t,n,r=e?e.ownerDocument||e:p;return r!=C&&9===r.nodeType&&r.documentElement&&(a=(C=r).documentElement,E=!i(C),p!=C&&(n=C.defaultView)&&n.top!==n&&(n.addEventListener?n.addEventListener("unload",oe,!1):n.attachEvent&&n.attachEvent("onunload",oe)),d.scope=ce(function(e){return a.appendChild(e).appendChild(C.createElement("div")),"undefined"!=typeof e.querySelectorAll&&!e.querySelectorAll(":scope fieldset div").length}),d.attributes=ce(function(e){return e.className="i",!e.getAttribute("className")}),d.getElementsByTagName=ce(function(e){return e.appendChild(C.createComment("")),!e.getElementsByTagName("*").length}),d.getElementsByClassName=K.test(C.getElementsByClassName),d.getById=ce(function(e){return a.appendChild(e).id=S,!C.getElementsByName||!C.getElementsByName(S).length}),d.getById?(b.filter.ID=function(e){var t=e.replace(te,ne);return function(e){return e.getAttribute("id")===t}},b.find.ID=function(e,t){if("undefined"!=typeof t.getElementById&&E){var n=t.getElementById(e);return n?[n]:[]}}):(b.filter.ID=function(e){var n=e.replace(te,ne);return function(e){var t="undefined"!=typeof e.getAttributeNode&&e.getAttributeNode("id");return t&&t.value===n}},b.find.ID=function(e,t){if("undefined"!=typeof t.getElementById&&E){var n,r,i,o=t.getElementById(e);if(o){if((n=o.getAttributeNode("id"))&&n.value===e)return[o];i=t.getElementsByName(e),r=0;while(o=i[r++])if((n=o.getAttributeNode("id"))&&n.value===e)return[o]}return[]}}),b.find.TAG=d.getElementsByTagName?function(e,t){return"undefined"!=typeof t.getElementsByTagName?t.getElementsByTagName(e):d.qsa?t.querySelectorAll(e):void 0}:function(e,t){var n,r=[],i=0,o=t.getElementsByTagName(e);if("*"===e){while(n=o[i++])1===n.nodeType&&r.push(n);return r}return o},b.find.CLASS=d.getElementsByClassName&&function(e,t){if("undefined"!=typeof t.getElementsByClassName&&E)return t.getElementsByClassName(e)},s=[],v=[],(d.qsa=K.test(C.querySelectorAll))&&(ce(function(e){var t;a.appendChild(e).innerHTML="",e.querySelectorAll("[msallowcapture^='']").length&&v.push("[*^$]="+M+"*(?:''|\"\")"),e.querySelectorAll("[selected]").length||v.push("\\["+M+"*(?:value|"+R+")"),e.querySelectorAll("[id~="+S+"-]").length||v.push("~="),(t=C.createElement("input")).setAttribute("name",""),e.appendChild(t),e.querySelectorAll("[name='']").length||v.push("\\["+M+"*name"+M+"*="+M+"*(?:''|\"\")"),e.querySelectorAll(":checked").length||v.push(":checked"),e.querySelectorAll("a#"+S+"+*").length||v.push(".#.+[+~]"),e.querySelectorAll("\\\f"),v.push("[\\r\\n\\f]")}),ce(function(e){e.innerHTML="";var t=C.createElement("input");t.setAttribute("type","hidden"),e.appendChild(t).setAttribute("name","D"),e.querySelectorAll("[name=d]").length&&v.push("name"+M+"*[*^$|!~]?="),2!==e.querySelectorAll(":enabled").length&&v.push(":enabled",":disabled"),a.appendChild(e).disabled=!0,2!==e.querySelectorAll(":disabled").length&&v.push(":enabled",":disabled"),e.querySelectorAll("*,:x"),v.push(",.*:")})),(d.matchesSelector=K.test(c=a.matches||a.webkitMatchesSelector||a.mozMatchesSelector||a.oMatchesSelector||a.msMatchesSelector))&&ce(function(e){d.disconnectedMatch=c.call(e,"*"),c.call(e,"[s!='']:x"),s.push("!=",F)}),v=v.length&&new RegExp(v.join("|")),s=s.length&&new RegExp(s.join("|")),t=K.test(a.compareDocumentPosition),y=t||K.test(a.contains)?function(e,t){var n=9===e.nodeType?e.documentElement:e,r=t&&t.parentNode;return e===r||!(!r||1!==r.nodeType||!(n.contains?n.contains(r):e.compareDocumentPosition&&16&e.compareDocumentPosition(r)))}:function(e,t){if(t)while(t=t.parentNode)if(t===e)return!0;return!1},j=t?function(e,t){if(e===t)return l=!0,0;var n=!e.compareDocumentPosition-!t.compareDocumentPosition;return n||(1&(n=(e.ownerDocument||e)==(t.ownerDocument||t)?e.compareDocumentPosition(t):1)||!d.sortDetached&&t.compareDocumentPosition(e)===n?e==C||e.ownerDocument==p&&y(p,e)?-1:t==C||t.ownerDocument==p&&y(p,t)?1:u?P(u,e)-P(u,t):0:4&n?-1:1)}:function(e,t){if(e===t)return l=!0,0;var n,r=0,i=e.parentNode,o=t.parentNode,a=[e],s=[t];if(!i||!o)return e==C?-1:t==C?1:i?-1:o?1:u?P(u,e)-P(u,t):0;if(i===o)return pe(e,t);n=e;while(n=n.parentNode)a.unshift(n);n=t;while(n=n.parentNode)s.unshift(n);while(a[r]===s[r])r++;return r?pe(a[r],s[r]):a[r]==p?-1:s[r]==p?1:0}),C},se.matches=function(e,t){return se(e,null,null,t)},se.matchesSelector=function(e,t){if(T(e),d.matchesSelector&&E&&!N[t+" "]&&(!s||!s.test(t))&&(!v||!v.test(t)))try{var n=c.call(e,t);if(n||d.disconnectedMatch||e.document&&11!==e.document.nodeType)return n}catch(e){N(t,!0)}return 0":{dir:"parentNode",first:!0}," ":{dir:"parentNode"},"+":{dir:"previousSibling",first:!0},"~":{dir:"previousSibling"}},preFilter:{ATTR:function(e){return e[1]=e[1].replace(te,ne),e[3]=(e[3]||e[4]||e[5]||"").replace(te,ne),"~="===e[2]&&(e[3]=" "+e[3]+" "),e.slice(0,4)},CHILD:function(e){return e[1]=e[1].toLowerCase(),"nth"===e[1].slice(0,3)?(e[3]||se.error(e[0]),e[4]=+(e[4]?e[5]+(e[6]||1):2*("even"===e[3]||"odd"===e[3])),e[5]=+(e[7]+e[8]||"odd"===e[3])):e[3]&&se.error(e[0]),e},PSEUDO:function(e){var t,n=!e[6]&&e[2];return G.CHILD.test(e[0])?null:(e[3]?e[2]=e[4]||e[5]||"":n&&X.test(n)&&(t=h(n,!0))&&(t=n.indexOf(")",n.length-t)-n.length)&&(e[0]=e[0].slice(0,t),e[2]=n.slice(0,t)),e.slice(0,3))}},filter:{TAG:function(e){var t=e.replace(te,ne).toLowerCase();return"*"===e?function(){return!0}:function(e){return e.nodeName&&e.nodeName.toLowerCase()===t}},CLASS:function(e){var t=m[e+" "];return t||(t=new RegExp("(^|"+M+")"+e+"("+M+"|$)"))&&m(e,function(e){return t.test("string"==typeof e.className&&e.className||"undefined"!=typeof e.getAttribute&&e.getAttribute("class")||"")})},ATTR:function(n,r,i){return function(e){var t=se.attr(e,n);return null==t?"!="===r:!r||(t+="","="===r?t===i:"!="===r?t!==i:"^="===r?i&&0===t.indexOf(i):"*="===r?i&&-1:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i;function j(e,n,r){return m(n)?S.grep(e,function(e,t){return!!n.call(e,t,e)!==r}):n.nodeType?S.grep(e,function(e){return e===n!==r}):"string"!=typeof n?S.grep(e,function(e){return-1)[^>]*|#([\w-]+))$/;(S.fn.init=function(e,t,n){var r,i;if(!e)return this;if(n=n||D,"string"==typeof e){if(!(r="<"===e[0]&&">"===e[e.length-1]&&3<=e.length?[null,e,null]:q.exec(e))||!r[1]&&t)return!t||t.jquery?(t||n).find(e):this.constructor(t).find(e);if(r[1]){if(t=t instanceof S?t[0]:t,S.merge(this,S.parseHTML(r[1],t&&t.nodeType?t.ownerDocument||t:E,!0)),N.test(r[1])&&S.isPlainObject(t))for(r in t)m(this[r])?this[r](t[r]):this.attr(r,t[r]);return this}return(i=E.getElementById(r[2]))&&(this[0]=i,this.length=1),this}return e.nodeType?(this[0]=e,this.length=1,this):m(e)?void 0!==n.ready?n.ready(e):e(S):S.makeArray(e,this)}).prototype=S.fn,D=S(E);var L=/^(?:parents|prev(?:Until|All))/,H={children:!0,contents:!0,next:!0,prev:!0};function O(e,t){while((e=e[t])&&1!==e.nodeType);return e}S.fn.extend({has:function(e){var t=S(e,this),n=t.length;return this.filter(function(){for(var e=0;e\x20\t\r\n\f]*)/i,he=/^$|^module$|\/(?:java|ecma)script/i;ce=E.createDocumentFragment().appendChild(E.createElement("div")),(fe=E.createElement("input")).setAttribute("type","radio"),fe.setAttribute("checked","checked"),fe.setAttribute("name","t"),ce.appendChild(fe),y.checkClone=ce.cloneNode(!0).cloneNode(!0).lastChild.checked,ce.innerHTML="",y.noCloneChecked=!!ce.cloneNode(!0).lastChild.defaultValue,ce.innerHTML="",y.option=!!ce.lastChild;var ge={thead:[1,"","
"],col:[2,"","
"],tr:[2,"","
"],td:[3,"","
"],_default:[0,"",""]};function ve(e,t){var n;return n="undefined"!=typeof e.getElementsByTagName?e.getElementsByTagName(t||"*"):"undefined"!=typeof e.querySelectorAll?e.querySelectorAll(t||"*"):[],void 0===t||t&&A(e,t)?S.merge([e],n):n}function ye(e,t){for(var n=0,r=e.length;n",""]);var me=/<|&#?\w+;/;function xe(e,t,n,r,i){for(var o,a,s,u,l,c,f=t.createDocumentFragment(),p=[],d=0,h=e.length;d\s*$/g;function je(e,t){return A(e,"table")&&A(11!==t.nodeType?t:t.firstChild,"tr")&&S(e).children("tbody")[0]||e}function De(e){return e.type=(null!==e.getAttribute("type"))+"/"+e.type,e}function qe(e){return"true/"===(e.type||"").slice(0,5)?e.type=e.type.slice(5):e.removeAttribute("type"),e}function Le(e,t){var n,r,i,o,a,s;if(1===t.nodeType){if(Y.hasData(e)&&(s=Y.get(e).events))for(i in Y.remove(t,"handle events"),s)for(n=0,r=s[i].length;n").attr(n.scriptAttrs||{}).prop({charset:n.scriptCharset,src:n.url}).on("load error",i=function(e){r.remove(),i=null,e&&t("error"===e.type?404:200,e.type)}),E.head.appendChild(r[0])},abort:function(){i&&i()}}});var _t,zt=[],Ut=/(=)\?(?=&|$)|\?\?/;S.ajaxSetup({jsonp:"callback",jsonpCallback:function(){var e=zt.pop()||S.expando+"_"+wt.guid++;return this[e]=!0,e}}),S.ajaxPrefilter("json jsonp",function(e,t,n){var r,i,o,a=!1!==e.jsonp&&(Ut.test(e.url)?"url":"string"==typeof e.data&&0===(e.contentType||"").indexOf("application/x-www-form-urlencoded")&&Ut.test(e.data)&&"data");if(a||"jsonp"===e.dataTypes[0])return r=e.jsonpCallback=m(e.jsonpCallback)?e.jsonpCallback():e.jsonpCallback,a?e[a]=e[a].replace(Ut,"$1"+r):!1!==e.jsonp&&(e.url+=(Tt.test(e.url)?"&":"?")+e.jsonp+"="+r),e.converters["script json"]=function(){return o||S.error(r+" was not called"),o[0]},e.dataTypes[0]="json",i=C[r],C[r]=function(){o=arguments},n.always(function(){void 0===i?S(C).removeProp(r):C[r]=i,e[r]&&(e.jsonpCallback=t.jsonpCallback,zt.push(r)),o&&m(i)&&i(o[0]),o=i=void 0}),"script"}),y.createHTMLDocument=((_t=E.implementation.createHTMLDocument("").body).innerHTML="
",2===_t.childNodes.length),S.parseHTML=function(e,t,n){return"string"!=typeof e?[]:("boolean"==typeof t&&(n=t,t=!1),t||(y.createHTMLDocument?((r=(t=E.implementation.createHTMLDocument("")).createElement("base")).href=E.location.href,t.head.appendChild(r)):t=E),o=!n&&[],(i=N.exec(e))?[t.createElement(i[1])]:(i=xe([e],t,o),o&&o.length&&S(o).remove(),S.merge([],i.childNodes)));var r,i,o},S.fn.load=function(e,t,n){var r,i,o,a=this,s=e.indexOf(" ");return-1").append(S.parseHTML(e)).find(r):e)}).always(n&&function(e,t){a.each(function(){n.apply(this,o||[e.responseText,t,e])})}),this},S.expr.pseudos.animated=function(t){return S.grep(S.timers,function(e){return t===e.elem}).length},S.offset={setOffset:function(e,t,n){var r,i,o,a,s,u,l=S.css(e,"position"),c=S(e),f={};"static"===l&&(e.style.position="relative"),s=c.offset(),o=S.css(e,"top"),u=S.css(e,"left"),("absolute"===l||"fixed"===l)&&-1<(o+u).indexOf("auto")?(a=(r=c.position()).top,i=r.left):(a=parseFloat(o)||0,i=parseFloat(u)||0),m(t)&&(t=t.call(e,n,S.extend({},s))),null!=t.top&&(f.top=t.top-s.top+a),null!=t.left&&(f.left=t.left-s.left+i),"using"in t?t.using.call(e,f):c.css(f)}},S.fn.extend({offset:function(t){if(arguments.length)return void 0===t?this:this.each(function(e){S.offset.setOffset(this,t,e)});var e,n,r=this[0];return r?r.getClientRects().length?(e=r.getBoundingClientRect(),n=r.ownerDocument.defaultView,{top:e.top+n.pageYOffset,left:e.left+n.pageXOffset}):{top:0,left:0}:void 0},position:function(){if(this[0]){var e,t,n,r=this[0],i={top:0,left:0};if("fixed"===S.css(r,"position"))t=r.getBoundingClientRect();else{t=this.offset(),n=r.ownerDocument,e=r.offsetParent||n.documentElement;while(e&&(e===n.body||e===n.documentElement)&&"static"===S.css(e,"position"))e=e.parentNode;e&&e!==r&&1===e.nodeType&&((i=S(e).offset()).top+=S.css(e,"borderTopWidth",!0),i.left+=S.css(e,"borderLeftWidth",!0))}return{top:t.top-i.top-S.css(r,"marginTop",!0),left:t.left-i.left-S.css(r,"marginLeft",!0)}}},offsetParent:function(){return this.map(function(){var e=this.offsetParent;while(e&&"static"===S.css(e,"position"))e=e.offsetParent;return e||re})}}),S.each({scrollLeft:"pageXOffset",scrollTop:"pageYOffset"},function(t,i){var o="pageYOffset"===i;S.fn[t]=function(e){return $(this,function(e,t,n){var r;if(x(e)?r=e:9===e.nodeType&&(r=e.defaultView),void 0===n)return r?r[i]:e[t];r?r.scrollTo(o?r.pageXOffset:n,o?n:r.pageYOffset):e[t]=n},t,e,arguments.length)}}),S.each(["top","left"],function(e,n){S.cssHooks[n]=Fe(y.pixelPosition,function(e,t){if(t)return t=We(e,n),Pe.test(t)?S(e).position()[n]+"px":t})}),S.each({Height:"height",Width:"width"},function(a,s){S.each({padding:"inner"+a,content:s,"":"outer"+a},function(r,o){S.fn[o]=function(e,t){var n=arguments.length&&(r||"boolean"!=typeof e),i=r||(!0===e||!0===t?"margin":"border");return $(this,function(e,t,n){var r;return x(e)?0===o.indexOf("outer")?e["inner"+a]:e.document.documentElement["client"+a]:9===e.nodeType?(r=e.documentElement,Math.max(e.body["scroll"+a],r["scroll"+a],e.body["offset"+a],r["offset"+a],r["client"+a])):void 0===n?S.css(e,t,i):S.style(e,t,n,i)},s,n?e:void 0,n)}})}),S.each(["ajaxStart","ajaxStop","ajaxComplete","ajaxError","ajaxSuccess","ajaxSend"],function(e,t){S.fn[t]=function(e){return this.on(t,e)}}),S.fn.extend({bind:function(e,t,n){return this.on(e,null,t,n)},unbind:function(e,t){return this.off(e,null,t)},delegate:function(e,t,n,r){return this.on(t,e,n,r)},undelegate:function(e,t,n){return 1===arguments.length?this.off(e,"**"):this.off(t,e||"**",n)},hover:function(e,t){return this.mouseenter(e).mouseleave(t||e)}}),S.each("blur focus focusin focusout resize scroll click dblclick mousedown mouseup mousemove mouseover mouseout mouseenter mouseleave change select submit keydown keypress keyup contextmenu".split(" "),function(e,n){S.fn[n]=function(e,t){return 0a;a++)for(s in o[a])n=o[a][s],o[a].hasOwnProperty(s)&&void 0!==n&&(e[s]=t.isPlainObject(n)?t.isPlainObject(e[s])?t.widget.extend({},e[s],n):t.widget.extend({},n):n);return e},t.widget.bridge=function(e,s){var n=s.prototype.widgetFullName||e;t.fn[e]=function(o){var a="string"==typeof o,r=i.call(arguments,1),l=this;return a?this.length||"instance"!==o?this.each(function(){var i,s=t.data(this,n);return"instance"===o?(l=s,!1):s?t.isFunction(s[o])&&"_"!==o.charAt(0)?(i=s[o].apply(s,r),i!==s&&void 0!==i?(l=i&&i.jquery?l.pushStack(i.get()):i,!1):void 0):t.error("no such method '"+o+"' for "+e+" widget instance"):t.error("cannot call methods on "+e+" prior to initialization; "+"attempted to call method '"+o+"'")}):l=void 0:(r.length&&(o=t.widget.extend.apply(null,[o].concat(r))),this.each(function(){var e=t.data(this,n);e?(e.option(o||{}),e._init&&e._init()):t.data(this,n,new s(o,this))})),l}},t.Widget=function(){},t.Widget._childConstructors=[],t.Widget.prototype={widgetName:"widget",widgetEventPrefix:"",defaultElement:"
",options:{classes:{},disabled:!1,create:null},_createWidget:function(i,s){s=t(s||this.defaultElement||this)[0],this.element=t(s),this.uuid=e++,this.eventNamespace="."+this.widgetName+this.uuid,this.bindings=t(),this.hoverable=t(),this.focusable=t(),this.classesElementLookup={},s!==this&&(t.data(s,this.widgetFullName,this),this._on(!0,this.element,{remove:function(t){t.target===s&&this.destroy()}}),this.document=t(s.style?s.ownerDocument:s.document||s),this.window=t(this.document[0].defaultView||this.document[0].parentWindow)),this.options=t.widget.extend({},this.options,this._getCreateOptions(),i),this._create(),this.options.disabled&&this._setOptionDisabled(this.options.disabled),this._trigger("create",null,this._getCreateEventData()),this._init()},_getCreateOptions:function(){return{}},_getCreateEventData:t.noop,_create:t.noop,_init:t.noop,destroy:function(){var e=this;this._destroy(),t.each(this.classesElementLookup,function(t,i){e._removeClass(i,t)}),this.element.off(this.eventNamespace).removeData(this.widgetFullName),this.widget().off(this.eventNamespace).removeAttr("aria-disabled"),this.bindings.off(this.eventNamespace)},_destroy:t.noop,widget:function(){return this.element},option:function(e,i){var s,n,o,a=e;if(0===arguments.length)return t.widget.extend({},this.options);if("string"==typeof e)if(a={},s=e.split("."),e=s.shift(),s.length){for(n=a[e]=t.widget.extend({},this.options[e]),o=0;s.length-1>o;o++)n[s[o]]=n[s[o]]||{},n=n[s[o]];if(e=s.pop(),1===arguments.length)return void 0===n[e]?null:n[e];n[e]=i}else{if(1===arguments.length)return void 0===this.options[e]?null:this.options[e];a[e]=i}return this._setOptions(a),this},_setOptions:function(t){var e;for(e in t)this._setOption(e,t[e]);return this},_setOption:function(t,e){return"classes"===t&&this._setOptionClasses(e),this.options[t]=e,"disabled"===t&&this._setOptionDisabled(e),this},_setOptionClasses:function(e){var i,s,n;for(i in e)n=this.classesElementLookup[i],e[i]!==this.options.classes[i]&&n&&n.length&&(s=t(n.get()),this._removeClass(n,i),s.addClass(this._classes({element:s,keys:i,classes:e,add:!0})))},_setOptionDisabled:function(t){this._toggleClass(this.widget(),this.widgetFullName+"-disabled",null,!!t),t&&(this._removeClass(this.hoverable,null,"ui-state-hover"),this._removeClass(this.focusable,null,"ui-state-focus"))},enable:function(){return this._setOptions({disabled:!1})},disable:function(){return this._setOptions({disabled:!0})},_classes:function(e){function i(i,o){var a,r;for(r=0;i.length>r;r++)a=n.classesElementLookup[i[r]]||t(),a=e.add?t(t.unique(a.get().concat(e.element.get()))):t(a.not(e.element).get()),n.classesElementLookup[i[r]]=a,s.push(i[r]),o&&e.classes[i[r]]&&s.push(e.classes[i[r]])}var s=[],n=this;return e=t.extend({element:this.element,classes:this.options.classes||{}},e),this._on(e.element,{remove:"_untrackClassesElement"}),e.keys&&i(e.keys.match(/\S+/g)||[],!0),e.extra&&i(e.extra.match(/\S+/g)||[]),s.join(" ")},_untrackClassesElement:function(e){var i=this;t.each(i.classesElementLookup,function(s,n){-1!==t.inArray(e.target,n)&&(i.classesElementLookup[s]=t(n.not(e.target).get()))})},_removeClass:function(t,e,i){return this._toggleClass(t,e,i,!1)},_addClass:function(t,e,i){return this._toggleClass(t,e,i,!0)},_toggleClass:function(t,e,i,s){s="boolean"==typeof s?s:i;var n="string"==typeof t||null===t,o={extra:n?e:i,keys:n?t:e,element:n?this.element:t,add:s};return o.element.toggleClass(this._classes(o),s),this},_on:function(e,i,s){var n,o=this;"boolean"!=typeof e&&(s=i,i=e,e=!1),s?(i=n=t(i),this.bindings=this.bindings.add(i)):(s=i,i=this.element,n=this.widget()),t.each(s,function(s,a){function r(){return e||o.options.disabled!==!0&&!t(this).hasClass("ui-state-disabled")?("string"==typeof a?o[a]:a).apply(o,arguments):void 0}"string"!=typeof a&&(r.guid=a.guid=a.guid||r.guid||t.guid++);var l=s.match(/^([\w:-]*)\s*(.*)$/),h=l[1]+o.eventNamespace,c=l[2];c?n.on(h,c,r):i.on(h,r)})},_off:function(e,i){i=(i||"").split(" ").join(this.eventNamespace+" ")+this.eventNamespace,e.off(i).off(i),this.bindings=t(this.bindings.not(e).get()),this.focusable=t(this.focusable.not(e).get()),this.hoverable=t(this.hoverable.not(e).get())},_delay:function(t,e){function i(){return("string"==typeof t?s[t]:t).apply(s,arguments)}var s=this;return setTimeout(i,e||0)},_hoverable:function(e){this.hoverable=this.hoverable.add(e),this._on(e,{mouseenter:function(e){this._addClass(t(e.currentTarget),null,"ui-state-hover")},mouseleave:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-hover")}})},_focusable:function(e){this.focusable=this.focusable.add(e),this._on(e,{focusin:function(e){this._addClass(t(e.currentTarget),null,"ui-state-focus")},focusout:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-focus")}})},_trigger:function(e,i,s){var n,o,a=this.options[e];if(s=s||{},i=t.Event(i),i.type=(e===this.widgetEventPrefix?e:this.widgetEventPrefix+e).toLowerCase(),i.target=this.element[0],o=i.originalEvent)for(n in o)n in i||(i[n]=o[n]);return this.element.trigger(i,s),!(t.isFunction(a)&&a.apply(this.element[0],[i].concat(s))===!1||i.isDefaultPrevented())}},t.each({show:"fadeIn",hide:"fadeOut"},function(e,i){t.Widget.prototype["_"+e]=function(s,n,o){"string"==typeof n&&(n={effect:n});var a,r=n?n===!0||"number"==typeof n?i:n.effect||i:e;n=n||{},"number"==typeof n&&(n={duration:n}),a=!t.isEmptyObject(n),n.complete=o,n.delay&&s.delay(n.delay),a&&t.effects&&t.effects.effect[r]?s[e](n):r!==e&&s[r]?s[r](n.duration,n.easing,o):s.queue(function(i){t(this)[e](),o&&o.call(s[0]),i()})}}),t.widget,function(){function e(t,e,i){return[parseFloat(t[0])*(u.test(t[0])?e/100:1),parseFloat(t[1])*(u.test(t[1])?i/100:1)]}function i(e,i){return parseInt(t.css(e,i),10)||0}function s(e){var i=e[0];return 9===i.nodeType?{width:e.width(),height:e.height(),offset:{top:0,left:0}}:t.isWindow(i)?{width:e.width(),height:e.height(),offset:{top:e.scrollTop(),left:e.scrollLeft()}}:i.preventDefault?{width:0,height:0,offset:{top:i.pageY,left:i.pageX}}:{width:e.outerWidth(),height:e.outerHeight(),offset:e.offset()}}var n,o=Math.max,a=Math.abs,r=/left|center|right/,l=/top|center|bottom/,h=/[\+\-]\d+(\.[\d]+)?%?/,c=/^\w+/,u=/%$/,d=t.fn.position;t.position={scrollbarWidth:function(){if(void 0!==n)return n;var e,i,s=t("
"),o=s.children()[0];return t("body").append(s),e=o.offsetWidth,s.css("overflow","scroll"),i=o.offsetWidth,e===i&&(i=s[0].clientWidth),s.remove(),n=e-i},getScrollInfo:function(e){var i=e.isWindow||e.isDocument?"":e.element.css("overflow-x"),s=e.isWindow||e.isDocument?"":e.element.css("overflow-y"),n="scroll"===i||"auto"===i&&e.widthi?"left":e>0?"right":"center",vertical:0>r?"top":s>0?"bottom":"middle"};h>p&&p>a(e+i)&&(u.horizontal="center"),c>f&&f>a(s+r)&&(u.vertical="middle"),u.important=o(a(e),a(i))>o(a(s),a(r))?"horizontal":"vertical",n.using.call(this,t,u)}),l.offset(t.extend(D,{using:r}))})},t.ui.position={fit:{left:function(t,e){var i,s=e.within,n=s.isWindow?s.scrollLeft:s.offset.left,a=s.width,r=t.left-e.collisionPosition.marginLeft,l=n-r,h=r+e.collisionWidth-a-n;e.collisionWidth>a?l>0&&0>=h?(i=t.left+l+e.collisionWidth-a-n,t.left+=l-i):t.left=h>0&&0>=l?n:l>h?n+a-e.collisionWidth:n:l>0?t.left+=l:h>0?t.left-=h:t.left=o(t.left-r,t.left)},top:function(t,e){var i,s=e.within,n=s.isWindow?s.scrollTop:s.offset.top,a=e.within.height,r=t.top-e.collisionPosition.marginTop,l=n-r,h=r+e.collisionHeight-a-n;e.collisionHeight>a?l>0&&0>=h?(i=t.top+l+e.collisionHeight-a-n,t.top+=l-i):t.top=h>0&&0>=l?n:l>h?n+a-e.collisionHeight:n:l>0?t.top+=l:h>0?t.top-=h:t.top=o(t.top-r,t.top)}},flip:{left:function(t,e){var i,s,n=e.within,o=n.offset.left+n.scrollLeft,r=n.width,l=n.isWindow?n.scrollLeft:n.offset.left,h=t.left-e.collisionPosition.marginLeft,c=h-l,u=h+e.collisionWidth-r-l,d="left"===e.my[0]?-e.elemWidth:"right"===e.my[0]?e.elemWidth:0,p="left"===e.at[0]?e.targetWidth:"right"===e.at[0]?-e.targetWidth:0,f=-2*e.offset[0];0>c?(i=t.left+d+p+f+e.collisionWidth-r-o,(0>i||a(c)>i)&&(t.left+=d+p+f)):u>0&&(s=t.left-e.collisionPosition.marginLeft+d+p+f-l,(s>0||u>a(s))&&(t.left+=d+p+f))},top:function(t,e){var i,s,n=e.within,o=n.offset.top+n.scrollTop,r=n.height,l=n.isWindow?n.scrollTop:n.offset.top,h=t.top-e.collisionPosition.marginTop,c=h-l,u=h+e.collisionHeight-r-l,d="top"===e.my[1],p=d?-e.elemHeight:"bottom"===e.my[1]?e.elemHeight:0,f="top"===e.at[1]?e.targetHeight:"bottom"===e.at[1]?-e.targetHeight:0,g=-2*e.offset[1];0>c?(s=t.top+p+f+g+e.collisionHeight-r-o,(0>s||a(c)>s)&&(t.top+=p+f+g)):u>0&&(i=t.top-e.collisionPosition.marginTop+p+f+g-l,(i>0||u>a(i))&&(t.top+=p+f+g))}},flipfit:{left:function(){t.ui.position.flip.left.apply(this,arguments),t.ui.position.fit.left.apply(this,arguments)},top:function(){t.ui.position.flip.top.apply(this,arguments),t.ui.position.fit.top.apply(this,arguments)}}}}(),t.ui.position,t.ui.keyCode={BACKSPACE:8,COMMA:188,DELETE:46,DOWN:40,END:35,ENTER:13,ESCAPE:27,HOME:36,LEFT:37,PAGE_DOWN:34,PAGE_UP:33,PERIOD:190,RIGHT:39,SPACE:32,TAB:9,UP:38},t.fn.extend({uniqueId:function(){var t=0;return function(){return this.each(function(){this.id||(this.id="ui-id-"+ ++t)})}}(),removeUniqueId:function(){return this.each(function(){/^ui-id-\d+$/.test(this.id)&&t(this).removeAttr("id")})}}),t.ui.safeActiveElement=function(t){var e;try{e=t.activeElement}catch(i){e=t.body}return e||(e=t.body),e.nodeName||(e=t.body),e},t.widget("ui.menu",{version:"1.12.1",defaultElement:"
    ",delay:300,options:{icons:{submenu:"ui-icon-caret-1-e"},items:"> *",menus:"ul",position:{my:"left top",at:"right top"},role:"menu",blur:null,focus:null,select:null},_create:function(){this.activeMenu=this.element,this.mouseHandled=!1,this.element.uniqueId().attr({role:this.options.role,tabIndex:0}),this._addClass("ui-menu","ui-widget ui-widget-content"),this._on({"mousedown .ui-menu-item":function(t){t.preventDefault()},"click .ui-menu-item":function(e){var i=t(e.target),s=t(t.ui.safeActiveElement(this.document[0]));!this.mouseHandled&&i.not(".ui-state-disabled").length&&(this.select(e),e.isPropagationStopped()||(this.mouseHandled=!0),i.has(".ui-menu").length?this.expand(e):!this.element.is(":focus")&&s.closest(".ui-menu").length&&(this.element.trigger("focus",[!0]),this.active&&1===this.active.parents(".ui-menu").length&&clearTimeout(this.timer)))},"mouseenter .ui-menu-item":function(e){if(!this.previousFilter){var i=t(e.target).closest(".ui-menu-item"),s=t(e.currentTarget);i[0]===s[0]&&(this._removeClass(s.siblings().children(".ui-state-active"),null,"ui-state-active"),this.focus(e,s))}},mouseleave:"collapseAll","mouseleave .ui-menu":"collapseAll",focus:function(t,e){var i=this.active||this.element.find(this.options.items).eq(0);e||this.focus(t,i)},blur:function(e){this._delay(function(){var i=!t.contains(this.element[0],t.ui.safeActiveElement(this.document[0]));i&&this.collapseAll(e)})},keydown:"_keydown"}),this.refresh(),this._on(this.document,{click:function(t){this._closeOnDocumentClick(t)&&this.collapseAll(t),this.mouseHandled=!1}})},_destroy:function(){var e=this.element.find(".ui-menu-item").removeAttr("role aria-disabled"),i=e.children(".ui-menu-item-wrapper").removeUniqueId().removeAttr("tabIndex role aria-haspopup");this.element.removeAttr("aria-activedescendant").find(".ui-menu").addBack().removeAttr("role aria-labelledby aria-expanded aria-hidden aria-disabled tabIndex").removeUniqueId().show(),i.children().each(function(){var e=t(this);e.data("ui-menu-submenu-caret")&&e.remove()})},_keydown:function(e){var i,s,n,o,a=!0;switch(e.keyCode){case t.ui.keyCode.PAGE_UP:this.previousPage(e);break;case t.ui.keyCode.PAGE_DOWN:this.nextPage(e);break;case t.ui.keyCode.HOME:this._move("first","first",e);break;case t.ui.keyCode.END:this._move("last","last",e);break;case t.ui.keyCode.UP:this.previous(e);break;case t.ui.keyCode.DOWN:this.next(e);break;case t.ui.keyCode.LEFT:this.collapse(e);break;case t.ui.keyCode.RIGHT:this.active&&!this.active.is(".ui-state-disabled")&&this.expand(e);break;case t.ui.keyCode.ENTER:case t.ui.keyCode.SPACE:this._activate(e);break;case t.ui.keyCode.ESCAPE:this.collapse(e);break;default:a=!1,s=this.previousFilter||"",o=!1,n=e.keyCode>=96&&105>=e.keyCode?""+(e.keyCode-96):String.fromCharCode(e.keyCode),clearTimeout(this.filterTimer),n===s?o=!0:n=s+n,i=this._filterMenuItems(n),i=o&&-1!==i.index(this.active.next())?this.active.nextAll(".ui-menu-item"):i,i.length||(n=String.fromCharCode(e.keyCode),i=this._filterMenuItems(n)),i.length?(this.focus(e,i),this.previousFilter=n,this.filterTimer=this._delay(function(){delete this.previousFilter},1e3)):delete this.previousFilter}a&&e.preventDefault()},_activate:function(t){this.active&&!this.active.is(".ui-state-disabled")&&(this.active.children("[aria-haspopup='true']").length?this.expand(t):this.select(t))},refresh:function(){var e,i,s,n,o,a=this,r=this.options.icons.submenu,l=this.element.find(this.options.menus);this._toggleClass("ui-menu-icons",null,!!this.element.find(".ui-icon").length),s=l.filter(":not(.ui-menu)").hide().attr({role:this.options.role,"aria-hidden":"true","aria-expanded":"false"}).each(function(){var e=t(this),i=e.prev(),s=t("").data("ui-menu-submenu-caret",!0);a._addClass(s,"ui-menu-icon","ui-icon "+r),i.attr("aria-haspopup","true").prepend(s),e.attr("aria-labelledby",i.attr("id"))}),this._addClass(s,"ui-menu","ui-widget ui-widget-content ui-front"),e=l.add(this.element),i=e.find(this.options.items),i.not(".ui-menu-item").each(function(){var e=t(this);a._isDivider(e)&&a._addClass(e,"ui-menu-divider","ui-widget-content")}),n=i.not(".ui-menu-item, .ui-menu-divider"),o=n.children().not(".ui-menu").uniqueId().attr({tabIndex:-1,role:this._itemRole()}),this._addClass(n,"ui-menu-item")._addClass(o,"ui-menu-item-wrapper"),i.filter(".ui-state-disabled").attr("aria-disabled","true"),this.active&&!t.contains(this.element[0],this.active[0])&&this.blur()},_itemRole:function(){return{menu:"menuitem",listbox:"option"}[this.options.role]},_setOption:function(t,e){if("icons"===t){var i=this.element.find(".ui-menu-icon");this._removeClass(i,null,this.options.icons.submenu)._addClass(i,null,e.submenu)}this._super(t,e)},_setOptionDisabled:function(t){this._super(t),this.element.attr("aria-disabled",t+""),this._toggleClass(null,"ui-state-disabled",!!t)},focus:function(t,e){var i,s,n;this.blur(t,t&&"focus"===t.type),this._scrollIntoView(e),this.active=e.first(),s=this.active.children(".ui-menu-item-wrapper"),this._addClass(s,null,"ui-state-active"),this.options.role&&this.element.attr("aria-activedescendant",s.attr("id")),n=this.active.parent().closest(".ui-menu-item").children(".ui-menu-item-wrapper"),this._addClass(n,null,"ui-state-active"),t&&"keydown"===t.type?this._close():this.timer=this._delay(function(){this._close()},this.delay),i=e.children(".ui-menu"),i.length&&t&&/^mouse/.test(t.type)&&this._startOpening(i),this.activeMenu=e.parent(),this._trigger("focus",t,{item:e})},_scrollIntoView:function(e){var i,s,n,o,a,r;this._hasScroll()&&(i=parseFloat(t.css(this.activeMenu[0],"borderTopWidth"))||0,s=parseFloat(t.css(this.activeMenu[0],"paddingTop"))||0,n=e.offset().top-this.activeMenu.offset().top-i-s,o=this.activeMenu.scrollTop(),a=this.activeMenu.height(),r=e.outerHeight(),0>n?this.activeMenu.scrollTop(o+n):n+r>a&&this.activeMenu.scrollTop(o+n-a+r))},blur:function(t,e){e||clearTimeout(this.timer),this.active&&(this._removeClass(this.active.children(".ui-menu-item-wrapper"),null,"ui-state-active"),this._trigger("blur",t,{item:this.active}),this.active=null)},_startOpening:function(t){clearTimeout(this.timer),"true"===t.attr("aria-hidden")&&(this.timer=this._delay(function(){this._close(),this._open(t)},this.delay))},_open:function(e){var i=t.extend({of:this.active},this.options.position);clearTimeout(this.timer),this.element.find(".ui-menu").not(e.parents(".ui-menu")).hide().attr("aria-hidden","true"),e.show().removeAttr("aria-hidden").attr("aria-expanded","true").position(i)},collapseAll:function(e,i){clearTimeout(this.timer),this.timer=this._delay(function(){var s=i?this.element:t(e&&e.target).closest(this.element.find(".ui-menu"));s.length||(s=this.element),this._close(s),this.blur(e),this._removeClass(s.find(".ui-state-active"),null,"ui-state-active"),this.activeMenu=s},this.delay)},_close:function(t){t||(t=this.active?this.active.parent():this.element),t.find(".ui-menu").hide().attr("aria-hidden","true").attr("aria-expanded","false")},_closeOnDocumentClick:function(e){return!t(e.target).closest(".ui-menu").length},_isDivider:function(t){return!/[^\-\u2014\u2013\s]/.test(t.text())},collapse:function(t){var e=this.active&&this.active.parent().closest(".ui-menu-item",this.element);e&&e.length&&(this._close(),this.focus(t,e))},expand:function(t){var e=this.active&&this.active.children(".ui-menu ").find(this.options.items).first();e&&e.length&&(this._open(e.parent()),this._delay(function(){this.focus(t,e)}))},next:function(t){this._move("next","first",t)},previous:function(t){this._move("prev","last",t)},isFirstItem:function(){return this.active&&!this.active.prevAll(".ui-menu-item").length},isLastItem:function(){return this.active&&!this.active.nextAll(".ui-menu-item").length},_move:function(t,e,i){var s;this.active&&(s="first"===t||"last"===t?this.active["first"===t?"prevAll":"nextAll"](".ui-menu-item").eq(-1):this.active[t+"All"](".ui-menu-item").eq(0)),s&&s.length&&this.active||(s=this.activeMenu.find(this.options.items)[e]()),this.focus(i,s)},nextPage:function(e){var i,s,n;return this.active?(this.isLastItem()||(this._hasScroll()?(s=this.active.offset().top,n=this.element.height(),this.active.nextAll(".ui-menu-item").each(function(){return i=t(this),0>i.offset().top-s-n}),this.focus(e,i)):this.focus(e,this.activeMenu.find(this.options.items)[this.active?"last":"first"]())),void 0):(this.next(e),void 0)},previousPage:function(e){var i,s,n;return this.active?(this.isFirstItem()||(this._hasScroll()?(s=this.active.offset().top,n=this.element.height(),this.active.prevAll(".ui-menu-item").each(function(){return i=t(this),i.offset().top-s+n>0}),this.focus(e,i)):this.focus(e,this.activeMenu.find(this.options.items).first())),void 0):(this.next(e),void 0)},_hasScroll:function(){return this.element.outerHeight()",options:{appendTo:null,autoFocus:!1,delay:300,minLength:1,position:{my:"left top",at:"left bottom",collision:"none"},source:null,change:null,close:null,focus:null,open:null,response:null,search:null,select:null},requestIndex:0,pending:0,_create:function(){var e,i,s,n=this.element[0].nodeName.toLowerCase(),o="textarea"===n,a="input"===n;this.isMultiLine=o||!a&&this._isContentEditable(this.element),this.valueMethod=this.element[o||a?"val":"text"],this.isNewMenu=!0,this._addClass("ui-autocomplete-input"),this.element.attr("autocomplete","off"),this._on(this.element,{keydown:function(n){if(this.element.prop("readOnly"))return e=!0,s=!0,i=!0,void 0;e=!1,s=!1,i=!1;var o=t.ui.keyCode;switch(n.keyCode){case o.PAGE_UP:e=!0,this._move("previousPage",n);break;case o.PAGE_DOWN:e=!0,this._move("nextPage",n);break;case o.UP:e=!0,this._keyEvent("previous",n);break;case o.DOWN:e=!0,this._keyEvent("next",n);break;case o.ENTER:this.menu.active&&(e=!0,n.preventDefault(),this.menu.select(n));break;case o.TAB:this.menu.active&&this.menu.select(n);break;case o.ESCAPE:this.menu.element.is(":visible")&&(this.isMultiLine||this._value(this.term),this.close(n),n.preventDefault());break;default:i=!0,this._searchTimeout(n)}},keypress:function(s){if(e)return e=!1,(!this.isMultiLine||this.menu.element.is(":visible"))&&s.preventDefault(),void 0;if(!i){var n=t.ui.keyCode;switch(s.keyCode){case n.PAGE_UP:this._move("previousPage",s);break;case n.PAGE_DOWN:this._move("nextPage",s);break;case n.UP:this._keyEvent("previous",s);break;case n.DOWN:this._keyEvent("next",s)}}},input:function(t){return s?(s=!1,t.preventDefault(),void 0):(this._searchTimeout(t),void 0)},focus:function(){this.selectedItem=null,this.previous=this._value()},blur:function(t){return this.cancelBlur?(delete this.cancelBlur,void 0):(clearTimeout(this.searching),this.close(t),this._change(t),void 0)}}),this._initSource(),this.menu=t("
      ").appendTo(this._appendTo()).menu({role:null}).hide().menu("instance"),this._addClass(this.menu.element,"ui-autocomplete","ui-front"),this._on(this.menu.element,{mousedown:function(e){e.preventDefault(),this.cancelBlur=!0,this._delay(function(){delete this.cancelBlur,this.element[0]!==t.ui.safeActiveElement(this.document[0])&&this.element.trigger("focus")})},menufocus:function(e,i){var s,n;return this.isNewMenu&&(this.isNewMenu=!1,e.originalEvent&&/^mouse/.test(e.originalEvent.type))?(this.menu.blur(),this.document.one("mousemove",function(){t(e.target).trigger(e.originalEvent)}),void 0):(n=i.item.data("ui-autocomplete-item"),!1!==this._trigger("focus",e,{item:n})&&e.originalEvent&&/^key/.test(e.originalEvent.type)&&this._value(n.value),s=i.item.attr("aria-label")||n.value,s&&t.trim(s).length&&(this.liveRegion.children().hide(),t("
      ").text(s).appendTo(this.liveRegion)),void 0)},menuselect:function(e,i){var s=i.item.data("ui-autocomplete-item"),n=this.previous;this.element[0]!==t.ui.safeActiveElement(this.document[0])&&(this.element.trigger("focus"),this.previous=n,this._delay(function(){this.previous=n,this.selectedItem=s})),!1!==this._trigger("select",e,{item:s})&&this._value(s.value),this.term=this._value(),this.close(e),this.selectedItem=s}}),this.liveRegion=t("
      ",{role:"status","aria-live":"assertive","aria-relevant":"additions"}).appendTo(this.document[0].body),this._addClass(this.liveRegion,null,"ui-helper-hidden-accessible"),this._on(this.window,{beforeunload:function(){this.element.removeAttr("autocomplete")}})},_destroy:function(){clearTimeout(this.searching),this.element.removeAttr("autocomplete"),this.menu.element.remove(),this.liveRegion.remove()},_setOption:function(t,e){this._super(t,e),"source"===t&&this._initSource(),"appendTo"===t&&this.menu.element.appendTo(this._appendTo()),"disabled"===t&&e&&this.xhr&&this.xhr.abort()},_isEventTargetInWidget:function(e){var i=this.menu.element[0];return e.target===this.element[0]||e.target===i||t.contains(i,e.target)},_closeOnClickOutside:function(t){this._isEventTargetInWidget(t)||this.close()},_appendTo:function(){var e=this.options.appendTo;return e&&(e=e.jquery||e.nodeType?t(e):this.document.find(e).eq(0)),e&&e[0]||(e=this.element.closest(".ui-front, dialog")),e.length||(e=this.document[0].body),e},_initSource:function(){var e,i,s=this;t.isArray(this.options.source)?(e=this.options.source,this.source=function(i,s){s(t.ui.autocomplete.filter(e,i.term))}):"string"==typeof this.options.source?(i=this.options.source,this.source=function(e,n){s.xhr&&s.xhr.abort(),s.xhr=t.ajax({url:i,data:e,dataType:"json",success:function(t){n(t)},error:function(){n([])}})}):this.source=this.options.source},_searchTimeout:function(t){clearTimeout(this.searching),this.searching=this._delay(function(){var e=this.term===this._value(),i=this.menu.element.is(":visible"),s=t.altKey||t.ctrlKey||t.metaKey||t.shiftKey;(!e||e&&!i&&!s)&&(this.selectedItem=null,this.search(null,t))},this.options.delay)},search:function(t,e){return t=null!=t?t:this._value(),this.term=this._value(),t.length").append(t("
      ").text(i.label)).appendTo(e)},_move:function(t,e){return this.menu.element.is(":visible")?this.menu.isFirstItem()&&/^previous/.test(t)||this.menu.isLastItem()&&/^next/.test(t)?(this.isMultiLine||this._value(this.term),this.menu.blur(),void 0):(this.menu[t](e),void 0):(this.search(null,e),void 0)},widget:function(){return this.menu.element},_value:function(){return this.valueMethod.apply(this.element,arguments)},_keyEvent:function(t,e){(!this.isMultiLine||this.menu.element.is(":visible"))&&(this._move(t,e),e.preventDefault())},_isContentEditable:function(t){if(!t.length)return!1;var e=t.prop("contentEditable");return"inherit"===e?this._isContentEditable(t.parent()):"true"===e}}),t.extend(t.ui.autocomplete,{escapeRegex:function(t){return t.replace(/[\-\[\]{}()*+?.,\\\^$|#\s]/g,"\\$&")},filter:function(e,i){var s=RegExp(t.ui.autocomplete.escapeRegex(i),"i");return t.grep(e,function(t){return s.test(t.label||t.value||t)})}}),t.widget("ui.autocomplete",t.ui.autocomplete,{options:{messages:{noResults:"No search results.",results:function(t){return t+(t>1?" results are":" result is")+" available, use up and down arrow keys to navigate."}}},__response:function(e){var i;this._superApply(arguments),this.options.disabled||this.cancelSearch||(i=e&&e.length?this.options.messages.results(e.length):this.options.messages.noResults,this.liveRegion.children().hide(),t("
      ").text(i).appendTo(this.liveRegion))}}),t.ui.autocomplete}); \ No newline at end of file diff --git a/docs/script-dir/jquery-ui.structure.min.css b/docs/script-dir/jquery-ui.structure.min.css deleted file mode 100644 index e880892..0000000 --- a/docs/script-dir/jquery-ui.structure.min.css +++ /dev/null @@ -1,5 +0,0 @@ -/*! jQuery UI - v1.12.1 - 2018-12-06 -* http://jqueryui.com -* Copyright jQuery Foundation and other contributors; Licensed MIT */ - -.ui-helper-hidden{display:none}.ui-helper-hidden-accessible{border:0;clip:rect(0 0 0 0);height:1px;margin:-1px;overflow:hidden;padding:0;position:absolute;width:1px}.ui-helper-reset{margin:0;padding:0;border:0;outline:0;line-height:1.3;text-decoration:none;font-size:100%;list-style:none}.ui-helper-clearfix:before,.ui-helper-clearfix:after{content:"";display:table;border-collapse:collapse}.ui-helper-clearfix:after{clear:both}.ui-helper-zfix{width:100%;height:100%;top:0;left:0;position:absolute;opacity:0;filter:Alpha(Opacity=0)}.ui-front{z-index:100}.ui-state-disabled{cursor:default!important;pointer-events:none}.ui-icon{display:inline-block;vertical-align:middle;margin-top:-.25em;position:relative;text-indent:-99999px;overflow:hidden;background-repeat:no-repeat}.ui-widget-icon-block{left:50%;margin-left:-8px;display:block}.ui-widget-overlay{position:fixed;top:0;left:0;width:100%;height:100%}.ui-autocomplete{position:absolute;top:0;left:0;cursor:default}.ui-menu{list-style:none;padding:0;margin:0;display:block;outline:0}.ui-menu .ui-menu{position:absolute}.ui-menu .ui-menu-item{margin:0;cursor:pointer;list-style-image:url("data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7")}.ui-menu .ui-menu-item-wrapper{position:relative;padding:3px 1em 3px .4em}.ui-menu .ui-menu-divider{margin:5px 0;height:0;font-size:0;line-height:0;border-width:1px 0 0 0}.ui-menu .ui-state-focus,.ui-menu .ui-state-active{margin:-1px}.ui-menu-icons{position:relative}.ui-menu-icons .ui-menu-item-wrapper{padding-left:2em}.ui-menu .ui-icon{position:absolute;top:0;bottom:0;left:.2em;margin:auto 0}.ui-menu .ui-menu-icon{left:auto;right:0} \ No newline at end of file diff --git a/docs/script.js b/docs/script.js deleted file mode 100644 index 864989c..0000000 --- a/docs/script.js +++ /dev/null @@ -1,132 +0,0 @@ -/* - * Copyright (c) 2013, 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. - */ - -var moduleSearchIndex; -var packageSearchIndex; -var typeSearchIndex; -var memberSearchIndex; -var tagSearchIndex; -function loadScripts(doc, tag) { - createElem(doc, tag, 'search.js'); - - createElem(doc, tag, 'module-search-index.js'); - createElem(doc, tag, 'package-search-index.js'); - createElem(doc, tag, 'type-search-index.js'); - createElem(doc, tag, 'member-search-index.js'); - createElem(doc, tag, 'tag-search-index.js'); -} - -function createElem(doc, tag, path) { - var script = doc.createElement(tag); - var scriptElement = doc.getElementsByTagName(tag)[0]; - script.src = pathtoroot + path; - scriptElement.parentNode.insertBefore(script, scriptElement); -} - -function show(tableId, selected, columns) { - if (tableId !== selected) { - document.querySelectorAll('div.' + tableId + ':not(.' + selected + ')') - .forEach(function(elem) { - elem.style.display = 'none'; - }); - } - document.querySelectorAll('div.' + selected) - .forEach(function(elem, index) { - elem.style.display = ''; - var isEvenRow = index % (columns * 2) < columns; - elem.classList.remove(isEvenRow ? oddRowColor : evenRowColor); - elem.classList.add(isEvenRow ? evenRowColor : oddRowColor); - }); - updateTabs(tableId, selected); -} - -function updateTabs(tableId, selected) { - document.querySelector('div#' + tableId +' .summary-table') - .setAttribute('aria-labelledby', selected); - document.querySelectorAll('button[id^="' + tableId + '"]') - .forEach(function(tab, index) { - if (selected === tab.id || (tableId === selected && index === 0)) { - tab.className = activeTableTab; - tab.setAttribute('aria-selected', true); - tab.setAttribute('tabindex',0); - } else { - tab.className = tableTab; - tab.setAttribute('aria-selected', false); - tab.setAttribute('tabindex',-1); - } - }); -} - -function switchTab(e) { - var selected = document.querySelector('[aria-selected=true]'); - if (selected) { - if ((e.keyCode === 37 || e.keyCode === 38) && selected.previousSibling) { - // left or up arrow key pressed: move focus to previous tab - selected.previousSibling.click(); - selected.previousSibling.focus(); - e.preventDefault(); - } else if ((e.keyCode === 39 || e.keyCode === 40) && selected.nextSibling) { - // right or down arrow key pressed: move focus to next tab - selected.nextSibling.click(); - selected.nextSibling.focus(); - e.preventDefault(); - } - } -} - -var updateSearchResults = function() {}; - -function indexFilesLoaded() { - return moduleSearchIndex - && packageSearchIndex - && typeSearchIndex - && memberSearchIndex - && tagSearchIndex; -} - -// Workaround for scroll position not being included in browser history (8249133) -document.addEventListener("DOMContentLoaded", function(e) { - var contentDiv = document.querySelector("div.flex-content"); - window.addEventListener("popstate", function(e) { - if (e.state !== null) { - contentDiv.scrollTop = e.state; - } - }); - window.addEventListener("hashchange", function(e) { - history.replaceState(contentDiv.scrollTop, document.title); - }); - contentDiv.addEventListener("scroll", function(e) { - var timeoutID; - if (!timeoutID) { - timeoutID = setTimeout(function() { - history.replaceState(contentDiv.scrollTop, document.title); - timeoutID = null; - }, 100); - } - }); - if (!location.hash) { - history.replaceState(contentDiv.scrollTop, document.title); - } -}); diff --git a/docs/search.js b/docs/search.js deleted file mode 100644 index db3b2f4..0000000 --- a/docs/search.js +++ /dev/null @@ -1,354 +0,0 @@ -/* - * Copyright (c) 2015, 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. - */ - -var noResult = {l: "No results found"}; -var loading = {l: "Loading search index..."}; -var catModules = "Modules"; -var catPackages = "Packages"; -var catTypes = "Classes and Interfaces"; -var catMembers = "Members"; -var catSearchTags = "Search Tags"; -var highlight = "$&"; -var searchPattern = ""; -var fallbackPattern = ""; -var RANKING_THRESHOLD = 2; -var NO_MATCH = 0xffff; -var MIN_RESULTS = 3; -var MAX_RESULTS = 500; -var UNNAMED = ""; -function escapeHtml(str) { - return str.replace(//g, ">"); -} -function getHighlightedText(item, matcher, fallbackMatcher) { - var escapedItem = escapeHtml(item); - var highlighted = escapedItem.replace(matcher, highlight); - if (highlighted === escapedItem) { - highlighted = escapedItem.replace(fallbackMatcher, highlight) - } - return highlighted; -} -function getURLPrefix(ui) { - var urlPrefix=""; - var slash = "/"; - if (ui.item.category === catModules) { - return ui.item.l + slash; - } else if (ui.item.category === catPackages && ui.item.m) { - return ui.item.m + slash; - } else if (ui.item.category === catTypes || ui.item.category === catMembers) { - if (ui.item.m) { - urlPrefix = ui.item.m + slash; - } else { - $.each(packageSearchIndex, function(index, item) { - if (item.m && ui.item.p === item.l) { - urlPrefix = item.m + slash; - } - }); - } - } - return urlPrefix; -} -function createSearchPattern(term) { - var pattern = ""; - var isWordToken = false; - term.replace(/,\s*/g, ", ").trim().split(/\s+/).forEach(function(w, index) { - if (index > 0) { - // whitespace between identifiers is significant - pattern += (isWordToken && /^\w/.test(w)) ? "\\s+" : "\\s*"; - } - var tokens = w.split(/(?=[A-Z,.()<>[\/])/); - for (var i = 0; i < tokens.length; i++) { - var s = tokens[i]; - if (s === "") { - continue; - } - pattern += $.ui.autocomplete.escapeRegex(s); - isWordToken = /\w$/.test(s); - if (isWordToken) { - pattern += "([a-z0-9_$<>\\[\\]]*?)"; - } - } - }); - return pattern; -} -function createMatcher(pattern, flags) { - var isCamelCase = /[A-Z]/.test(pattern); - return new RegExp(pattern, flags + (isCamelCase ? "" : "i")); -} -var watermark = 'Search'; -$(function() { - var search = $("#search-input"); - var reset = $("#reset-button"); - search.val(''); - search.prop("disabled", false); - reset.prop("disabled", false); - search.val(watermark).addClass('watermark'); - search.blur(function() { - if ($(this).val().length === 0) { - $(this).val(watermark).addClass('watermark'); - } - }); - search.on('click keydown paste', function() { - if ($(this).val() === watermark) { - $(this).val('').removeClass('watermark'); - } - }); - reset.click(function() { - search.val('').focus(); - }); - search.focus()[0].setSelectionRange(0, 0); -}); -$.widget("custom.catcomplete", $.ui.autocomplete, { - _create: function() { - this._super(); - this.widget().menu("option", "items", "> :not(.ui-autocomplete-category)"); - }, - _renderMenu: function(ul, items) { - var rMenu = this; - var currentCategory = ""; - rMenu.menu.bindings = $(); - $.each(items, function(index, item) { - var li; - if (item.category && item.category !== currentCategory) { - ul.append("
    • " + item.category + "
      • "); - currentCategory = item.category; - } - li = rMenu._renderItemData(ul, item); - if (item.category) { - li.attr("aria-label", item.category + " : " + item.l); - li.attr("class", "result-item"); - } else { - li.attr("aria-label", item.l); - li.attr("class", "result-item"); - } - }); - }, - _renderItem: function(ul, item) { - var label = ""; - var matcher = createMatcher(escapeHtml(searchPattern), "g"); - var fallbackMatcher = new RegExp(fallbackPattern, "gi") - if (item.category === catModules) { - label = getHighlightedText(item.l, matcher, fallbackMatcher); - } else if (item.category === catPackages) { - label = getHighlightedText(item.l, matcher, fallbackMatcher); - } else if (item.category === catTypes) { - label = (item.p && item.p !== UNNAMED) - ? getHighlightedText(item.p + "." + item.l, matcher, fallbackMatcher) - : getHighlightedText(item.l, matcher, fallbackMatcher); - } else if (item.category === catMembers) { - label = (item.p && item.p !== UNNAMED) - ? getHighlightedText(item.p + "." + item.c + "." + item.l, matcher, fallbackMatcher) - : getHighlightedText(item.c + "." + item.l, matcher, fallbackMatcher); - } else if (item.category === catSearchTags) { - label = getHighlightedText(item.l, matcher, fallbackMatcher); - } else { - label = item.l; - } - var li = $("
    • ").appendTo(ul); - var div = $("
      ").appendTo(li); - if (item.category === catSearchTags && item.h) { - if (item.d) { - div.html(label + " (" + item.h + ")
      " - + item.d + "
      "); - } else { - div.html(label + " (" + item.h + ")"); - } - } else { - if (item.m) { - div.html(item.m + "/" + label); - } else { - div.html(label); - } - } - return li; - } -}); -function rankMatch(match, category) { - if (!match) { - return NO_MATCH; - } - var index = match.index; - var input = match.input; - var leftBoundaryMatch = 2; - var periferalMatch = 0; - // make sure match is anchored on a left word boundary - if (index === 0 || /\W/.test(input[index - 1]) || "_" === input[index]) { - leftBoundaryMatch = 0; - } else if ("_" === input[index - 1] || (input[index] === input[index].toUpperCase() && !/^[A-Z0-9_$]+$/.test(input))) { - leftBoundaryMatch = 1; - } - var matchEnd = index + match[0].length; - var leftParen = input.indexOf("("); - var endOfName = leftParen > -1 ? leftParen : input.length; - // exclude peripheral matches - if (category !== catModules && category !== catSearchTags) { - var delim = category === catPackages ? "/" : "."; - if (leftParen > -1 && leftParen < index) { - periferalMatch += 2; - } else if (input.lastIndexOf(delim, endOfName) >= matchEnd) { - periferalMatch += 2; - } - } - var delta = match[0].length === endOfName ? 0 : 1; // rank full match higher than partial match - for (var i = 1; i < match.length; i++) { - // lower ranking if parts of the name are missing - if (match[i]) - delta += match[i].length; - } - if (category === catTypes) { - // lower ranking if a type name contains unmatched camel-case parts - if (/[A-Z]/.test(input.substring(matchEnd))) - delta += 5; - if (/[A-Z]/.test(input.substring(0, index))) - delta += 5; - } - return leftBoundaryMatch + periferalMatch + (delta / 200); - -} -function doSearch(request, response) { - var result = []; - searchPattern = createSearchPattern(request.term); - fallbackPattern = createSearchPattern(request.term.toLowerCase()); - if (searchPattern === "") { - return this.close(); - } - var camelCaseMatcher = createMatcher(searchPattern, ""); - var fallbackMatcher = new RegExp(fallbackPattern, "i"); - - function searchIndexWithMatcher(indexArray, matcher, category, nameFunc) { - if (indexArray) { - var newResults = []; - $.each(indexArray, function (i, item) { - item.category = category; - var ranking = rankMatch(matcher.exec(nameFunc(item)), category); - if (ranking < RANKING_THRESHOLD) { - newResults.push({ranking: ranking, item: item}); - } - return newResults.length <= MAX_RESULTS; - }); - return newResults.sort(function(e1, e2) { - return e1.ranking - e2.ranking; - }).map(function(e) { - return e.item; - }); - } - return []; - } - function searchIndex(indexArray, category, nameFunc) { - var primaryResults = searchIndexWithMatcher(indexArray, camelCaseMatcher, category, nameFunc); - result = result.concat(primaryResults); - if (primaryResults.length <= MIN_RESULTS && !camelCaseMatcher.ignoreCase) { - var secondaryResults = searchIndexWithMatcher(indexArray, fallbackMatcher, category, nameFunc); - result = result.concat(secondaryResults.filter(function (item) { - return primaryResults.indexOf(item) === -1; - })); - } - } - - searchIndex(moduleSearchIndex, catModules, function(item) { return item.l; }); - searchIndex(packageSearchIndex, catPackages, function(item) { - return (item.m && request.term.indexOf("/") > -1) - ? (item.m + "/" + item.l) : item.l; - }); - searchIndex(typeSearchIndex, catTypes, function(item) { - return request.term.indexOf(".") > -1 ? item.p + "." + item.l : item.l; - }); - searchIndex(memberSearchIndex, catMembers, function(item) { - return request.term.indexOf(".") > -1 - ? item.p + "." + item.c + "." + item.l : item.l; - }); - searchIndex(tagSearchIndex, catSearchTags, function(item) { return item.l; }); - - if (!indexFilesLoaded()) { - updateSearchResults = function() { - doSearch(request, response); - } - result.unshift(loading); - } else { - updateSearchResults = function() {}; - } - response(result); -} -$(function() { - $("#search-input").catcomplete({ - minLength: 1, - delay: 300, - source: doSearch, - response: function(event, ui) { - if (!ui.content.length) { - ui.content.push(noResult); - } else { - $("#search-input").empty(); - } - }, - autoFocus: true, - focus: function(event, ui) { - return false; - }, - position: { - collision: "flip" - }, - select: function(event, ui) { - if (ui.item.category) { - var url = getURLPrefix(ui); - if (ui.item.category === catModules) { - url += "module-summary.html"; - } else if (ui.item.category === catPackages) { - if (ui.item.u) { - url = ui.item.u; - } else { - url += ui.item.l.replace(/\./g, '/') + "/package-summary.html"; - } - } else if (ui.item.category === catTypes) { - if (ui.item.u) { - url = ui.item.u; - } else if (ui.item.p === UNNAMED) { - url += ui.item.l + ".html"; - } else { - url += ui.item.p.replace(/\./g, '/') + "/" + ui.item.l + ".html"; - } - } else if (ui.item.category === catMembers) { - if (ui.item.p === UNNAMED) { - url += ui.item.c + ".html" + "#"; - } else { - url += ui.item.p.replace(/\./g, '/') + "/" + ui.item.c + ".html" + "#"; - } - if (ui.item.u) { - url += ui.item.u; - } else { - url += ui.item.l; - } - } else if (ui.item.category === catSearchTags) { - url += ui.item.u; - } - if (top !== window) { - parent.classFrame.location = pathtoroot + url; - } else { - window.location.href = pathtoroot + url; - } - $("#search-input").focus(); - } - } - }); -}); diff --git a/docs/stylesheet.css b/docs/stylesheet.css deleted file mode 100644 index 836c62d..0000000 --- a/docs/stylesheet.css +++ /dev/null @@ -1,865 +0,0 @@ -/* - * Javadoc style sheet - */ - -@import url('resources/fonts/dejavu.css'); - -/* - * Styles for individual HTML elements. - * - * These are styles that are specific to individual HTML elements. Changing them affects the style of a particular - * HTML element throughout the page. - */ - -body { - background-color:#ffffff; - color:#353833; - font-family:'DejaVu Sans', Arial, Helvetica, sans-serif; - font-size:14px; - margin:0; - padding:0; - height:100%; - width:100%; -} -iframe { - margin:0; - padding:0; - height:100%; - width:100%; - overflow-y:scroll; - border:none; -} -a:link, a:visited { - text-decoration:none; - color:#4A6782; -} -a[href]:hover, a[href]:focus { - text-decoration:none; - color:#bb7a2a; -} -a[name] { - color:#353833; -} -pre { - font-family:'DejaVu Sans Mono', monospace; - font-size:14px; -} -h1 { - font-size:20px; -} -h2 { - font-size:18px; -} -h3 { - font-size:16px; -} -h4 { - font-size:15px; -} -h5 { - font-size:14px; -} -h6 { - font-size:13px; -} -ul { - list-style-type:disc; -} -code, tt { - font-family:'DejaVu Sans Mono', monospace; -} -:not(h1, h2, h3, h4, h5, h6) > code, -:not(h1, h2, h3, h4, h5, h6) > tt { - font-size:14px; - padding-top:4px; - margin-top:8px; - line-height:1.4em; -} -dt code { - font-family:'DejaVu Sans Mono', monospace; - font-size:14px; - padding-top:4px; -} -.summary-table dt code { - font-family:'DejaVu Sans Mono', monospace; - font-size:14px; - vertical-align:top; - padding-top:4px; -} -sup { - font-size:8px; -} -button { - font-family: 'DejaVu Sans', Arial, Helvetica, sans-serif; - font-size: 14px; -} -/* - * Styles for HTML generated by javadoc. - * - * These are style classes that are used by the standard doclet to generate HTML documentation. - */ - -/* - * Styles for document title and copyright. - */ -.clear { - clear:both; - height:0; - overflow:hidden; -} -.about-language { - float:right; - padding:0 21px 8px 8px; - font-size:11px; - margin-top:-9px; - height:2.9em; -} -.legal-copy { - margin-left:.5em; -} -.tab { - background-color:#0066FF; - color:#ffffff; - padding:8px; - width:5em; - font-weight:bold; -} -/* - * Styles for navigation bar. - */ -@media screen { - .flex-box { - position:fixed; - display:flex; - flex-direction:column; - height: 100%; - width: 100%; - } - .flex-header { - flex: 0 0 auto; - } - .flex-content { - flex: 1 1 auto; - overflow-y: auto; - } -} -.top-nav { - background-color:#4D7A97; - color:#FFFFFF; - float:left; - padding:0; - width:100%; - clear:right; - min-height:2.8em; - padding-top:10px; - overflow:hidden; - font-size:12px; -} -.sub-nav { - background-color:#dee3e9; - float:left; - width:100%; - overflow:hidden; - font-size:12px; -} -.sub-nav div { - clear:left; - float:left; - padding:0 0 5px 6px; - text-transform:uppercase; -} -.sub-nav .nav-list { - padding-top:5px; -} -ul.nav-list { - display:block; - margin:0 25px 0 0; - padding:0; -} -ul.sub-nav-list { - float:left; - margin:0 25px 0 0; - padding:0; -} -ul.nav-list li { - list-style:none; - float:left; - padding: 5px 6px; - text-transform:uppercase; -} -.sub-nav .nav-list-search { - float:right; - margin:0 0 0 0; - padding:5px 6px; - clear:none; -} -.nav-list-search label { - position:relative; - right:-16px; -} -ul.sub-nav-list li { - list-style:none; - float:left; - padding-top:10px; -} -.top-nav a:link, .top-nav a:active, .top-nav a:visited { - color:#FFFFFF; - text-decoration:none; - text-transform:uppercase; -} -.top-nav a:hover { - text-decoration:none; - color:#bb7a2a; - text-transform:uppercase; -} -.nav-bar-cell1-rev { - background-color:#F8981D; - color:#253441; - margin: auto 5px; -} -.skip-nav { - position:absolute; - top:auto; - left:-9999px; - overflow:hidden; -} -/* - * Hide navigation links and search box in print layout - */ -@media print { - ul.nav-list, div.sub-nav { - display:none; - } -} -/* - * Styles for page header and footer. - */ -.title { - color:#2c4557; - margin:10px 0; -} -.sub-title { - margin:5px 0 0 0; -} -.header ul { - margin:0 0 15px 0; - padding:0; -} -.header ul li, .footer ul li { - list-style:none; - font-size:13px; -} -/* - * Styles for headings. - */ -body.class-declaration-page .summary h2, -body.class-declaration-page .details h2, -body.class-use-page h2, -body.module-declaration-page .block-list h2 { - font-style: italic; - padding:0; - margin:15px 0; -} -body.class-declaration-page .summary h3, -body.class-declaration-page .details h3, -body.class-declaration-page .summary .inherited-list h2 { - background-color:#dee3e9; - border:1px solid #d0d9e0; - margin:0 0 6px -8px; - padding:7px 5px; -} -/* - * Styles for page layout containers. - */ -main { - clear:both; - padding:10px 20px; - position:relative; -} -dl.notes > dt { - font-family: 'DejaVu Sans', Arial, Helvetica, sans-serif; - font-size:12px; - font-weight:bold; - margin:10px 0 0 0; - color:#4E4E4E; -} -dl.notes > dd { - margin:5px 10px 10px 0; - font-size:14px; - font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif; -} -dl.name-value > dt { - margin-left:1px; - font-size:1.1em; - display:inline; - font-weight:bold; -} -dl.name-value > dd { - margin:0 0 0 1px; - font-size:1.1em; - display:inline; -} -/* - * Styles for lists. - */ -li.circle { - list-style:circle; -} -ul.horizontal li { - display:inline; - font-size:0.9em; -} -div.inheritance { - margin:0; - padding:0; -} -div.inheritance div.inheritance { - margin-left:2em; -} -ul.block-list, -ul.details-list, -ul.member-list, -ul.summary-list { - margin:10px 0 10px 0; - padding:0; -} -ul.block-list > li, -ul.details-list > li, -ul.member-list > li, -ul.summary-list > li { - list-style:none; - margin-bottom:15px; - line-height:1.4; -} -.summary-table dl, .summary-table dl dt, .summary-table dl dd { - margin-top:0; - margin-bottom:1px; -} -ul.see-list, ul.see-list-long { - padding-left: 0; - list-style: none; -} -ul.see-list li { - display: inline; -} -ul.see-list li:not(:last-child):after, -ul.see-list-long li:not(:last-child):after { - content: ", "; - white-space: pre-wrap; -} -/* - * Styles for tables. - */ -.summary-table, .details-table { - width:100%; - border-spacing:0; - border-left:1px solid #EEE; - border-right:1px solid #EEE; - border-bottom:1px solid #EEE; - padding:0; -} -.caption { - position:relative; - text-align:left; - background-repeat:no-repeat; - color:#253441; - font-weight:bold; - clear:none; - overflow:hidden; - padding:0; - padding-top:10px; - padding-left:1px; - margin:0; - white-space:pre; -} -.caption a:link, .caption a:visited { - color:#1f389c; -} -.caption a:hover, -.caption a:active { - color:#FFFFFF; -} -.caption span { - white-space:nowrap; - padding-top:5px; - padding-left:12px; - padding-right:12px; - padding-bottom:7px; - display:inline-block; - float:left; - background-color:#F8981D; - border: none; - height:16px; -} -div.table-tabs { - padding:10px 0 0 1px; - margin:0; -} -div.table-tabs > button { - border: none; - cursor: pointer; - padding: 5px 12px 7px 12px; - font-weight: bold; - margin-right: 3px; -} -div.table-tabs > button.active-table-tab { - background: #F8981D; - color: #253441; -} -div.table-tabs > button.table-tab { - background: #4D7A97; - color: #FFFFFF; -} -.two-column-summary { - display: grid; - grid-template-columns: minmax(15%, max-content) minmax(15%, auto); -} -.three-column-summary { - display: grid; - grid-template-columns: minmax(10%, max-content) minmax(15%, max-content) minmax(15%, auto); -} -.four-column-summary { - display: grid; - grid-template-columns: minmax(10%, max-content) minmax(10%, max-content) minmax(10%, max-content) minmax(10%, auto); -} -@media screen and (max-width: 600px) { - .two-column-summary { - display: grid; - grid-template-columns: 1fr; - } -} -@media screen and (max-width: 800px) { - .three-column-summary { - display: grid; - grid-template-columns: minmax(10%, max-content) minmax(25%, auto); - } - .three-column-summary .col-last { - grid-column-end: span 2; - } -} -@media screen and (max-width: 1000px) { - .four-column-summary { - display: grid; - grid-template-columns: minmax(15%, max-content) minmax(15%, auto); - } -} -.summary-table > div, .details-table > div { - text-align:left; - padding: 8px 3px 3px 7px; -} -.col-first, .col-second, .col-last, .col-constructor-name, .col-summary-item-name { - vertical-align:top; - padding-right:0; - padding-top:8px; - padding-bottom:3px; -} -.table-header { - background:#dee3e9; - font-weight: bold; -} -.col-first, .col-first { - font-size:13px; -} -.col-second, .col-second, .col-last, .col-constructor-name, .col-summary-item-name, .col-last { - font-size:13px; -} -.col-first, .col-second, .col-constructor-name { - vertical-align:top; - overflow: auto; -} -.col-last { - white-space:normal; -} -.col-first a:link, .col-first a:visited, -.col-second a:link, .col-second a:visited, -.col-first a:link, .col-first a:visited, -.col-second a:link, .col-second a:visited, -.col-constructor-name a:link, .col-constructor-name a:visited, -.col-summary-item-name a:link, .col-summary-item-name a:visited, -.constant-values-container a:link, .constant-values-container a:visited, -.all-classes-container a:link, .all-classes-container a:visited, -.all-packages-container a:link, .all-packages-container a:visited { - font-weight:bold; -} -.table-sub-heading-color { - background-color:#EEEEFF; -} -.even-row-color, .even-row-color .table-header { - background-color:#FFFFFF; -} -.odd-row-color, .odd-row-color .table-header { - background-color:#EEEEEF; -} -/* - * Styles for contents. - */ -.deprecated-content { - margin:0; - padding:10px 0; -} -div.block { - font-size:14px; - font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif; -} -.col-last div { - padding-top:0; -} -.col-last a { - padding-bottom:3px; -} -.module-signature, -.package-signature, -.type-signature, -.member-signature { - font-family:'DejaVu Sans Mono', monospace; - font-size:14px; - margin:14px 0; - white-space: pre-wrap; -} -.module-signature, -.package-signature, -.type-signature { - margin-top: 0; -} -.member-signature .type-parameters-long, -.member-signature .parameters, -.member-signature .exceptions { - display: inline-block; - vertical-align: top; - white-space: pre; -} -.member-signature .type-parameters { - white-space: normal; -} -/* - * Styles for formatting effect. - */ -.source-line-no { - color:green; - padding:0 30px 0 0; -} -h1.hidden { - visibility:hidden; - overflow:hidden; - font-size:10px; -} -.block { - display:block; - margin:0 10px 5px 0; - color:#474747; -} -.deprecated-label, .descfrm-type-label, .implementation-label, .member-name-label, .member-name-link, -.module-label-in-package, .module-label-in-type, .override-specify-label, .package-label-in-type, -.package-hierarchy-label, .type-name-label, .type-name-link, .search-tag-link, .preview-label { - font-weight:bold; -} -.deprecation-comment, .help-footnote, .preview-comment { - font-style:italic; -} -.deprecation-block { - font-size:14px; - font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif; - border-style:solid; - border-width:thin; - border-radius:10px; - padding:10px; - margin-bottom:10px; - margin-right:10px; - display:inline-block; -} -.preview-block { - font-size:14px; - font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif; - border-style:solid; - border-width:thin; - border-radius:10px; - padding:10px; - margin-bottom:10px; - margin-right:10px; - display:inline-block; -} -div.block div.deprecation-comment { - font-style:normal; -} -/* - * Styles specific to HTML5 elements. - */ -main, nav, header, footer, section { - display:block; -} -/* - * Styles for javadoc search. - */ -.ui-autocomplete-category { - font-weight:bold; - font-size:15px; - padding:7px 0 7px 3px; - background-color:#4D7A97; - color:#FFFFFF; -} -.result-item { - font-size:13px; -} -.ui-autocomplete { - max-height:85%; - max-width:65%; - overflow-y:scroll; - overflow-x:scroll; - white-space:nowrap; - box-shadow: 0 3px 6px rgba(0,0,0,0.16), 0 3px 6px rgba(0,0,0,0.23); -} -ul.ui-autocomplete { - position:fixed; - z-index:999999; -} -ul.ui-autocomplete li { - float:left; - clear:both; - width:100%; -} -.result-highlight { - font-weight:bold; -} -#search-input { - background-image:url('resources/glass.png'); - background-size:13px; - background-repeat:no-repeat; - background-position:2px 3px; - padding-left:20px; - position:relative; - right:-18px; - width:400px; -} -#reset-button { - background-color: rgb(255,255,255); - background-image:url('resources/x.png'); - background-position:center; - background-repeat:no-repeat; - background-size:12px; - border:0 none; - width:16px; - height:16px; - position:relative; - left:-4px; - top:-4px; - font-size:0px; -} -.watermark { - color:#545454; -} -.search-tag-desc-result { - font-style:italic; - font-size:11px; -} -.search-tag-holder-result { - font-style:italic; - font-size:12px; -} -.search-tag-result:target { - background-color:yellow; -} -.module-graph span { - display:none; - position:absolute; -} -.module-graph:hover span { - display:block; - margin: -100px 0 0 100px; - z-index: 1; -} -.inherited-list { - margin: 10px 0 10px 0; -} -section.class-description { - line-height: 1.4; -} -.summary section[class$="-summary"], .details section[class$="-details"], -.class-uses .detail, .serialized-class-details { - padding: 0px 20px 5px 10px; - border: 1px solid #ededed; - background-color: #f8f8f8; -} -.inherited-list, section[class$="-details"] .detail { - padding:0 0 5px 8px; - background-color:#ffffff; - border:none; -} -.vertical-separator { - padding: 0 5px; -} -ul.help-section-list { - margin: 0; -} -ul.help-subtoc > li { - display: inline-block; - padding-right: 5px; - font-size: smaller; -} -ul.help-subtoc > li::before { - content: "\2022" ; - padding-right:2px; -} -span.help-note { - font-style: italic; -} -/* - * Indicator icon for external links. - */ -main a[href*="://"]::after { - content:""; - display:inline-block; - background-image:url('data:image/svg+xml; utf8, \ - \ - \ - '); - background-size:100% 100%; - width:7px; - height:7px; - margin-left:2px; - margin-bottom:4px; -} -main a[href*="://"]:hover::after, -main a[href*="://"]:focus::after { - background-image:url('data:image/svg+xml; utf8, \ - \ - \ - '); -} - -/* - * Styles for user-provided tables. - * - * borderless: - * No borders, vertical margins, styled caption. - * This style is provided for use with existing doc comments. - * In general, borderless tables should not be used for layout purposes. - * - * plain: - * Plain borders around table and cells, vertical margins, styled caption. - * Best for small tables or for complex tables for tables with cells that span - * rows and columns, when the "striped" style does not work well. - * - * striped: - * Borders around the table and vertical borders between cells, striped rows, - * vertical margins, styled caption. - * Best for tables that have a header row, and a body containing a series of simple rows. - */ - -table.borderless, -table.plain, -table.striped { - margin-top: 10px; - margin-bottom: 10px; -} -table.borderless > caption, -table.plain > caption, -table.striped > caption { - font-weight: bold; - font-size: smaller; -} -table.borderless th, table.borderless td, -table.plain th, table.plain td, -table.striped th, table.striped td { - padding: 2px 5px; -} -table.borderless, -table.borderless > thead > tr > th, table.borderless > tbody > tr > th, table.borderless > tr > th, -table.borderless > thead > tr > td, table.borderless > tbody > tr > td, table.borderless > tr > td { - border: none; -} -table.borderless > thead > tr, table.borderless > tbody > tr, table.borderless > tr { - background-color: transparent; -} -table.plain { - border-collapse: collapse; - border: 1px solid black; -} -table.plain > thead > tr, table.plain > tbody tr, table.plain > tr { - background-color: transparent; -} -table.plain > thead > tr > th, table.plain > tbody > tr > th, table.plain > tr > th, -table.plain > thead > tr > td, table.plain > tbody > tr > td, table.plain > tr > td { - border: 1px solid black; -} -table.striped { - border-collapse: collapse; - border: 1px solid black; -} -table.striped > thead { - background-color: #E3E3E3; -} -table.striped > thead > tr > th, table.striped > thead > tr > td { - border: 1px solid black; -} -table.striped > tbody > tr:nth-child(even) { - background-color: #EEE -} -table.striped > tbody > tr:nth-child(odd) { - background-color: #FFF -} -table.striped > tbody > tr > th, table.striped > tbody > tr > td { - border-left: 1px solid black; - border-right: 1px solid black; -} -table.striped > tbody > tr > th { - font-weight: normal; -} -/** - * Tweak font sizes and paddings for small screens. - */ -@media screen and (max-width: 1050px) { - #search-input { - width: 300px; - } -} -@media screen and (max-width: 800px) { - #search-input { - width: 200px; - } - .top-nav, - .bottom-nav { - font-size: 11px; - padding-top: 6px; - } - .sub-nav { - font-size: 11px; - } - .about-language { - padding-right: 16px; - } - ul.nav-list li, - .sub-nav .nav-list-search { - padding: 6px; - } - ul.sub-nav-list li { - padding-top: 5px; - } - main { - padding: 10px; - } - .summary section[class$="-summary"], .details section[class$="-details"], - .class-uses .detail, .serialized-class-details { - padding: 0 8px 5px 8px; - } - body { - -webkit-text-size-adjust: none; - } -} -@media screen and (max-width: 500px) { - #search-input { - width: 150px; - } - .top-nav, - .bottom-nav { - font-size: 10px; - } - .sub-nav { - font-size: 10px; - } - .about-language { - font-size: 10px; - padding-right: 12px; - } -} diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html deleted file mode 100644 index 96d3fd5..0000000 --- a/docs/swervelib/SwerveController.html +++ /dev/null @@ -1,493 +0,0 @@ - - - - -SwerveController - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib
      -

      Class SwerveController

      -
      -
      java.lang.Object -
      swervelib.SwerveController
      -
      -
      -
      -
      public class SwerveController -extends Object
      -
      Controller class used to convert raw inputs into robot speeds.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        edu.wpi.first.math.filter.SlewRateLimiter
        -
        angleLimiter
        -
        -
        SlewRateLimiter for angular movement in radians/second.
        -
        -
        final SwerveControllerConfiguration
        -
        config
        -
        -
        SwerveControllerConfiguration object storing data to generate the PIDController for controlling the - robot heading, and deadband for heading joystick.
        -
        -
        double
        -
        lastAngleScalar
        -
        -
        Last angle as a scalar [-1,1] the robot was set to.
        -
        -
        final edu.wpi.first.math.controller.PIDController
        -
        thetaController
        -
        -
        PID Controller for the robot heading.
        -
        -
        edu.wpi.first.math.filter.SlewRateLimiter
        -
        xLimiter
        -
        -
        SlewRateLimiter for movement in the X direction in meters/second.
        -
        -
        edu.wpi.first.math.filter.SlewRateLimiter
        -
        yLimiter
        -
        -
        SlewRateLimiter for movement in the Y direction in meters/second.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SwerveController(SwerveControllerConfiguration cfg)
        -
        -
        Construct the SwerveController object which is used for determining the speeds of the robot based on controller - input.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter x, - edu.wpi.first.math.filter.SlewRateLimiter y, - edu.wpi.first.math.filter.SlewRateLimiter angle)
        -
        -
        Add slew rate limiters to all controls.
        -
        -
        double
        -
        getJoystickAngle(double headingX, - double headingY)
        -
        -
        Get the angle in radians based off of the heading joysticks.
        -
        -
        edu.wpi.first.math.kinematics.ChassisSpeeds
        -
        getRawTargetSpeeds(double xSpeed, - double ySpeed, - double omega)
        -
        -
        Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
        -
        -
        edu.wpi.first.math.kinematics.ChassisSpeeds
        -
        getRawTargetSpeeds(double xSpeed, - double ySpeed, - double targetHeadingAngleRadians, - double currentHeadingAngleRadians)
        -
        -
        Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
        -
        -
        edu.wpi.first.math.kinematics.ChassisSpeeds
        -
        getTargetSpeeds(double xInput, - double yInput, - double angle, - double currentHeadingAngleRadians, - double maxSpeed)
        -
        -
        Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.
        -
        -
        edu.wpi.first.math.kinematics.ChassisSpeeds
        -
        getTargetSpeeds(double xInput, - double yInput, - double headingX, - double headingY, - double currentHeadingAngleRadians, - double maxSpeed)
        -
        -
        Get the chassis speeds based on controller input of 2 joysticks.
        -
        -
        static edu.wpi.first.math.geometry.Translation2d
        -
        getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)
        -
        -
        Helper function to get the Translation2d of the chassis speeds given the ChassisSpeeds.
        -
        -
        double
        -
        headingCalculate(double currentHeadingAngleRadians, - double targetHeadingAngleRadians)
        -
        -
        Calculate the angular velocity given the current and target heading angle in radians.
        -
        -
        void
        -
        setMaximumAngularVelocity(double angularVelocity)
        -
        -
        Set a new maximum angular velocity that is different from the auto-generated one.
        -
        -
        boolean
        -
        withinHypotDeadband(double x, - double y)
        -
        -
        Calculate the hypot deadband and check if the joystick is within it.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          config

          -
          public final SwerveControllerConfiguration config
          -
          SwerveControllerConfiguration object storing data to generate the PIDController for controlling the - robot heading, and deadband for heading joystick.
          -
          -
          • -
        • -
          -

          thetaController

          -
          public final edu.wpi.first.math.controller.PIDController thetaController
          -
          PID Controller for the robot heading.
          -
          -
          • -
        • -
          -

          lastAngleScalar

          -
          public double lastAngleScalar
          -
          Last angle as a scalar [-1,1] the robot was set to.
          -
          -
          • -
        • -
          -

          xLimiter

          -
          public edu.wpi.first.math.filter.SlewRateLimiter xLimiter
          -
          SlewRateLimiter for movement in the X direction in meters/second.
          -
          -
          • -
        • -
          -

          yLimiter

          -
          public edu.wpi.first.math.filter.SlewRateLimiter yLimiter
          -
          SlewRateLimiter for movement in the Y direction in meters/second.
          -
          -
          • -
        • -
          -

          angleLimiter

          -
          public edu.wpi.first.math.filter.SlewRateLimiter angleLimiter
          -
          SlewRateLimiter for angular movement in radians/second.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveController

          -
          public SwerveController(SwerveControllerConfiguration cfg)
          -
          Construct the SwerveController object which is used for determining the speeds of the robot based on controller - input.
          -
          -
          Parameters:
          -
          cfg - SwerveControllerConfiguration containing the PIDF variables for the heading PIDF.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          getTranslation2d

          -
          public static edu.wpi.first.math.geometry.Translation2d getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)
          -
          Helper function to get the Translation2d of the chassis speeds given the ChassisSpeeds.
          -
          -
          Parameters:
          -
          speeds - Chassis speeds.
          -
          Returns:
          -
          Translation2d of the speed the robot is going in.
          -
          -
          -
          • -
        • -
          -

          addSlewRateLimiters

          -
          public void addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter x, - edu.wpi.first.math.filter.SlewRateLimiter y, - edu.wpi.first.math.filter.SlewRateLimiter angle)
          -
          Add slew rate limiters to all controls. This prevents the robot from ramping up too much. To disable a - SlewRateLimiter set the desired one to null.
          -
          -
          Parameters:
          -
          x - The SlewRateLimiter for the X velocity in meters/second.
          -
          y - The SlewRateLimiter for the Y velocity in meters/second.
          -
          angle - The SlewRateLimiter for the angular velocity in radians/second.
          -
          -
          -
          • -
        • -
          -

          withinHypotDeadband

          -
          public boolean withinHypotDeadband(double x, - double y)
          -
          Calculate the hypot deadband and check if the joystick is within it.
          -
          -
          Parameters:
          -
          x - The x value for the joystick in which the deadband should be applied.
          -
          y - The y value for the joystick in which the deadband should be applied.
          -
          Returns:
          -
          Whether the values are within the deadband from - SwerveControllerConfiguration.angleJoyStickRadiusDeadband.
          -
          -
          -
          • -
        • -
          -

          getTargetSpeeds

          -
          public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds(double xInput, - double yInput, - double angle, - double currentHeadingAngleRadians, - double maxSpeed)
          -
          Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.
          -
          -
          Parameters:
          -
          xInput - X joystick input for the robot to move in the X direction. X = xInput * maxSpeed
          -
          yInput - Y joystick input for the robot to move in the Y direction. Y = yInput * - maxSpeed;
          -
          angle - The desired angle of the robot in radians.
          -
          currentHeadingAngleRadians - The current robot heading in radians.
          -
          maxSpeed - Maximum speed in meters per second.
          -
          Returns:
          -
          ChassisSpeeds which can be sent to the Swerve Drive.
          -
          -
          -
          • -
        • -
          -

          getJoystickAngle

          -
          public double getJoystickAngle(double headingX, - double headingY)
          -
          Get the angle in radians based off of the heading joysticks.
          -
          -
          Parameters:
          -
          headingX - X joystick which controls the angle of the robot.
          -
          headingY - Y joystick which controls the angle of the robot.
          -
          Returns:
          -
          angle in radians from the joystick.
          -
          -
          -
          • -
        • -
          -

          getTargetSpeeds

          -
          public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds(double xInput, - double yInput, - double headingX, - double headingY, - double currentHeadingAngleRadians, - double maxSpeed)
          -
          Get the chassis speeds based on controller input of 2 joysticks. One for speeds in which direction. The other for - the angle of the robot.
          -
          -
          Parameters:
          -
          xInput - X joystick input for the robot to move in the X direction.
          -
          yInput - Y joystick input for the robot to move in the Y direction.
          -
          headingX - X joystick which controls the angle of the robot.
          -
          headingY - Y joystick which controls the angle of the robot.
          -
          currentHeadingAngleRadians - The current robot heading in radians.
          -
          maxSpeed - Maximum speed of the drive motors in meters per second, multiplier of the xInput - and yInput.
          -
          Returns:
          -
          ChassisSpeeds which can be sent to the Swerve Drive.
          -
          -
          -
          • -
        • -
          -

          getRawTargetSpeeds

          -
          public edu.wpi.first.math.kinematics.ChassisSpeeds getRawTargetSpeeds(double xSpeed, - double ySpeed, - double omega)
          -
          Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
          -
          -
          Parameters:
          -
          xSpeed - X speed in meters per second.
          -
          ySpeed - Y speed in meters per second.
          -
          omega - Angular velocity in radians/second.
          -
          Returns:
          -
          ChassisSpeeds the robot should move to.
          -
          -
          -
          • -
        • -
          -

          getRawTargetSpeeds

          -
          public edu.wpi.first.math.kinematics.ChassisSpeeds getRawTargetSpeeds(double xSpeed, - double ySpeed, - double targetHeadingAngleRadians, - double currentHeadingAngleRadians)
          -
          Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
          -
          -
          Parameters:
          -
          xSpeed - X speed in meters per second.
          -
          ySpeed - Y speed in meters per second.
          -
          targetHeadingAngleRadians - Target heading in radians.
          -
          currentHeadingAngleRadians - Current heading in radians.
          -
          Returns:
          -
          ChassisSpeeds the robot should move to.
          -
          -
          -
          • -
        • -
          -

          headingCalculate

          -
          public double headingCalculate(double currentHeadingAngleRadians, - double targetHeadingAngleRadians)
          -
          Calculate the angular velocity given the current and target heading angle in radians.
          -
          -
          Parameters:
          -
          currentHeadingAngleRadians - The current heading of the robot in radians.
          -
          targetHeadingAngleRadians - The target heading of the robot in radians.
          -
          Returns:
          -
          Angular velocity in radians per second.
          -
          -
          -
          • -
        • -
          -

          setMaximumAngularVelocity

          -
          public void setMaximumAngularVelocity(double angularVelocity)
          -
          Set a new maximum angular velocity that is different from the auto-generated one. Modified the - SwerveControllerConfiguration.maxAngularVelocity field which is used in the SwerveController class - for ChassisSpeeds generation.
          -
          -
          Parameters:
          -
          angularVelocity - Angular velocity in radians per second.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html deleted file mode 100644 index adb0dc8..0000000 --- a/docs/swervelib/SwerveDrive.html +++ /dev/null @@ -1,1693 +0,0 @@ - - - - -SwerveDrive - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib
      -

      Class SwerveDrive

      -
      -
      java.lang.Object -
      swervelib.SwerveDrive
      -
      -
      -
      -
      public class SwerveDrive -extends Object
      -
      Swerve Drive class representing and controlling the swerve drive.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        double
        -
        angularVelocityCoefficient
        -
        -
        Angular Velocity Correction Coefficent (expected values between -0.15 and 0.15).
        -
        -
        boolean
        -
        angularVelocityCorrection
        -
        -
        Correct for skew that scales with angular velocity in drive(Translation2d, double, boolean, boolean)
        -
        -
        private double
        -
        attainableMaxRotationalVelocityRadiansPerSecond
        -
        -
        The absolute max speed the robot can reach while rotating radians per second.
        -
        -
        private double
        -
        attainableMaxTranslationalSpeedMetersPerSecond
        -
        -
        The absolute max speed that your robot can reach while translating in meters per second.
        -
        -
        boolean
        -
        autonomousAngularVelocityCorrection
        -
        -
        Correct for skew that scales with angular velocity in setChassisSpeeds(ChassisSpeeds chassisSpeeds) - during auto.
        -
        -
        boolean
        -
        autonomousChassisVelocityCorrection
        -
        -
        Correct chassis velocity in setChassisSpeeds(ChassisSpeeds chassisSpeeds) (auto) using 254's - correction during auto.
        -
        -
        boolean
        -
        chassisVelocityCorrection
        -
        -
        Correct chassis velocity in drive(Translation2d, double, boolean, boolean) using 254's - correction.
        -
        -
        private double
        -
        discretizationdtSeconds
        -
        -
        Amount of seconds the duration of the timestep the speeds should be applied for.
        -
        -
        edu.wpi.first.wpilibj.smartdashboard.Field2d
        -
        field
        -
        -
        Field object.
        -
        -
        private double
        -
        HEADING_CORRECTION_DEADBAND
        -
        -
        Deadband for speeds in heading correction.
        -
        -
        boolean
        -
        headingCorrection
        -
        -
        Whether to correct heading when driving translationally.
        -
        -
        private SwerveIMU
        -
        imu
        -
        -
        Swerve IMU device for sensing the heading of the robot.
        -
        -
        final Cache<edu.wpi.first.math.geometry.Rotation3d>
        -
        imuReadingCache
        -
        -
        IMU reading cache for robot readings.
        -
        -
        private IMUVelocity
        -
        imuVelocity
        -
        -
        Class that calculates robot's yaw velocity using IMU measurements.
        -
        -
        final edu.wpi.first.math.kinematics.SwerveDriveKinematics
        -
        kinematics
        -
        -
        Swerve Kinematics object.
        -
        -
        private double
        -
        lastHeadingRadians
        -
        -
        The last heading set in radians.
        -
        -
        private double
        -
        maxSpeedMPS
        -
        -
        Maximum speed of the robot in meters per second.
        -
        -
        private int
        -
        moduleSynchronizationCounter
        -
        -
        Counter to synchronize the modules relative encoder with absolute encoder when not moving.
        -
        -
        private final Lock
        -
        odometryLock
        -
        -
        Odometry lock to ensure thread safety.
        -
        -
        private final edu.wpi.first.wpilibj.Notifier
        -
        odometryThread
        -
        -
        WPILib Notifier to keep odometry up to date.
        -
        -
        private SwerveIMUSimulation
        -
        simIMU
        -
        -
        Simulation of the swerve drive.
        -
        -
        SwerveController
        -
        swerveController
        -
        -
        Swerve controller for controlling heading of the robot.
        -
        -
        final SwerveDriveConfiguration
        -
        swerveDriveConfiguration
        -
        -
        Swerve drive configuration.
        -
        -
        final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator
        -
        swerveDrivePoseEstimator
        -
        -
        Swerve odometry.
        -
        -
        private final SwerveModule[]
        -
        swerveModules
        -
        -
        Swerve modules.
        -
        -
        private final Alert
        -
        tunerXRecommendation
        -
        -
        Alert to recommend Tuner X if the configuration is compatible.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SwerveDrive(SwerveDriveConfiguration config, - SwerveControllerConfiguration controllerConfig, - double maxSpeedMPS)
        -
        -
        Creates a new swerve drivebase subsystem.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, - double timestamp)
        -
        -
        Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
        -
        -
        void
        -
        addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, - double timestamp, - edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)
        -
        -
        Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
        -
        -
        edu.wpi.first.math.kinematics.ChassisSpeeds
        -
        angularVelocitySkewCorrection(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
        -
        -
        Correct for skew that worsens as angular velocity increases
        -
        -
        private void
        -
        checkIfTunerXCompatible()
        -
        -
        Check all components to ensure that Tuner X Swerve Generator is recommended instead.
        -
        -
        void
        -
        drive(edu.wpi.first.math.geometry.Translation2d translation, - double rotation, - boolean fieldRelative, - boolean isOpenLoop)
        -
        -
        The primary method for controlling the drivebase.
        -
        -
        void
        -
        drive(edu.wpi.first.math.geometry.Translation2d translation, - double rotation, - boolean fieldRelative, - boolean isOpenLoop, - edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
        -
        -
        The primary method for controlling the drivebase.
        -
        -
        void
        -
        drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
        -
        -
        Secondary method for controlling the drivebase.
        -
        -
        void
        -
        drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, - boolean isOpenLoop, - edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
        -
        -
        The primary method for controlling the drivebase.
        -
        -
        void
        -
        drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, - edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
        -
        -
        Secondary method for controlling the drivebase.
        -
        -
        void
        -
        driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
        -
        -
        Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
        -
        -
        void
        -
        driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, - edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
        -
        -
        Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
        -
        -
        void
        -
        driveFieldOrientedandRobotOriented(edu.wpi.first.math.kinematics.ChassisSpeeds fieldOrientedVelocity, - edu.wpi.first.math.kinematics.ChassisSpeeds robotOrientedVelocity)
        -
        -
        Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same - time.
        -
        -
        Optional<edu.wpi.first.math.geometry.Translation3d>
        -
        getAccel()
        -
        -
        Gets current acceleration of the robot in m/s/s.
        -
        -
        edu.wpi.first.math.kinematics.ChassisSpeeds
        -
        getFieldVelocity()
        -
        -
        Gets the current field-relative velocity (x, y and omega) of the robot
        -
        -
        SwerveIMU
        -
        getGyro()
        -
        -
        Getter for the SwerveIMU.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getGyroRotation3d()
        -
        -
        Gets the current gyro Rotation3d of the robot, as reported by the imu.
        -
        -
        double
        -
        getMaximumAngularVelocity()
        -
        -
        Get the maximum angular velocity, either attainableMaxRotationalVelocityRadiansPerSecond or - SwerveControllerConfiguration.maxAngularVelocity.
        -
        -
        double
        -
        getMaximumVelocity()
        -
        -
        Get the maximum velocity from attainableMaxTranslationalSpeedMetersPerSecond or - maxSpeedMPS whichever is higher.
        -
        -
        Map<String,SwerveModule>
        -
        getModuleMap()
        -
        -
        Get the SwerveModule's as a HashMap where the key is the swerve module configuration name.
        -
        -
        edu.wpi.first.math.kinematics.SwerveModulePosition[]
        -
        getModulePositions()
        -
        -
        Gets the current module positions (azimuth and wheel position (meters)).
        -
        -
        SwerveModule[]
        -
        getModules()
        -
        -
        Get the SwerveModules associated with the SwerveDrive.
        -
        -
        edu.wpi.first.math.geometry.Rotation2d
        -
        getOdometryHeading()
        -
        -
        Fetch the latest odometry heading, should be trusted over getYaw().
        -
        -
        edu.wpi.first.math.geometry.Rotation2d
        -
        getPitch()
        -
        -
        Gets the current pitch angle of the robot, as reported by the imu.
        -
        -
        edu.wpi.first.math.geometry.Pose2d
        -
        getPose()
        -
        -
        Gets the current pose (position and rotation) of the robot, as reported by odometry.
        -
        -
        edu.wpi.first.math.kinematics.ChassisSpeeds
        -
        getRobotVelocity()
        -
        -
        Gets the current robot-relative velocity (x, y and omega) of the robot
        -
        -
        edu.wpi.first.math.geometry.Rotation2d
        -
        getRoll()
        -
        -
        Gets the current roll angle of the robot, as reported by the imu.
        -
        -
        edu.wpi.first.math.kinematics.SwerveModuleState[]
        -
        getStates()
        -
        -
        Gets the current module states (azimuth and velocity)
        -
        -
        SwerveController
        -
        getSwerveController()
        -
        -
        Helper function to get the 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.
        -
        -
        edu.wpi.first.math.geometry.Pose2d[]
        -
        getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
        -
        -
        Get the swerve module poses and on the field relative to the robot.
        -
        -
        edu.wpi.first.math.geometry.Rotation2d
        -
        getYaw()
        -
        -
        Gets the current yaw angle of the robot, as reported by the imu.
        -
        -
        void
        -
        lockPose()
        -
        -
        Point all modules toward the robot center, thus making the robot very difficult to move.
        -
        -
        private edu.wpi.first.math.kinematics.ChassisSpeeds
        -
        movementOptimizations(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, - boolean uesChassisDiscretize, - boolean useAngularVelocitySkewCorrection)
        -
        -
        Enable desired drive corrections
        -
        -
        void
        -
        postTrajectory(edu.wpi.first.math.trajectory.Trajectory trajectory)
        -
        -
        Post the trajectory to the field
        -
        -
        void
        -
        pushOffsetsToEncoders()
        -
        -
        Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.
        -
        -
        void
        -
        replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)
        -
        -
        Setup the swerve module feedforward.
        -
        -
        void
        -
        resetDriveEncoders()
        -
        -
        Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in - autonomous.
        -
        -
        void
        -
        resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
        -
        -
        Resets odometry to the given pose.
        -
        -
        void
        -
        restoreInternalOffset()
        -
        -
        Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0
        -
        -
        void
        -
        setAngleMotorConversionFactor(double conversionFactor)
        -
        -
        Set the conversion factor for the angle/azimuth motor controller.
        -
        -
        void
        -
        setAngularVelocityCompensation(boolean useInTeleop, - boolean useInAuto, - double angularVelocityCoeff)
        -
        -
        Enables angular velocity skew correction in teleop and/or autonomous - and sets the angular velocity coefficient for both modes
        -
        -
        void
        -
        setAutoCenteringModules(boolean enabled)
        -
        -
        Enable auto-centering module wheels.
        -
        -
        void
        -
        setChassisDiscretization(boolean useInTeleop, - boolean useInAuto, - double dtSeconds)
        -
        -
        Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop and/or auto
        -
        -
        void
        -
        setChassisDiscretization(boolean enable, - double dtSeconds)
        -
        -
        Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop
        -
        -
        void
        -
        setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
        -
        -
        Set chassis speeds with closed-loop velocity control.
        -
        -
        void
        -
        setCosineCompensator(boolean enabled)
        -
        -
        Enable or disable the SwerveModuleConfiguration.useCosineCompensator for all - SwerveModule's in the swerve drive.
        -
        -
        void
        -
        setDriveMotorConversionFactor(double conversionFactor)
        -
        -
        Set the conversion factor for the drive motor controller.
        -
        -
        void
        -
        setGyro(edu.wpi.first.math.geometry.Rotation3d gyro)
        -
        -
        Set the expected gyroscope angle using a Rotation3d object.
        -
        -
        void
        -
        setGyroOffset(edu.wpi.first.math.geometry.Rotation3d offset)
        -
        -
        Set the gyro scope offset to a desired known rotation.
        -
        -
        void
        -
        setHeadingCorrection(boolean state)
        -
        -
        Set the heading correction capabilities of YAGSL.
        -
        -
        void
        -
        setHeadingCorrection(boolean state, - double deadband)
        -
        -
        Set the heading correction capabilities of YAGSL.
        -
        -
        void
        -
        setMaximumSpeed(double maximumSpeed)
        -
        -
        Set the maximum speed of the drive motors, modified maxSpeedMPS which is used for the - setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
        -
        -
        void
        -
        setMaximumSpeed(double maximumSpeed, - boolean updateModuleFeedforward, - double optimalVoltage)
        -
        -
        Set the maximum speed of the drive motors, modified maxSpeedMPS which is used for the - setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
        -
        -
        void
        -
        setMaximumSpeeds(double attainableMaxModuleSpeedMetersPerSecond, - double attainableMaxTranslationalSpeedMetersPerSecond, - double attainableMaxRotationalVelocityRadiansPerSecond)
        -
        -
        Set the maximum speeds for desaturation.
        -
        -
        void
        -
        setModuleEncoderAutoSynchronize(boolean enabled, - double deadband)
        -
        -
        Enable auto synchronization for encoders during a match.
        -
        -
        void
        -
        setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, - boolean isOpenLoop)
        -
        -
        Set the module states (azimuth and velocity) directly.
        -
        -
        void
        -
        setMotorIdleMode(boolean brake)
        -
        -
        Sets the drive motors to brake/coast mode.
        -
        -
        void
        -
        setOdometryPeriod(double period)
        -
        -
        Set the odometry update period in seconds.
        -
        -
        private void
        -
        setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, - edu.wpi.first.math.kinematics.ChassisSpeeds desiredChassisSpeed, - boolean isOpenLoop)
        -
        -
        Set the module states (azimuth and velocity) directly.
        -
        -
        void
        -
        setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)
        -
        -
        Sets the pose estimator's trust of global measurements.
        -
        -
        void
        -
        stopOdometryThread()
        -
        -
        Stop the odometry thread in favor of manually updating odometry.
        -
        -
        void
        -
        synchronizeModuleEncoders()
        -
        -
        Synchronize angle motor integrated encoders with data from absolute encoders.
        -
        -
        void
        -
        updateCacheValidityPeriods(long imu, - long driveMotor, - long absoluteEncoder)
        -
        -
        Update the cache validity period for the robot.
        -
        -
        void
        -
        updateOdometry()
        -
        -
        Update odometry should be run every loop.
        -
        -
        void
        -
        zeroGyro()
        -
        -
        Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          kinematics

          -
          public final edu.wpi.first.math.kinematics.SwerveDriveKinematics kinematics
          -
          Swerve Kinematics object.
          -
          -
          • -
        • -
          -

          swerveDriveConfiguration

          -
          public final SwerveDriveConfiguration swerveDriveConfiguration
          -
          Swerve drive configuration.
          -
          -
          • -
        • -
          -

          swerveDrivePoseEstimator

          -
          public final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator swerveDrivePoseEstimator
          -
          Swerve odometry.
          -
          -
          • -
        • -
          -

          imuReadingCache

          -
          public final Cache<edu.wpi.first.math.geometry.Rotation3d> imuReadingCache
          -
          IMU reading cache for robot readings.
          -
          -
          • -
        • -
          -

          swerveModules

          -
          private final SwerveModule[] swerveModules
          -
          Swerve modules.
          -
          -
          • -
        • -
          -

          odometryThread

          -
          private final edu.wpi.first.wpilibj.Notifier odometryThread
          -
          WPILib Notifier to keep odometry up to date.
          -
          -
          • -
        • -
          -

          odometryLock

          -
          private final Lock odometryLock
          -
          Odometry lock to ensure thread safety.
          -
          -
          • -
        • -
          -

          tunerXRecommendation

          -
          private final Alert tunerXRecommendation
          -
          Alert to recommend Tuner X if the configuration is compatible.
          -
          -
          • -
        • -
          -

          field

          -
          public edu.wpi.first.wpilibj.smartdashboard.Field2d field
          -
          Field object.
          -
          -
          • -
        • -
          -

          swerveController

          -
          public SwerveController swerveController
          -
          Swerve controller for controlling heading of the robot.
          -
          -
          • -
        • -
          -

          chassisVelocityCorrection

          -
          public boolean chassisVelocityCorrection
          -
          Correct chassis velocity in drive(Translation2d, double, boolean, boolean) using 254's - correction.
          -
          -
          • -
        • -
          -

          autonomousChassisVelocityCorrection

          -
          public boolean autonomousChassisVelocityCorrection
          -
          Correct chassis velocity in setChassisSpeeds(ChassisSpeeds chassisSpeeds) (auto) using 254's - correction during auto.
          -
          -
          • -
        • -
          -

          angularVelocityCorrection

          -
          public boolean angularVelocityCorrection
          -
          Correct for skew that scales with angular velocity in drive(Translation2d, double, boolean, boolean)
          -
          -
          • -
        • -
          -

          autonomousAngularVelocityCorrection

          -
          public boolean autonomousAngularVelocityCorrection
          -
          Correct for skew that scales with angular velocity in setChassisSpeeds(ChassisSpeeds chassisSpeeds) - during auto.
          -
          -
          • -
        • -
          -

          angularVelocityCoefficient

          -
          public double angularVelocityCoefficient
          -
          Angular Velocity Correction Coefficent (expected values between -0.15 and 0.15).
          -
          -
          • -
        • -
          -

          headingCorrection

          -
          public boolean headingCorrection
          -
          Whether to correct heading when driving translationally. Set to true to enable.
          -
          -
          • -
        • -
          -

          discretizationdtSeconds

          -
          private double discretizationdtSeconds
          -
          Amount of seconds the duration of the timestep the speeds should be applied for.
          -
          -
          • -
        • -
          -

          HEADING_CORRECTION_DEADBAND

          -
          private double HEADING_CORRECTION_DEADBAND
          -
          Deadband for speeds in heading correction.
          -
          -
          • -
        • -
          -

          imu

          -
          private SwerveIMU imu
          -
          Swerve IMU device for sensing the heading of the robot.
          -
          -
          • -
        • -
          -

          imuVelocity

          -
          private IMUVelocity imuVelocity
          -
          Class that calculates robot's yaw velocity using IMU measurements. Used for angularVelocityCorrection in - drive(Translation2d, double, boolean, boolean).
          -
          -
          • -
        • -
          -

          simIMU

          -
          private SwerveIMUSimulation simIMU
          -
          Simulation of the swerve drive.
          -
          -
          • -
        • -
          -

          moduleSynchronizationCounter

          -
          private int moduleSynchronizationCounter
          -
          Counter to synchronize the modules relative encoder with absolute encoder when not moving.
          -
          -
          • -
        • -
          -

          lastHeadingRadians

          -
          private double lastHeadingRadians
          -
          The last heading set in radians.
          -
          -
          • -
        • -
          -

          attainableMaxTranslationalSpeedMetersPerSecond

          -
          private double attainableMaxTranslationalSpeedMetersPerSecond
          -
          The absolute max speed that your robot can reach while translating in meters per second.
          -
          -
          • -
        • -
          -

          attainableMaxRotationalVelocityRadiansPerSecond

          -
          private double attainableMaxRotationalVelocityRadiansPerSecond
          -
          The absolute max speed the robot can reach while rotating radians per second.
          -
          -
          • -
        • -
          -

          maxSpeedMPS

          -
          private double maxSpeedMPS
          -
          Maximum speed of the robot in meters per second.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        - -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          updateCacheValidityPeriods

          -
          public void updateCacheValidityPeriods(long imu, - long driveMotor, - long absoluteEncoder)
          -
          Update the cache validity period for the robot.
          -
          -
          Parameters:
          -
          imu - IMU reading cache validity period in milliseconds.
          -
          driveMotor - Drive motor reading cache in milliseconds.
          -
          absoluteEncoder - Absolute encoder reading cache in milliseconds.
          -
          -
          -
          • -
        • -
          -

          checkIfTunerXCompatible

          -
          private void checkIfTunerXCompatible()
          -
          Check all components to ensure that Tuner X Swerve Generator is recommended instead.
          -
          -
          • -
        • -
          -

          setOdometryPeriod

          -
          public void setOdometryPeriod(double period)
          -
          Set the odometry update period in seconds.
          -
          -
          Parameters:
          -
          period - period in seconds.
          -
          -
          -
          • -
        • -
          -

          stopOdometryThread

          -
          public void stopOdometryThread()
          -
          Stop the odometry thread in favor of manually updating odometry.
          -
          -
          • -
        • -
          -

          setAngleMotorConversionFactor

          -
          public void setAngleMotorConversionFactor(double conversionFactor)
          -
          Set the conversion factor for the angle/azimuth motor controller.
          -
          -
          Parameters:
          -
          conversionFactor - Angle motor conversion factor for PID, should be generated from - SwerveMath.calculateDegreesPerSteeringRotation(double, double) or calculated.
          -
          -
          -
          • -
        • -
          -

          setDriveMotorConversionFactor

          -
          public void setDriveMotorConversionFactor(double conversionFactor)
          -
          Set the conversion factor for the drive motor controller.
          -
          -
          Parameters:
          -
          conversionFactor - Drive motor conversion factor for PID, should be generated from - SwerveMath.calculateMetersPerRotation(double, double, double) or calculated.
          -
          -
          -
          • -
        • -
          -

          getOdometryHeading

          -
          public edu.wpi.first.math.geometry.Rotation2d getOdometryHeading()
          -
          Fetch the latest odometry heading, should be trusted over getYaw().
          -
          -
          Returns:
          -
          Rotation2d of the robot heading.
          -
          -
          -
          • -
        • -
          -

          setHeadingCorrection

          -
          public void setHeadingCorrection(boolean state)
          -
          Set the heading correction capabilities of YAGSL.
          -
          -
          Parameters:
          -
          state - headingCorrection state.
          -
          -
          -
          • -
        • -
          -

          setHeadingCorrection

          -
          public void setHeadingCorrection(boolean state, - double deadband)
          -
          Set the heading correction capabilities of YAGSL.
          -
          -
          Parameters:
          -
          state - headingCorrection state.
          -
          deadband - HEADING_CORRECTION_DEADBAND deadband.
          -
          -
          -
          • -
        • -
          -

          driveFieldOrientedandRobotOriented

          -
          public void driveFieldOrientedandRobotOriented(edu.wpi.first.math.kinematics.ChassisSpeeds fieldOrientedVelocity, - edu.wpi.first.math.kinematics.ChassisSpeeds robotOrientedVelocity)
          -
          Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same - time. The inputs are added together so this is not intneded to be used to give the driver both methods of control.
          -
          -
          Parameters:
          -
          fieldOrientedVelocity - The field oriented velocties to use
          -
          robotOrientedVelocity - The robot oriented velocties to use
          -
          -
          -
          • -
        • -
          -

          driveFieldOriented

          -
          public void driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
          -
          Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
          -
          -
          Parameters:
          -
          velocity - Velocity of the robot desired.
          -
          -
          -
          • -
        • -
          -

          driveFieldOriented

          -
          public void driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, - edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
          -
          Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
          -
          -
          Parameters:
          -
          velocity - Velocity of the robot desired.
          -
          centerOfRotationMeters - The center of rotation in meters, 0 is the center of the robot.
          -
          -
          -
          • -
        • -
          -

          drive

          -
          public void drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
          -
          Secondary method for controlling the drivebase. Given a simple ChassisSpeeds set the swerve module states, - to achieve the goal.
          -
          -
          Parameters:
          -
          velocity - The desired robot-oriented ChassisSpeeds for the robot to achieve.
          -
          -
          -
          • -
        • -
          -

          drive

          -
          public void drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, - edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
          -
          Secondary method for controlling the drivebase. Given a simple ChassisSpeeds set the swerve module states, - to achieve the goal.
          -
          -
          Parameters:
          -
          velocity - The desired robot-oriented ChassisSpeeds for the robot to achieve.
          -
          centerOfRotationMeters - The center of rotation in meters, 0 is the center of the robot.
          -
          -
          -
          • -
        • -
          -

          drive

          -
          public void drive(edu.wpi.first.math.geometry.Translation2d translation, - double rotation, - boolean fieldRelative, - boolean isOpenLoop, - edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
          -
          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.
          -
          isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
          -
          centerOfRotationMeters - The center of rotation in meters, 0 is the center of the robot.
          -
          -
          -
          • -
        • -
          -

          drive

          -
          public void drive(edu.wpi.first.math.geometry.Translation2d translation, - double rotation, - boolean fieldRelative, - boolean isOpenLoop)
          -
          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.
          -
          isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
          -
          -
          -
          • -
        • -
          -

          drive

          -
          public void drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, - boolean isOpenLoop, - edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
          -
          The primary method for controlling the drivebase. Takes a ChassisSpeeds, and calculates and commands module - states accordingly. Can use either open-loop or closed-loop velocity control for the wheel velocities. Applies - heading correction if enabled and necessary.
          -
          -
          Parameters:
          -
          velocity - The chassis speeds to set the robot to achieve.
          -
          isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
          -
          centerOfRotationMeters - The center of rotation in meters, 0 is the center of the robot.
          -
          -
          -
          • -
        • -
          -

          setMaximumSpeeds

          -
          public void setMaximumSpeeds(double attainableMaxModuleSpeedMetersPerSecond, - double attainableMaxTranslationalSpeedMetersPerSecond, - double attainableMaxRotationalVelocityRadiansPerSecond)
          -
          Set the maximum speeds for desaturation.
          -
          -
          Parameters:
          -
          attainableMaxModuleSpeedMetersPerSecond - The absolute max speed that a module can reach in meters per - second.
          -
          attainableMaxTranslationalSpeedMetersPerSecond - The absolute max speed that your robot can reach while - translating in meters per second.
          -
          attainableMaxRotationalVelocityRadiansPerSecond - The absolute max speed the robot can reach while rotating in - radians per second.
          -
          -
          -
          • -
        • -
          -

          getMaximumVelocity

          -
          public double getMaximumVelocity()
          -
          Get the maximum velocity from attainableMaxTranslationalSpeedMetersPerSecond or - maxSpeedMPS whichever is higher.
          -
          -
          Returns:
          -
          Maximum speed in meters/second.
          -
          -
          -
          • -
        • -
          -

          getMaximumAngularVelocity

          -
          public double getMaximumAngularVelocity()
          -
          Get the maximum angular velocity, either attainableMaxRotationalVelocityRadiansPerSecond or - SwerveControllerConfiguration.maxAngularVelocity.
          -
          -
          Returns:
          -
          Maximum angular velocity in radians per second.
          -
          -
          -
          • -
        • -
          -

          setRawModuleStates

          -
          private void setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, - edu.wpi.first.math.kinematics.ChassisSpeeds desiredChassisSpeed, - boolean isOpenLoop)
          -
          Set the module states (azimuth and velocity) directly.
          -
          -
          Parameters:
          -
          desiredStates - A list of SwerveModuleStates to send to the modules.
          -
          desiredChassisSpeed - The desired chassis speeds to set the robot to achieve.
          -
          isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
          -
          -
          -
          • -
        • -
          -

          setModuleStates

          -
          public void setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, - boolean isOpenLoop)
          -
          Set the module states (azimuth and velocity) directly. Used primarily for auto paths. - Does not allow for usage of desaturateWheelSpeeds(SwerveModuleState[] moduleStates, - ChassisSpeeds desiredChassisSpeed, double attainableMaxModuleSpeedMetersPerSecond, - double attainableMaxTranslationalSpeedMetersPerSecond, double attainableMaxRotationalVelocityRadiansPerSecond)
          -
          -
          Parameters:
          -
          desiredStates - A list of SwerveModuleStates to send to the modules.
          -
          isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
          -
          -
          -
          • -
        • -
          -

          setChassisSpeeds

          -
          public void setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
          -
          Set chassis speeds with closed-loop velocity control.
          -
          -
          Parameters:
          -
          chassisSpeeds - Chassis speeds to set.
          -
          -
          -
          • -
        • -
          -

          getPose

          -
          public edu.wpi.first.math.geometry.Pose2d getPose()
          -
          Gets the current pose (position and rotation) of the robot, as reported by odometry.
          -
          -
          Returns:
          -
          The robot's pose
          -
          -
          -
          • -
        • -
          -

          getFieldVelocity

          -
          public edu.wpi.first.math.kinematics.ChassisSpeeds getFieldVelocity()
          -
          Gets the current field-relative velocity (x, y and omega) of the robot
          -
          -
          Returns:
          -
          A ChassisSpeeds object of the current field-relative velocity
          -
          -
          -
          • -
        • -
          -

          getRobotVelocity

          -
          public edu.wpi.first.math.kinematics.ChassisSpeeds getRobotVelocity()
          -
          Gets the current robot-relative velocity (x, y and omega) of the robot
          -
          -
          Returns:
          -
          A ChassisSpeeds object of the current robot-relative velocity
          -
          -
          -
          • -
        • -
          -

          resetOdometry

          -
          public void resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
          -
          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:
          -
          pose - The pose to set the odometry to
          -
          -
          -
          • -
        • -
          -

          postTrajectory

          -
          public void postTrajectory(edu.wpi.first.math.trajectory.Trajectory trajectory)
          -
          Post the trajectory to the field
          -
          -
          Parameters:
          -
          trajectory - the trajectory to post.
          -
          -
          -
          • -
        • -
          -

          getStates

          -
          public edu.wpi.first.math.kinematics.SwerveModuleState[] getStates()
          -
          Gets the current module states (azimuth and velocity)
          -
          -
          Returns:
          -
          A list of SwerveModuleStates containing the current module states
          -
          -
          -
          • -
        • -
          -

          getModulePositions

          -
          public edu.wpi.first.math.kinematics.SwerveModulePosition[] getModulePositions()
          -
          Gets the current module positions (azimuth and wheel position (meters)).
          -
          -
          Returns:
          -
          A list of SwerveModulePositions containg the current module positions
          -
          -
          -
          • -
        • -
          -

          getGyro

          -
          public SwerveIMU getGyro()
          -
          Getter for the SwerveIMU.
          -
          -
          Returns:
          -
          generated SwerveIMU
          -
          -
          -
          • -
        • -
          -

          setGyro

          -
          public void setGyro(edu.wpi.first.math.geometry.Rotation3d gyro)
          -
          Set the expected gyroscope angle using a Rotation3d object. To reset gyro, set to a new Rotation3d - subtracted from the current gyroscopic readings SwerveIMU.getRotation3d().
          -
          -
          Parameters:
          -
          gyro - expected gyroscope angle as Rotation3d.
          -
          -
          -
          • -
        • -
          -

          zeroGyro

          -
          public void zeroGyro()
          -
          Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
          -
          -
          • -
        • -
          -

          getYaw

          -
          public edu.wpi.first.math.geometry.Rotation2d getYaw()
          -
          Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.
          -
          -
          Returns:
          -
          The yaw as a Rotation2d angle
          -
          -
          -
          • -
        • -
          -

          getPitch

          -
          public edu.wpi.first.math.geometry.Rotation2d getPitch()
          -
          Gets the current pitch angle of the robot, as reported by the imu.
          -
          -
          Returns:
          -
          The heading as a Rotation2d angle
          -
          -
          -
          • -
        • -
          -

          getRoll

          -
          public edu.wpi.first.math.geometry.Rotation2d getRoll()
          -
          Gets the current roll angle of the robot, as reported by the imu.
          -
          -
          Returns:
          -
          The heading as a Rotation2d angle
          -
          -
          -
          • -
        • -
          -

          getGyroRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getGyroRotation3d()
          -
          Gets the current gyro Rotation3d of the robot, as reported by the imu.
          -
          -
          Returns:
          -
          The heading as a Rotation3d angle
          -
          -
          -
          • -
        • -
          -

          getAccel

          -
          public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
          -
          Gets current acceleration of the robot in m/s/s. If gyro unsupported returns empty.
          -
          -
          Returns:
          -
          acceleration of the robot as a Translation3d
          -
          -
          -
          • -
        • -
          -

          setMotorIdleMode

          -
          public void setMotorIdleMode(boolean brake)
          -
          Sets the drive motors to brake/coast mode.
          -
          -
          Parameters:
          -
          brake - True to set motors to brake mode, false for coast.
          -
          -
          -
          • -
        • -
          -

          setModuleEncoderAutoSynchronize

          -
          public void setModuleEncoderAutoSynchronize(boolean enabled, - double deadband)
          -
          Enable auto synchronization for encoders during a match. This will only occur when the modules are not moving for a few seconds.
          -
          -
          Parameters:
          -
          enabled - Enable state
          -
          deadband - Deadband in degrees, default is 3 degrees.
          -
          -
          -
          • -
        • -
          -

          setMaximumSpeed

          -
          public void setMaximumSpeed(double maximumSpeed, - boolean updateModuleFeedforward, - double optimalVoltage)
          -
          Set the maximum speed of the drive motors, modified maxSpeedMPS which is used for the - setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions. This function overrides - what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates.
          -
          -
          Parameters:
          -
          maximumSpeed - Maximum speed for the drive motors in meters / second.
          -
          updateModuleFeedforward - Update the swerve module feedforward to account for the new maximum speed. This - should be true unless you have replaced the drive motor feedforward with - replaceSwerveModuleFeedforward(SimpleMotorFeedforward)
          -
          optimalVoltage - Optimal voltage to use for the feedforward.
          -
          -
          -
          • -
        • -
          -

          setMaximumSpeed

          -
          public void setMaximumSpeed(double maximumSpeed)
          -
          Set the maximum speed of the drive motors, modified maxSpeedMPS which is used for the - setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) 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 - SwerveModule.setFeedforward(SimpleMotorFeedforward).
          -
          -
          Parameters:
          -
          maximumSpeed - Maximum speed for the drive motors in meters / second.
          -
          -
          -
          • -
        • -
          -

          lockPose

          -
          public void lockPose()
          -
          Point all modules toward the robot center, thus making the robot very difficult to move. Forcing the robot to keep - the current pose.
          -
          -
          • -
        • -
          -

          getSwerveModulePoses

          -
          public edu.wpi.first.math.geometry.Pose2d[] getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
          -
          Get the swerve module poses and on the field relative to the robot.
          -
          -
          Parameters:
          -
          robotPose - Robot pose.
          -
          Returns:
          -
          Swerve module poses.
          -
          -
          -
          • -
        • -
          -

          replaceSwerveModuleFeedforward

          -
          public void replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)
          -
          Setup the swerve module feedforward.
          -
          -
          Parameters:
          -
          driveFeedforward - Feedforward for the drive motor on swerve modules.
          -
          -
          -
          • -
        • -
          -

          updateOdometry

          -
          public void updateOdometry()
          -
          Update odometry should be run every loop. Synchronizes module absolute encoders with relative encoders - periodically. In simulation mode will also post the pose of each module. Updates SmartDashboard with module encoder - readings and states.
          -
          -
          • -
        • -
          -

          synchronizeModuleEncoders

          -
          public void synchronizeModuleEncoders()
          -
          Synchronize angle motor integrated encoders with data from absolute encoders.
          -
          -
          • -
        • -
          -

          setGyroOffset

          -
          public void setGyroOffset(edu.wpi.first.math.geometry.Rotation3d offset)
          -
          Set the gyro scope offset to a desired known rotation. Unlike setGyro(Rotation3d) it DOES NOT - take the current rotation into account.
          -
          -
          Parameters:
          -
          offset - Rotation3d known offset of the robot for gyroscope to use.
          -
          -
          -
          • -
        • -
          -

          addVisionMeasurement

          -
          public void addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, - double timestamp, - edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)
          -
          Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
          -
          -
          Parameters:
          -
          robotPose - Robot Pose2d as measured by vision.
          -
          timestamp - Timestamp the measurement was taken as time since startup, should be taken from - Timer.getFPGATimestamp() or similar sources.
          -
          visionMeasurementStdDevs - Vision measurement standard deviation that will be sent to the - SwerveDrivePoseEstimator.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 with the calculated optimal standard deviation. (Units should be meters - per pixel). By optimizing this you can get * vision accurate to inches instead of - feet.
          -
          -
          -
          • -
        • -
          -

          setVisionMeasurementStdDevs

          -
          public void setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)
          -
          Sets the pose estimator's trust of global measurements. This might be used to change trust in vision measurements - after the autonomous period, or to change trust as distance to a vision target increases.
          -
          -
          Parameters:
          -
          visionMeasurementStdDevs - Standard deviations of the vision measurements. Increase these numbers to trust - global measurements from vision less. This matrix is in the form [x, y, theta], - with units in meters and radians.
          -
          -
          -
          • -
        • -
          -

          addVisionMeasurement

          -
          public void addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, - double timestamp)
          -
          Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
          -
          -
          Parameters:
          -
          robotPose - Robot Pose2d as measured by vision.
          -
          timestamp - Timestamp the measurement was taken as time since startup, should be taken from - Timer.getFPGATimestamp() or similar sources.
          -
          -
          -
          • -
        • -
          -

          getSwerveController

          -
          public SwerveController getSwerveController()
          -
          Helper function to get the 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. Important functions to look at are - SwerveController.getTargetSpeeds(double, double, double, double, double), - SwerveController.addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter), - SwerveController.getRawTargetSpeeds(double, double, double).
          -
          -
          Returns:
          -
          SwerveController for the SwerveDrive.
          -
          -
          -
          • -
        • -
          -

          getModules

          -
          public SwerveModule[] getModules()
          -
          Get the SwerveModules associated with the SwerveDrive.
          -
          -
          Returns:
          -
          SwerveModule array specified by configurations.
          -
          -
          -
          • -
        • -
          -

          getModuleMap

          -
          public Map<String,SwerveModule> getModuleMap()
          -
          Get the SwerveModule's as a HashMap where the key is the swerve module configuration name.
          -
          -
          Returns:
          -
          HashMap(Module Name, SwerveModule)
          -
          -
          -
          • -
        • -
          -

          resetDriveEncoders

          -
          public void resetDriveEncoders()
          -
          Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in - autonomous.
          -
          -
          • -
        • -
          -

          pushOffsetsToEncoders

          -
          public void pushOffsetsToEncoders()
          -
          Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type. Also removes the - internal offsets to prevent double offsetting.
          -
          -
          • -
        • -
          -

          restoreInternalOffset

          -
          public void restoreInternalOffset()
          -
          Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0
          -
          -
          • -
        • -
          -

          setAutoCenteringModules

          -
          public void setAutoCenteringModules(boolean enabled)
          -
          Enable auto-centering module wheels. This has a side effect of causing some jitter to the robot when a PID is not - tuned perfectly. This function is a wrapper for SwerveModule.setAntiJitter(boolean) to perform - auto-centering.
          -
          -
          Parameters:
          -
          enabled - Enable auto-centering (disable antiJitter)
          -
          -
          -
          • -
        • -
          -

          setCosineCompensator

          -
          public void setCosineCompensator(boolean enabled)
          -
          Enable or disable the SwerveModuleConfiguration.useCosineCompensator for all - SwerveModule's in the swerve drive. The cosine compensator will slow down or speed up modules that are - close to their desired state in theory.
          -
          -
          Parameters:
          -
          enabled - Usage of the cosine compensator.
          -
          -
          -
          • -
        • -
          -

          setChassisDiscretization

          -
          public void setChassisDiscretization(boolean enable, - double dtSeconds)
          -
          Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop
          -
          -
          Parameters:
          -
          enable - Enable chassis velocity correction, which will use - ChassisSpeeds.discretize(ChassisSpeeds, double) with the following.
          -
          dtSeconds - The duration of the timestep the speeds should be applied for.
          -
          -
          -
          • -
        • -
          -

          setChassisDiscretization

          -
          public void setChassisDiscretization(boolean useInTeleop, - boolean useInAuto, - double dtSeconds)
          -
          Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop and/or auto
          -
          -
          Parameters:
          -
          useInTeleop - Enable chassis velocity correction, which will use - ChassisSpeeds.discretize(ChassisSpeeds, double) with the following in teleop.
          -
          useInAuto - Enable chassis velocity correction, which will use - ChassisSpeeds.discretize(ChassisSpeeds, double) with the following in auto.
          -
          dtSeconds - The duration of the timestep the speeds should be applied for.
          -
          -
          -
          • -
        • -
          -

          setAngularVelocityCompensation

          -
          public void setAngularVelocityCompensation(boolean useInTeleop, - boolean useInAuto, - double angularVelocityCoeff)
          -
          Enables angular velocity skew correction in teleop and/or autonomous - and sets the angular velocity coefficient for both modes
          -
          -
          Parameters:
          -
          useInTeleop - Enables angular velocity correction in teleop.
          -
          useInAuto - Enables angular velocity correction in autonomous.
          -
          angularVelocityCoeff - The angular velocity coefficient. Expected values between -0.15 to 0.15. - Start with a value of 0.1, test in teleop. - When enabling for the first time if the skew is significantly worse try inverting the value. - Tune by moving in a straight line while rotating. Testing is best done with angular velocity controls on the right stick. - Change the value until you are visually happy with the skew. - Ensure your tune works with different translational and rotational magnitudes. - If this reduces skew in teleop, it may improve auto.
          -
          -
          -
          • -
        • -
          -

          angularVelocitySkewCorrection

          -
          public edu.wpi.first.math.kinematics.ChassisSpeeds angularVelocitySkewCorrection(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
          -
          Correct for skew that worsens as angular velocity increases
          -
          -
          Parameters:
          -
          velocity - The chassis speeds to set the robot to achieve.
          -
          Returns:
          -
          ChassisSpeeds of the robot after angular velocity skew correction.
          -
          -
          -
          • -
        • -
          -

          movementOptimizations

          -
          private edu.wpi.first.math.kinematics.ChassisSpeeds movementOptimizations(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, - boolean uesChassisDiscretize, - boolean useAngularVelocitySkewCorrection)
          -
          Enable desired drive corrections
          -
          -
          Parameters:
          -
          velocity - The chassis speeds to set the robot to achieve.
          -
          uesChassisDiscretize - Correct chassis velocity using 254's correction.
          -
          useAngularVelocitySkewCorrection - Use the robot's angular velocity to correct for skew.
          -
          Returns:
          -
          The chassis speeds after optimizations.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/SwerveDriveTest.html b/docs/swervelib/SwerveDriveTest.html deleted file mode 100644 index 73ac1c8..0000000 --- a/docs/swervelib/SwerveDriveTest.html +++ /dev/null @@ -1,615 +0,0 @@ - - - - -SwerveDriveTest - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib
      -

      Class SwerveDriveTest

      -
      -
      java.lang.Object -
      swervelib.SwerveDriveTest
      -
      -
      -
      -
      public class SwerveDriveTest -extends Object
      -
      Class to perform tests on the swerve drive.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Angle>
        -
        m_anglePosition
        -
        -
        Tracks the rotations of an angular motor
        -
        -
        private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Velocity<edu.wpi.first.units.Angle>>
        -
        m_angVelocity
        -
        -
        Tracks the velocity of an angular motor
        -
        -
        private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Voltage>
        -
        m_appliedVoltage
        -
        -
        Tracks the voltage being applied to a motor
        -
        -
        private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Distance>
        -
        m_distance
        -
        -
        Tracks the distance travelled of a position motor
        -
        -
        private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Velocity<edu.wpi.first.units.Distance>>
        -
        m_velocity
        -
        -
        Tracks the velocity of a positional motor
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SwerveDriveTest()
        -
         
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        static void
        -
        angleModules(SwerveDrive swerveDrive, - edu.wpi.first.math.geometry.Rotation2d moduleAngle)
        -
        -
        Set the angle of the modules to a given Rotation2d
        -
        -
        static void
        -
        centerModules(SwerveDrive swerveDrive)
        -
        -
        Set the modules to center to 0.
        -
        -
        static edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config
        -
        createConfigCustomTimeout(double timeout)
        -
        -
        Creates a SysIdRoutine.Config with a custom final timeout
        -
        -
        static double
        -
        findCouplingRatio(SwerveDrive swerveDrive, - double volts, - boolean automatic)
        -
        -
        Find the coupling ratio for all modules.
        -
        -
        static double
        -
        findDriveMotorKV(SwerveDrive swerveDrive, - double minMovement, - double testDelaySeconds, - double maxVolts)
        -
        -
        Find the minimum amount of power required to move the swerve drive motors.
        -
        -
        static edu.wpi.first.wpilibj2.command.Command
        -
        generateSysIdCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine sysIdRoutine, - double delay, - double quasiTimeout, - double dynamicTimeout)
        -
        -
        Creates a command that can be mapped to a button or other trigger.
        -
        -
        static void
        -
        logAngularMotorActivity(SwerveModule module, - edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log, - Supplier<Double> powerSupplied)
        -
        -
        Logs info about the angle motor to the SysIdRoutineLog
        -
        -
        static void
        -
        logAngularMotorDutyCycle(SwerveModule module, - edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)
        -
        -
        Logs info about the angle motor to the SysIdRoutineLog.
        -
        -
        static void
        -
        logAngularMotorVoltage(SwerveModule module, - edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)
        -
        -
        Logs info about the angle motor to the SysIdRoutineLog
        -
        -
        static void
        -
        logDriveMotorActivity(SwerveModule module, - edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log, - Supplier<Double> powerSupplied)
        -
        -
        Logs power, position and velocuty info form the drive motor to the SysIdRoutineLog
        -
        -
        static void
        -
        logDriveMotorDutyCycle(SwerveModule module, - edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)
        -
        -
        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.
        -
        -
        static void
        -
        logDriveMotorVoltage(SwerveModule module, - edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)
        -
        -
        Logs voltage, position and velocuty info form the drive motor to the SysIdRoutineLog
        -
        -
        static void
        -
        powerAngleMotorsDutyCycle(SwerveDrive swerveDrive, - double percentage)
        -
        -
        Power the angle motors for the swerve drive to a set percentage.
        -
        -
        static void
        -
        powerAngleMotorsVoltage(SwerveDrive swerveDrive, - double volts)
        -
        -
        Power the angle motors for the swerve drive to a set voltage.
        -
        -
        static void
        -
        powerDriveMotorsDutyCycle(SwerveDrive swerveDrive, - double percentage)
        -
        -
        Power the drive motors for the swerve drive to a set duty cycle percentage.
        -
        -
        static void
        -
        powerDriveMotorsVoltage(SwerveDrive swerveDrive, - double volts)
        -
        -
        Power the drive motors for the swerve drive to a set voltage.
        -
        -
        static edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine
        -
        setAngleSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config config, - edu.wpi.first.wpilibj2.command.SubsystemBase swerveSubsystem, - SwerveDrive swerveDrive)
        -
        -
        Sets up the SysId runner and logger for the angle motors
        -
        -
        static edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine
        -
        setDriveSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config config, - edu.wpi.first.wpilibj2.command.SubsystemBase swerveSubsystem, - SwerveDrive swerveDrive, - double maxVolts)
        -
        -
        Sets up the SysId runner and logger for the drive motors
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          m_appliedVoltage

          -
          private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Voltage> m_appliedVoltage
          -
          Tracks the voltage being applied to a motor
          -
          -
          • -
        • -
          -

          m_distance

          -
          private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Distance> m_distance
          -
          Tracks the distance travelled of a position motor
          -
          -
          • -
        • -
          -

          m_velocity

          -
          private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Velocity<edu.wpi.first.units.Distance>> m_velocity
          -
          Tracks the velocity of a positional motor
          -
          -
          • -
        • -
          -

          m_anglePosition

          -
          private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Angle> m_anglePosition
          -
          Tracks the rotations of an angular motor
          -
          -
          • -
        • -
          -

          m_angVelocity

          -
          private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Velocity<edu.wpi.first.units.Angle>> m_angVelocity
          -
          Tracks the velocity of an angular motor
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveDriveTest

          -
          public SwerveDriveTest()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          angleModules

          -
          public static void angleModules(SwerveDrive swerveDrive, - edu.wpi.first.math.geometry.Rotation2d moduleAngle)
          -
          Set the angle of the modules to a given Rotation2d
          -
          -
          Parameters:
          -
          swerveDrive - SwerveDrive to use.
          -
          moduleAngle - Rotation2d to set every module to.
          -
          -
          -
          • -
        • -
          -

          powerDriveMotorsDutyCycle

          -
          public static void powerDriveMotorsDutyCycle(SwerveDrive swerveDrive, - double percentage)
          -
          Power the drive motors for the swerve drive to a set duty cycle percentage.
          -
          -
          Parameters:
          -
          swerveDrive - SwerveDrive to control.
          -
          percentage - Duty cycle percentage of voltage to send to drive motors.
          -
          -
          -
          • -
        • -
          -

          powerAngleMotorsDutyCycle

          -
          public static void powerAngleMotorsDutyCycle(SwerveDrive swerveDrive, - double percentage)
          -
          Power the angle motors for the swerve drive to a set percentage.
          -
          -
          Parameters:
          -
          swerveDrive - SwerveDrive to control.
          -
          percentage - DutyCycle percentage to send to angle motors.
          -
          -
          -
          • -
        • -
          -

          powerDriveMotorsVoltage

          -
          public static void powerDriveMotorsVoltage(SwerveDrive swerveDrive, - double volts)
          -
          Power the drive motors for the swerve drive to a set voltage.
          -
          -
          Parameters:
          -
          swerveDrive - SwerveDrive to control.
          -
          volts - DutyCycle percentage of voltage to send to drive motors.
          -
          -
          -
          • -
        • -
          -

          powerAngleMotorsVoltage

          -
          public static void powerAngleMotorsVoltage(SwerveDrive swerveDrive, - double volts)
          -
          Power the angle motors for the swerve drive to a set voltage.
          -
          -
          Parameters:
          -
          swerveDrive - SwerveDrive to control.
          -
          volts - Voltage to send to angle motors.
          -
          -
          -
          • -
        • -
          -

          centerModules

          -
          public static void centerModules(SwerveDrive swerveDrive)
          -
          Set the modules to center to 0.
          -
          -
          Parameters:
          -
          swerveDrive - Swerve Drive to control.
          -
          -
          -
          • -
        • -
          -

          findDriveMotorKV

          -
          public static double findDriveMotorKV(SwerveDrive swerveDrive, - double minMovement, - double testDelaySeconds, - double maxVolts)
          -
          Find the minimum amount of power required to move the swerve drive motors.
          -
          -
          Parameters:
          -
          swerveDrive - SwerveDrive to control.
          -
          minMovement - Minimum amount of movement to drive motors.
          -
          testDelaySeconds - Time in seconds for the motor to move.
          -
          maxVolts - The maximum voltage to send to drive motors.
          -
          Returns:
          -
          minimum voltage required.
          -
          -
          -
          • -
        • -
          -

          findCouplingRatio

          -
          public static double findCouplingRatio(SwerveDrive swerveDrive, - double volts, - boolean automatic)
          -
          Find the coupling ratio for all modules.
          -
          -
          Parameters:
          -
          swerveDrive - SwerveDrive to operate with.
          -
          volts - Voltage to send to angle motors to spin.
          -
          automatic - Attempt to automatically spin the modules.
          -
          Returns:
          -
          Average coupling ratio.
          -
          -
          -
          • -
        • -
          -

          createConfigCustomTimeout

          -
          public static edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config createConfigCustomTimeout(double timeout)
          -
          Creates a SysIdRoutine.Config with a custom final timeout
          -
          -
          Parameters:
          -
          timeout - - the most a SysIdRoutine should run
          -
          Returns:
          -
          A custom SysIdRoutine.Config
          -
          -
          -
          • -
        • -
          -

          logDriveMotorDutyCycle

          -
          public static void logDriveMotorDutyCycle(SwerveModule module, - edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)
          -
          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.
          -
          -
          Parameters:
          -
          module - - the swerve module being logged
          -
          log - - the logger
          -
          -
          -
          • -
        • -
          -

          logDriveMotorVoltage

          -
          public static void logDriveMotorVoltage(SwerveModule module, - edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)
          -
          Logs voltage, position and velocuty info form the drive motor to the SysIdRoutineLog
          -
          -
          Parameters:
          -
          module - - the swerve module being logged
          -
          log - - the logger
          -
          -
          -
          • -
        • -
          -

          logDriveMotorActivity

          -
          public static void logDriveMotorActivity(SwerveModule module, - edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log, - Supplier<Double> powerSupplied)
          -
          Logs power, position and velocuty info form the drive motor to the SysIdRoutineLog
          -
          -
          Parameters:
          -
          module - - the swerve module being logged
          -
          log - - the logger
          -
          powerSupplied - - a functional supplier of the power to be logged
          -
          -
          -
          • -
        • -
          -

          setDriveSysIdRoutine

          -
          public static edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine setDriveSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config config, - edu.wpi.first.wpilibj2.command.SubsystemBase swerveSubsystem, - SwerveDrive swerveDrive, - double maxVolts)
          -
          Sets up the SysId runner and logger for the drive motors
          -
          -
          Parameters:
          -
          config - - The SysIdRoutine.Config to use
          -
          swerveSubsystem - - the subsystem to add to requirements
          -
          swerveDrive - - the SwerveDrive from which to access motor info
          -
          maxVolts - - The maximum voltage that should be applied to the drive motors.
          -
          Returns:
          -
          A SysIdRoutine runner
          -
          -
          -
          • -
        • -
          -

          logAngularMotorDutyCycle

          -
          public static void logAngularMotorDutyCycle(SwerveModule module, - edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)
          -
          Logs info about the angle 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.
          -
          -
          Parameters:
          -
          module - - the swerve module being logged
          -
          log - - the logger
          -
          -
          -
          • -
        • -
          -

          logAngularMotorVoltage

          -
          public static void logAngularMotorVoltage(SwerveModule module, - edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)
          -
          Logs info about the angle motor to the SysIdRoutineLog
          -
          -
          Parameters:
          -
          module - - the swerve module being logged
          -
          log - - the logger
          -
          -
          -
          • -
        • -
          -

          logAngularMotorActivity

          -
          public static void logAngularMotorActivity(SwerveModule module, - edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log, - Supplier<Double> powerSupplied)
          -
          Logs info about the angle motor to the SysIdRoutineLog
          -
          -
          Parameters:
          -
          module - - the swerve module being logged
          -
          log - - the logger
          -
          powerSupplied - - a functional supplier of the power to be logged
          -
          -
          -
          • -
        • -
          -

          setAngleSysIdRoutine

          -
          public static edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine setAngleSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config config, - edu.wpi.first.wpilibj2.command.SubsystemBase swerveSubsystem, - SwerveDrive swerveDrive)
          -
          Sets up the SysId runner and logger for the angle motors
          -
          -
          Parameters:
          -
          config - - The SysIdRoutine.Config to use
          -
          swerveSubsystem - - the subsystem to add to requirements
          -
          swerveDrive - - the SwerveDrive from which to access motor info
          -
          Returns:
          -
          A SysIdRoutineRunner
          -
          -
          -
          • -
        • -
          -

          generateSysIdCommand

          -
          public static edu.wpi.first.wpilibj2.command.Command generateSysIdCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine sysIdRoutine, - double delay, - double quasiTimeout, - double dynamicTimeout)
          -
          Creates a command that can be mapped to a button or other trigger. Delays can be set to customize the length of - each part of the SysId Routine
          -
          -
          Parameters:
          -
          sysIdRoutine - - The Sys Id routine runner
          -
          delay - - seconds between each portion to allow motors to spin down, etc...
          -
          quasiTimeout - - seconds to run the Quasistatic routines, so robot doesn't get too far
          -
          dynamicTimeout - - seconds to run the Dynamic routines, 2-3 secs should be enough
          -
          Returns:
          -
          A command that can be mapped to a button or other trigger
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html deleted file mode 100644 index 6936722..0000000 --- a/docs/swervelib/SwerveModule.html +++ /dev/null @@ -1,964 +0,0 @@ - - - - -SwerveModule - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib
      -

      Class SwerveModule

      -
      -
      java.lang.Object -
      swervelib.SwerveModule
      -
      -
      -
      -
      public class SwerveModule -extends Object
      -
      The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          configuration

          -
          public final SwerveModuleConfiguration configuration
          -
          Swerve module configuration options.
          -
          -
          • -
        • -
          -

          absolutePositionCache

          -
          public final Cache<Double> absolutePositionCache
          -
          Absolute encoder position cache.
          -
          -
          • -
        • -
          -

          drivePositionCache

          -
          public final Cache<Double> drivePositionCache
          -
          Drive motor position cache.
          -
          -
          • -
        • -
          -

          driveVelocityCache

          -
          public final Cache<Double> driveVelocityCache
          -
          Drive motor velocity cache.
          -
          -
          • -
        • -
          -

          moduleNumber

          -
          public final int moduleNumber
          -
          Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
          -
          -
          • -
        • -
          -

          angleMotor

          -
          private final SwerveMotor angleMotor
          -
          Swerve Motors.
          -
          -
          • -
        • -
          -

          driveMotor

          -
          private final SwerveMotor driveMotor
          -
          Swerve Motors.
          -
          -
          • -
        • -
          -

          absoluteEncoder

          -
          private final SwerveAbsoluteEncoder absoluteEncoder
          -
          Absolute encoder for swerve drive.
          -
          -
          • -
        • -
          -

          encoderOffsetWarning

          -
          private final Alert encoderOffsetWarning
          -
          An Alert for if pushing the Absolute Encoder offset to the encoder fails.
          -
          -
          • -
        • -
          -

          noEncoderWarning

          -
          private final Alert noEncoderWarning
          -
          An Alert for if there is no Absolute Encoder on the module.
          -
          -
          • -
        • -
          -

          rawAbsoluteAngleName

          -
          private final String rawAbsoluteAngleName
          -
          NT3 Raw Absolute Angle publisher for the absolute encoder.
          -
          -
          • -
        • -
          -

          adjAbsoluteAngleName

          -
          private final String adjAbsoluteAngleName
          -
          NT3 Adjusted Absolute angle publisher for the absolute encoder.
          -
          -
          • -
        • -
          -

          absoluteEncoderIssueName

          -
          private final String absoluteEncoderIssueName
          -
          NT3 Absolute encoder read issue.
          -
          -
          • -
        • -
          -

          rawAngleName

          -
          private final String rawAngleName
          -
          NT3 raw angle motor.
          -
          -
          • -
        • -
          -

          rawDriveName

          -
          private final String rawDriveName
          -
          NT3 Raw drive motor.
          -
          -
          • -
        • -
          -

          rawDriveVelName

          -
          private final String rawDriveVelName
          -
          NT3 Raw drive motor.
          -
          -
          • -
        • -
          -

          maxSpeed

          -
          public double maxSpeed
          -
          Maximum speed of the drive motors in meters per second.
          -
          -
          • -
        • -
          -

          driveMotorFeedforward

          -
          private edu.wpi.first.math.controller.SimpleMotorFeedforward driveMotorFeedforward
          -
          Feedforward for the drive motor during closed loop control.
          -
          -
          • -
        • -
          -

          antiJitterEnabled

          -
          private boolean antiJitterEnabled
          -
          Anti-Jitter AKA auto-centering disabled.
          -
          -
          • -
        • -
          -

          lastState

          -
          private edu.wpi.first.math.kinematics.SwerveModuleState lastState
          -
          Last swerve module state applied.
          -
          -
          • -
        • -
          -

          angleOffset

          -
          private double angleOffset
          -
          Angle offset from the absolute encoder.
          -
          -
          • -
        • -
          -

          simModule

          -
          private SwerveModuleSimulation simModule
          -
          Simulated swerve module.
          -
          -
          • -
        • -
          -

          synchronizeEncoderQueued

          -
          private boolean synchronizeEncoderQueued
          -
          Encoder synchronization queued.
          -
          -
          • -
        • -
          -

          synchronizeEncoderEnabled

          -
          private boolean synchronizeEncoderEnabled
          -
          Encoder, Absolute encoder synchronization enabled.
          -
          -
          • -
        • -
          -

          synchronizeEncoderDeadband

          -
          private double synchronizeEncoderDeadband
          -
          Encoder synchronization deadband in degrees.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveModule

          -
          public SwerveModule(int moduleNumber, - SwerveModuleConfiguration moduleConfiguration, - edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)
          -
          Construct the swerve module and initialize the swerve module motors and absolute encoder.
          -
          -
          Parameters:
          -
          moduleNumber - Module number for kinematics.
          -
          moduleConfiguration - Module constants containing CAN ID's and offsets.
          -
          driveFeedforward - Drive motor feedforward created by - SwerveMath.createDriveFeedforward(double, double, double).
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          setAngleMotorVoltageCompensation

          -
          public void setAngleMotorVoltageCompensation(double optimalVoltage)
          -
          Set the voltage compensation for the swerve module motor.
          -
          -
          Parameters:
          -
          optimalVoltage - Nominal voltage for operation to output to.
          -
          -
          -
          • -
        • -
          -

          setDriveMotorVoltageCompensation

          -
          public void setDriveMotorVoltageCompensation(double optimalVoltage)
          -
          Set the voltage compensation for the swerve module motor.
          -
          -
          Parameters:
          -
          optimalVoltage - Nominal voltage for operation to output to.
          -
          -
          -
          • -
        • -
          -

          queueSynchronizeEncoders

          -
          public void queueSynchronizeEncoders()
          -
          Queue synchronization of the integrated angle encoder with the absolute encoder.
          -
          -
          • -
        • -
          -

          setEncoderAutoSynchronize

          -
          public void setEncoderAutoSynchronize(boolean enabled, - double deadband)
          -
          Enable auto synchronization for encoders during a match. This will only occur when the modules are not moving for a few seconds.
          -
          -
          Parameters:
          -
          enabled - Enable state
          -
          deadband - Deadband in degrees, default is 3 degrees.
          -
          -
          -
          • -
        • -
          -

          setEncoderAutoSynchronize

          -
          public void setEncoderAutoSynchronize(boolean enabled)
          -
          Enable auto synchronization for encoders during a match. This will only occur when the modules are not moving for a few seconds.
          -
          -
          Parameters:
          -
          enabled - Enable state
          -
          -
          -
          • -
        • -
          -

          setAntiJitter

          -
          public void setAntiJitter(boolean antiJitter)
          -
          Set the antiJitter functionality, if true the modules will NOT auto center. Pushes the offsets to the angle motor - controllers as well.
          -
          -
          Parameters:
          -
          antiJitter - Anti-Jitter state desired.
          -
          -
          -
          • -
        • -
          -

          setFeedforward

          -
          public void setFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward drive)
          -
          Set the feedforward attributes to the given parameters.
          -
          -
          Parameters:
          -
          drive - Drive motor feedforward for the module.
          -
          -
          -
          • -
        • -
          -

          getDrivePIDF

          -
          public PIDFConfig getDrivePIDF()
          -
          Get the current drive motor PIDF values.
          -
          -
          Returns:
          -
          PIDFConfig of the drive motor.
          -
          -
          -
          • -
        • -
          -

          setDrivePIDF

          -
          public void setDrivePIDF(PIDFConfig config)
          -
          Set the drive PIDF values.
          -
          -
          Parameters:
          -
          config - PIDFConfig of that should be set.
          -
          -
          -
          • -
        • -
          -

          getAnglePIDF

          -
          public PIDFConfig getAnglePIDF()
          -
          Get the current angle/azimuth/steering motor PIDF values.
          -
          -
          Returns:
          -
          PIDFConfig of the angle motor.
          -
          -
          -
          • -
        • -
          -

          setAnglePIDF

          -
          public void setAnglePIDF(PIDFConfig config)
          -
          Set the angle/azimuth/steering motor PID
          -
          -
          Parameters:
          -
          config - PIDFConfig of that should be set.
          -
          -
          -
          • -
        • -
          -

          setDesiredState

          -
          public void setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState desiredState, - boolean isOpenLoop, - boolean force)
          -
          Set the desired state of the swerve module.
          WARNING: If you are not using one of the functions from - SwerveDrive you may screw up SwerveDrive.kinematics
          -
          -
          Parameters:
          -
          desiredState - Desired swerve module state.
          -
          isOpenLoop - Whether to use open loop (direct percent) or direct velocity control.
          -
          force - Disables optimizations that prevent movement in the angle motor and forces the desired state - onto the swerve module.
          -
          -
          -
          • -
        • -
          -

          getCosineCompensatedVelocity

          -
          private double getCosineCompensatedVelocity(edu.wpi.first.math.kinematics.SwerveModuleState desiredState)
          -
          Get the cosine compensated velocity to set the swerve module to.
          -
          -
          Parameters:
          -
          desiredState - Desired SwerveModuleState to use.
          -
          Returns:
          -
          Cosine compensated velocity in meters/second.
          -
          -
          -
          • -
        • -
          -

          setAngle

          -
          public void setAngle(double angle)
          -
          Set the angle for the module.
          -
          -
          Parameters:
          -
          angle - Angle in degrees.
          -
          -
          -
          • -
        • -
          -

          getState

          -
          public edu.wpi.first.math.kinematics.SwerveModuleState getState()
          -
          Get the Swerve Module state.
          -
          -
          Returns:
          -
          Current SwerveModule state.
          -
          -
          -
          • -
        • -
          -

          getPosition

          -
          public edu.wpi.first.math.kinematics.SwerveModulePosition getPosition()
          -
          Get the position of the swerve module.
          -
          -
          Returns:
          -
          SwerveModulePosition of the swerve module.
          -
          -
          -
          • -
        • -
          -

          getAbsolutePosition

          -
          public double getAbsolutePosition()
          -
          Get the absolute position. Falls back to relative position on reading failure.
          -
          -
          Returns:
          -
          Absolute encoder angle in degrees in the range [0, 360).
          -
          -
          -
          • -
        • -
          -

          getRawAbsolutePosition

          -
          public double getRawAbsolutePosition()
          -
          Get the absolute position. Falls back to relative position on reading failure.
          -
          -
          Returns:
          -
          Absolute encoder angle in degrees in the range [0, 360).
          -
          -
          -
          • -
        • -
          -

          getRelativePosition

          -
          public double getRelativePosition()
          -
          Get the relative angle in degrees.
          -
          -
          Returns:
          -
          Angle in degrees.
          -
          -
          -
          • -
        • -
          -

          setMotorBrake

          -
          public void setMotorBrake(boolean brake)
          -
          Set the brake mode.
          -
          -
          Parameters:
          -
          brake - Set the brake mode.
          -
          -
          -
          • -
        • -
          -

          setAngleMotorConversionFactor

          -
          public void setAngleMotorConversionFactor(double conversionFactor)
          -
          Set the conversion factor for the angle/azimuth motor controller.
          -
          -
          Parameters:
          -
          conversionFactor - Angle motor conversion factor for PID, should be generated from - SwerveMath.calculateDegreesPerSteeringRotation(double, double) or calculated.
          -
          -
          -
          • -
        • -
          -

          setDriveMotorConversionFactor

          -
          public void setDriveMotorConversionFactor(double conversionFactor)
          -
          Set the conversion factor for the drive motor controller.
          -
          -
          Parameters:
          -
          conversionFactor - Drive motor conversion factor for PID, should be generated from - SwerveMath.calculateMetersPerRotation(double, double, double) or calculated.
          -
          -
          -
          • -
        • -
          -

          getAngleMotor

          -
          public SwerveMotor getAngleMotor()
          -
          Get the angle SwerveMotor for the SwerveModule.
          -
          -
          Returns:
          -
          SwerveMotor for the angle/steering motor of the module.
          -
          -
          -
          • -
        • -
          -

          getDriveMotor

          -
          public SwerveMotor getDriveMotor()
          -
          Get the drive SwerveMotor for the SwerveModule.
          -
          -
          Returns:
          -
          SwerveMotor for the drive motor of the module.
          -
          -
          -
          • -
        • -
          -

          getAbsoluteEncoder

          -
          public SwerveAbsoluteEncoder getAbsoluteEncoder()
          -
          Get the SwerveAbsoluteEncoder for the SwerveModule.
          -
          -
          Returns:
          -
          SwerveAbsoluteEncoder for the swerve module.
          -
          -
          -
          • -
        • -
          -

          getConfiguration

          -
          public SwerveModuleConfiguration getConfiguration()
          -
          Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.
          -
          -
          Returns:
          -
          SwerveModuleConfiguration for the SwerveModule.
          -
          -
          -
          • -
        • -
          -

          pushOffsetsToEncoders

          -
          public void pushOffsetsToEncoders()
          -
          Push absolute encoder offset in the memory of the encoder or controller. Also removes the internal angle offset.
          -
          -
          • -
        • -
          -

          restoreInternalOffset

          -
          public void restoreInternalOffset()
          -
          Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value.
          -
          -
          • -
        • -
          -

          getAbsoluteEncoderReadIssue

          -
          public boolean getAbsoluteEncoderReadIssue()
          -
          Get if the last Absolute Encoder had a read issue, such as it does not exist.
          -
          -
          Returns:
          -
          If the last Absolute Encoder had a read issue, or absolute encoder does not exist.
          -
          -
          -
          • -
        • -
          -

          updateTelemetry

          -
          public void updateTelemetry()
          -
          Update data sent to SmartDashboard.
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html deleted file mode 100644 index 1eee2ca..0000000 --- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html +++ /dev/null @@ -1,369 +0,0 @@ - - - - -AnalogAbsoluteEncoderSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.encoders
      -

      Class AnalogAbsoluteEncoderSwerve

      -
      -
      java.lang.Object -
      swervelib.encoders.SwerveAbsoluteEncoder -
      swervelib.encoders.AnalogAbsoluteEncoderSwerve
      -
      -
      -
      -
      -
      public class AnalogAbsoluteEncoderSwerve -extends SwerveAbsoluteEncoder
      -
      Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          encoder

          -
          public edu.wpi.first.wpilibj.AnalogInput encoder
          -
          Encoder as Analog Input.
          -
          -
          • -
        • -
          -

          inverted

          -
          private boolean inverted
          -
          Inversion state of the encoder.
          -
          -
          • -
        • -
          -

          cannotSetOffset

          -
          private Alert cannotSetOffset
          -
          An Alert for if the absolute encoder offset cannot be set.
          -
          -
          • -
        • -
          -

          inaccurateVelocities

          -
          private Alert inaccurateVelocities
          -
          An Alert detailing how the analog absolute encoder may not report accurate velocities.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          AnalogAbsoluteEncoderSwerve

          -
          public AnalogAbsoluteEncoderSwerve(edu.wpi.first.wpilibj.AnalogInput encoder)
          -
          Construct the Thrifty Encoder as a Swerve Absolute Encoder.
          -
          -
          Parameters:
          -
          encoder - Encoder to construct.
          -
          -
          -
          • -
        • -
          -

          AnalogAbsoluteEncoderSwerve

          -
          public AnalogAbsoluteEncoderSwerve(int channel)
          -
          Construct the Encoder given the analog input channel.
          -
          -
          Parameters:
          -
          channel - Analog Input channel of which the encoder resides.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset the encoder to factory defaults.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on the encoder.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          configure

          -
          public void configure(boolean inverted)
          -
          Configure the absolute encoder to read from [0, 360) per second.
          -
          -
          Specified by:
          -
          configure in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          inverted - Whether the encoder is inverted.
          -
          -
          -
          • -
        • -
          -

          getAbsolutePosition

          -
          public double getAbsolutePosition()
          -
          Get the absolute position of the encoder.
          -
          -
          Specified by:
          -
          getAbsolutePosition in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute position in degrees from [0, 360).
          -
          -
          -
          • -
        • -
          -

          getAbsoluteEncoder

          -
          public Object getAbsoluteEncoder()
          -
          Get the instantiated absolute encoder Object.
          -
          -
          Specified by:
          -
          getAbsoluteEncoder in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute encoder object.
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoderOffset

          -
          public boolean setAbsoluteEncoderOffset(double offset)
          -
          Cannot Set the offset of an Analog Absolute Encoder.
          -
          -
          Specified by:
          -
          setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          offset - the offset the Absolute Encoder uses as the zero point.
          -
          Returns:
          -
          Will always be false as setting the offset is unsupported of an Analog absolute encoder.
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the velocity in degrees/sec.
          -
          -
          Specified by:
          -
          getVelocity in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          velocity in degrees/sec.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html deleted file mode 100644 index e485561..0000000 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ /dev/null @@ -1,396 +0,0 @@ - - - - -CANCoderSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.encoders
      -

      Class CANCoderSwerve

      -
      -
      java.lang.Object -
      swervelib.encoders.SwerveAbsoluteEncoder -
      swervelib.encoders.CANCoderSwerve
      -
      -
      -
      -
      -
      public class CANCoderSwerve -extends SwerveAbsoluteEncoder
      -
      Swerve Absolute Encoder for CTRE CANCoders.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          STATUS_TIMEOUT_SECONDS

          -
          public static double STATUS_TIMEOUT_SECONDS
          -
          Wait time for status frames to show up.
          -
          -
          • -
        • -
          -

          encoder

          -
          public com.ctre.phoenix6.hardware.CANcoder encoder
          -
          CANCoder with WPILib sendable and support.
          -
          -
          • -
        • -
          -

          magnetFieldLessThanIdeal

          -
          private Alert magnetFieldLessThanIdeal
          -
          An Alert for if the CANCoder magnet field is less than ideal.
          -
          -
          • -
        • -
          -

          readingFaulty

          -
          private Alert readingFaulty
          -
          An Alert for if the CANCoder reading is faulty.
          -
          -
          • -
        • -
          -

          readingIgnored

          -
          private Alert readingIgnored
          -
          An Alert for if the CANCoder reading is faulty and the reading is ignored.
          -
          -
          • -
        • -
          -

          cannotSetOffset

          -
          private Alert cannotSetOffset
          -
          An Alert for if the absolute encoder offset cannot be set.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          CANCoderSwerve

          -
          public CANCoderSwerve(int id)
          -
          Initialize the CANCoder on the standard CANBus.
          -
          -
          Parameters:
          -
          id - CAN ID.
          -
          -
          -
          • -
        • -
          -

          CANCoderSwerve

          -
          public CANCoderSwerve(int id, - String canbus)
          -
          Initialize the CANCoder on the CANivore.
          -
          -
          Parameters:
          -
          id - CAN ID.
          -
          canbus - CAN bus to initialize it on.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset the encoder to factory defaults.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on the encoder.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          configure

          -
          public void configure(boolean inverted)
          -
          Configure the absolute encoder to read from [0, 360) per second.
          -
          -
          Specified by:
          -
          configure in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          inverted - Whether the encoder is inverted.
          -
          -
          -
          • -
        • -
          -

          getAbsolutePosition

          -
          public double getAbsolutePosition()
          -
          Get the absolute position of the encoder. Sets SwerveAbsoluteEncoder.readingError on erroneous readings.
          -
          -
          Specified by:
          -
          getAbsolutePosition in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute position in degrees from [0, 360).
          -
          -
          -
          • -
        • -
          -

          getAbsoluteEncoder

          -
          public Object getAbsoluteEncoder()
          -
          Get the instantiated absolute encoder Object.
          -
          -
          Specified by:
          -
          getAbsoluteEncoder in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute encoder object.
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoderOffset

          -
          public boolean setAbsoluteEncoderOffset(double offset)
          -
          Sets the Absolute Encoder Offset within the CANcoder's Memory.
          -
          -
          Specified by:
          -
          setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          offset - the offset the Absolute Encoder uses as the zero point in degrees.
          -
          Returns:
          -
          if setting Absolute Encoder Offset was successful or not.
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the velocity in degrees/sec.
          -
          -
          Specified by:
          -
          getVelocity in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          velocity in degrees/sec.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/encoders/CanAndCoderSwerve.html b/docs/swervelib/encoders/CanAndCoderSwerve.html deleted file mode 100644 index 25db96f..0000000 --- a/docs/swervelib/encoders/CanAndCoderSwerve.html +++ /dev/null @@ -1,320 +0,0 @@ - - - - -CanAndCoderSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.encoders
      -

      Class CanAndCoderSwerve

      -
      -
      java.lang.Object -
      swervelib.encoders.SwerveAbsoluteEncoder -
      swervelib.encoders.CanAndCoderSwerve
      -
      -
      -
      -
      -
      public class CanAndCoderSwerve -extends SwerveAbsoluteEncoder
      -
      HELIUM Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          encoder

          -
          public com.reduxrobotics.sensors.canandmag.Canandmag encoder
          -
          The Canandmag representing the CANandCoder on the CAN bus.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          CanAndCoderSwerve

          -
          public CanAndCoderSwerve(int canid)
          -
          Create the Canandmag
          -
          -
          Parameters:
          -
          canid - The CAN ID whenever the CANandCoder is operating on the CANBus.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset the encoder to factory defaults. -

          - This will not clear the stored zero offset.

          -
          -
          Specified by:
          -
          factoryDefault in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on the encoder.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          configure

          -
          public void configure(boolean inverted)
          -
          Configure the Canandcoder to read from [0, 360) per second.
          -
          -
          Specified by:
          -
          configure in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          inverted - Whether the encoder is inverted.
          -
          -
          -
          • -
        • -
          -

          getAbsolutePosition

          -
          public double getAbsolutePosition()
          -
          Get the absolute position of the encoder.
          -
          -
          Specified by:
          -
          getAbsolutePosition in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute position in degrees from [0, 360).
          -
          -
          -
          • -
        • -
          -

          getAbsoluteEncoder

          -
          public Object getAbsoluteEncoder()
          -
          Get the instantiated absolute encoder Object.
          -
          -
          Specified by:
          -
          getAbsoluteEncoder in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute encoder object.
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoderOffset

          -
          public boolean setAbsoluteEncoderOffset(double offset)
          -
          Cannot set the offset of the Canandcoder.
          -
          -
          Specified by:
          -
          setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          offset - the offset the Absolute Encoder uses as the zero point.
          -
          Returns:
          -
          true if setting the zero point succeeded, false otherwise
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the velocity in degrees/sec.
          -
          -
          Specified by:
          -
          getVelocity in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          velocity in degrees/sec.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/encoders/CanAndMagSwerve.html b/docs/swervelib/encoders/CanAndMagSwerve.html deleted file mode 100644 index e6cca70..0000000 --- a/docs/swervelib/encoders/CanAndMagSwerve.html +++ /dev/null @@ -1,320 +0,0 @@ - - - - -CanAndMagSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.encoders
      -

      Class CanAndMagSwerve

      -
      -
      java.lang.Object -
      swervelib.encoders.SwerveAbsoluteEncoder -
      swervelib.encoders.CanAndMagSwerve
      -
      -
      -
      -
      -
      public class CanAndMagSwerve -extends SwerveAbsoluteEncoder
      -
      HELIUM Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          encoder

          -
          public com.reduxrobotics.sensors.canandmag.Canandmag encoder
          -
          The Canandmag representing the CANandMag on the CAN bus.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          CanAndMagSwerve

          -
          public CanAndMagSwerve(int canid)
          -
          Create the Canandmag
          -
          -
          Parameters:
          -
          canid - The CAN ID whenever the CANandMag is operating on the CANBus.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset the encoder to factory defaults. -

          - This will not clear the stored zero offset.

          -
          -
          Specified by:
          -
          factoryDefault in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on the encoder.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          configure

          -
          public void configure(boolean inverted)
          -
          Configure the CANandMag to read from [0, 360) per second.
          -
          -
          Specified by:
          -
          configure in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          inverted - Whether the encoder is inverted.
          -
          -
          -
          • -
        • -
          -

          getAbsolutePosition

          -
          public double getAbsolutePosition()
          -
          Get the absolute position of the encoder.
          -
          -
          Specified by:
          -
          getAbsolutePosition in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute position in degrees from [0, 360).
          -
          -
          -
          • -
        • -
          -

          getAbsoluteEncoder

          -
          public Object getAbsoluteEncoder()
          -
          Get the instantiated absolute encoder Object.
          -
          -
          Specified by:
          -
          getAbsoluteEncoder in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute encoder object.
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoderOffset

          -
          public boolean setAbsoluteEncoderOffset(double offset)
          -
          Cannot set the offset of the CANandMag.
          -
          -
          Specified by:
          -
          setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          offset - the offset the Absolute Encoder uses as the zero point.
          -
          Returns:
          -
          true if setting the zero point succeeded, false otherwise
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the velocity in degrees/sec.
          -
          -
          Specified by:
          -
          getVelocity in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          velocity in degrees/sec.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html deleted file mode 100644 index ad46e94..0000000 --- a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html +++ /dev/null @@ -1,360 +0,0 @@ - - - - -PWMDutyCycleEncoderSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.encoders
      -

      Class PWMDutyCycleEncoderSwerve

      -
      -
      java.lang.Object -
      swervelib.encoders.SwerveAbsoluteEncoder -
      swervelib.encoders.PWMDutyCycleEncoderSwerve
      -
      -
      -
      -
      -
      public class PWMDutyCycleEncoderSwerve -extends SwerveAbsoluteEncoder
      -
      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. -

      - Credits to - - p2reneker25 for building this.

      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          encoder

          -
          private final edu.wpi.first.wpilibj.DutyCycleEncoder encoder
          -
          Duty Cycle Encoder.
          -
          -
          • -
        • -
          -

          isInverted

          -
          private boolean isInverted
          -
          Inversion state.
          -
          -
          • -
        • -
          -

          inaccurateVelocities

          -
          private Alert inaccurateVelocities
          -
          An Alert for if the encoder cannot report accurate velocities.
          -
          -
          • -
        • -
          -

          offset

          -
          private double offset
          -
          The Offset in degrees of the PWM absolute encoder.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          PWMDutyCycleEncoderSwerve

          -
          public PWMDutyCycleEncoderSwerve(int pin)
          -
          Constructor for the PWM duty cycle encoder.
          -
          -
          Parameters:
          -
          pin - PWM lane for the encoder.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          configure

          -
          public void configure(boolean inverted)
          -
          Configure the inversion state of the encoder.
          -
          -
          Specified by:
          -
          configure in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          inverted - Whether the encoder is inverted.
          -
          -
          -
          • -
        • -
          -

          getAbsolutePosition

          -
          public double getAbsolutePosition()
          -
          Get the absolute position of the encoder.
          -
          -
          Specified by:
          -
          getAbsolutePosition in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute position in degrees from [0, 360).
          -
          -
          -
          • -
        • -
          -

          getAbsoluteEncoder

          -
          public Object getAbsoluteEncoder()
          -
          Get the encoder object.
          -
          -
          Specified by:
          -
          getAbsoluteEncoder in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          DutyCycleEncoder from the class.
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the velocity in degrees/sec.
          -
          -
          Specified by:
          -
          getVelocity in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          velocity in degrees/sec.
          -
          -
          -
          • -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset the encoder to factory defaults.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on the encoder.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoderOffset

          -
          public boolean setAbsoluteEncoderOffset(double offset)
          -
          Description copied from class: SwerveAbsoluteEncoder
          -
          Sets the Absolute Encoder offset at the Encoder Level.
          -
          -
          Specified by:
          -
          setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          offset - the offset the Absolute Encoder uses as the zero point in degrees.
          -
          Returns:
          -
          if setting Absolute Encoder Offset was successful or not.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html deleted file mode 100644 index e1f805d..0000000 --- a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html +++ /dev/null @@ -1,363 +0,0 @@ - - - - -SparkMaxAnalogEncoderSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.encoders
      -

      Class SparkMaxAnalogEncoderSwerve

      -
      -
      java.lang.Object -
      swervelib.encoders.SwerveAbsoluteEncoder -
      swervelib.encoders.SparkMaxAnalogEncoderSwerve
      -
      -
      -
      -
      -
      public class SparkMaxAnalogEncoderSwerve -extends SwerveAbsoluteEncoder
      -
      SparkMax absolute encoder, attached through the data port analog pin.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          encoder

          -
          public com.revrobotics.SparkAnalogSensor encoder
          -
          The SparkAnalogSensor representing the duty cycle encoder attached to the SparkMax analog port.
          -
          -
          • -
        • -
          -

          failureConfiguring

          -
          private Alert failureConfiguring
          -
          An Alert for if there is a failure configuring the encoder.
          -
          -
          • -
        • -
          -

          doesNotSupportIntegratedOffsets

          -
          private Alert doesNotSupportIntegratedOffsets
          -
          An Alert for if the absolute encoder does not support integrated offsets.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SparkMaxAnalogEncoderSwerve

          -
          public SparkMaxAnalogEncoderSwerve(SwerveMotor motor, - double maxVoltage)
          -
          Create the SparkMaxAnalogEncoderSwerve object as a analog sensor from the CANSparkMax motor data - port analog pin.
          -
          -
          Parameters:
          -
          motor - Motor to create the encoder from.
          -
          maxVoltage - Maximum voltage for analog input reading.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          configureSparkMax

          -
          private void configureSparkMax(Supplier<com.revrobotics.REVLibError> config)
          -
          Run the configuration until it succeeds or times out.
          -
          -
          Parameters:
          -
          config - Lambda supplier returning the error state.
          -
          -
          -
          • -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset the encoder to factory defaults.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on the encoder.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          configure

          -
          public void configure(boolean inverted)
          -
          Configure the absolute encoder to read from [0, 360) per second.
          -
          -
          Specified by:
          -
          configure in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          inverted - Whether the encoder is inverted.
          -
          -
          -
          • -
        • -
          -

          getAbsolutePosition

          -
          public double getAbsolutePosition()
          -
          Get the absolute position of the encoder.
          -
          -
          Specified by:
          -
          getAbsolutePosition in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute position in degrees from [0, 360).
          -
          -
          -
          • -
        • -
          -

          getAbsoluteEncoder

          -
          public Object getAbsoluteEncoder()
          -
          Get the instantiated absolute encoder Object.
          -
          -
          Specified by:
          -
          getAbsoluteEncoder in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute encoder object.
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoderOffset

          -
          public boolean setAbsoluteEncoderOffset(double offset)
          -
          Sets the Absolute Encoder offset at the Encoder Level.
          -
          -
          Specified by:
          -
          setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          offset - the offset the Absolute Encoder uses as the zero point.
          -
          Returns:
          -
          if setting Absolute Encoder Offset was successful or not.
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the velocity in degrees/sec.
          -
          -
          Specified by:
          -
          getVelocity in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          velocity in degrees/sec.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html deleted file mode 100644 index d215f3c..0000000 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ /dev/null @@ -1,361 +0,0 @@ - - - - -SparkMaxEncoderSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.encoders
      -

      Class SparkMaxEncoderSwerve

      -
      -
      java.lang.Object -
      swervelib.encoders.SwerveAbsoluteEncoder -
      swervelib.encoders.SparkMaxEncoderSwerve
      -
      -
      -
      -
      -
      public class SparkMaxEncoderSwerve -extends SwerveAbsoluteEncoder
      -
      SparkMax absolute encoder, attached through the data port.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          encoder

          -
          public com.revrobotics.AbsoluteEncoder encoder
          -
          The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
          -
          -
          • -
        • -
          -

          failureConfiguring

          -
          private Alert failureConfiguring
          -
          An Alert for if there is a failure configuring the encoder.
          -
          -
          • -
        • -
          -

          offsetFailure

          -
          private Alert offsetFailure
          -
          An Alert for if there is a failure configuring the encoder offset.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SparkMaxEncoderSwerve

          -
          public SparkMaxEncoderSwerve(SwerveMotor motor, - int conversionFactor)
          -
          Create the SparkMaxEncoderSwerve object as a duty cycle from the CANSparkMax motor.
          -
          -
          Parameters:
          -
          motor - Motor to create the encoder from.
          -
          conversionFactor - The conversion factor to set if the output is not from 0 to 360.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          configureSparkMax

          -
          private void configureSparkMax(Supplier<com.revrobotics.REVLibError> config)
          -
          Run the configuration until it succeeds or times out.
          -
          -
          Parameters:
          -
          config - Lambda supplier returning the error state.
          -
          -
          -
          • -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset the encoder to factory defaults.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on the encoder.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveAbsoluteEncoder
          -
          -
          -
          • -
        • -
          -

          configure

          -
          public void configure(boolean inverted)
          -
          Configure the absolute encoder to read from [0, 360) per second.
          -
          -
          Specified by:
          -
          configure in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          inverted - Whether the encoder is inverted.
          -
          -
          -
          • -
        • -
          -

          getAbsolutePosition

          -
          public double getAbsolutePosition()
          -
          Get the absolute position of the encoder.
          -
          -
          Specified by:
          -
          getAbsolutePosition in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute position in degrees from [0, 360).
          -
          -
          -
          • -
        • -
          -

          getAbsoluteEncoder

          -
          public Object getAbsoluteEncoder()
          -
          Get the instantiated absolute encoder Object.
          -
          -
          Specified by:
          -
          getAbsoluteEncoder in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          Absolute encoder object.
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoderOffset

          -
          public boolean setAbsoluteEncoderOffset(double offset)
          -
          Sets the Absolute Encoder Offset inside of the SparkMax's Memory.
          -
          -
          Specified by:
          -
          setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
          -
          Parameters:
          -
          offset - the offset the Absolute Encoder uses as the zero point.
          -
          Returns:
          -
          if setting Absolute Encoder Offset was successful or not.
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the velocity in degrees/sec.
          -
          -
          Specified by:
          -
          getVelocity in class SwerveAbsoluteEncoder
          -
          Returns:
          -
          velocity in degrees/sec.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html deleted file mode 100644 index d05c9b3..0000000 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ /dev/null @@ -1,312 +0,0 @@ - - - - -SwerveAbsoluteEncoder - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.encoders
      -

      Class SwerveAbsoluteEncoder

      -
      -
      java.lang.Object -
      swervelib.encoders.SwerveAbsoluteEncoder
      -
      -
      -
      -
      Direct Known Subclasses:
      -
      AnalogAbsoluteEncoderSwerve, CanAndMagSwerve, CANCoderSwerve, PWMDutyCycleEncoderSwerve, SparkMaxAnalogEncoderSwerve, SparkMaxEncoderSwerve
      -
      -
      -
      public abstract class SwerveAbsoluteEncoder -extends Object
      -
      Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        final int
        -
        maximumRetries
        -
        -
        The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.
        -
        -
        boolean
        -
        readingError
        -
        -
        Last angle reading was faulty.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SwerveAbsoluteEncoder()
        -
         
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        abstract void
        -
        clearStickyFaults()
        -
        -
        Clear sticky faults on the encoder.
        -
        -
        abstract void
        -
        configure(boolean inverted)
        -
        -
        Configure the absolute encoder to read from [0, 360) per second.
        -
        -
        abstract void
        -
        factoryDefault()
        -
        -
        Reset the encoder to factory defaults.
        -
        -
        abstract Object
        -
        getAbsoluteEncoder()
        -
        -
        Get the instantiated absolute encoder Object.
        -
        -
        abstract double
        -
        getAbsolutePosition()
        -
        -
        Get the absolute position of the encoder.
        -
        -
        abstract double
        -
        getVelocity()
        -
        -
        Get the velocity in degrees/sec.
        -
        -
        abstract boolean
        -
        setAbsoluteEncoderOffset(double offset)
        -
        -
        Sets the Absolute Encoder offset at the Encoder Level.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          maximumRetries

          -
          public final int maximumRetries
          -
          The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.
          -
          -
          See Also:
          -
          - -
          -
          -
          -
          • -
        • -
          -

          readingError

          -
          public boolean readingError
          -
          Last angle reading was faulty.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveAbsoluteEncoder

          -
          public SwerveAbsoluteEncoder()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public abstract void factoryDefault()
          -
          Reset the encoder to factory defaults.
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public abstract void clearStickyFaults()
          -
          Clear sticky faults on the encoder.
          -
          -
          • -
        • -
          -

          configure

          -
          public abstract void configure(boolean inverted)
          -
          Configure the absolute encoder to read from [0, 360) per second.
          -
          -
          Parameters:
          -
          inverted - Whether the encoder is inverted.
          -
          -
          -
          • -
        • -
          -

          getAbsolutePosition

          -
          public abstract double getAbsolutePosition()
          -
          Get the absolute position of the encoder.
          -
          -
          Returns:
          -
          Absolute position in degrees from [0, 360).
          -
          -
          -
          • -
        • -
          -

          getAbsoluteEncoder

          -
          public abstract Object getAbsoluteEncoder()
          -
          Get the instantiated absolute encoder Object.
          -
          -
          Returns:
          -
          Absolute encoder object.
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoderOffset

          -
          public abstract boolean setAbsoluteEncoderOffset(double offset)
          -
          Sets the Absolute Encoder offset at the Encoder Level.
          -
          -
          Parameters:
          -
          offset - the offset the Absolute Encoder uses as the zero point in degrees.
          -
          Returns:
          -
          if setting Absolute Encoder Offset was successful or not.
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public abstract double getVelocity()
          -
          Get the velocity in degrees/sec.
          -
          -
          Returns:
          -
          velocity in degrees/sec.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html deleted file mode 100644 index 48a09bc..0000000 --- a/docs/swervelib/encoders/package-summary.html +++ /dev/null @@ -1,125 +0,0 @@ - - - - -swervelib.encoders - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Package swervelib.encoders

      -
      -
      -
      package swervelib.encoders
      -
      -
      Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
      -
      -
      -
        -
      • - -
        • -
      • -
        -
        Classes
        -
        -
        Class
        -
        Description
        -
        AnalogAbsoluteEncoderSwerve
        -
        -
        Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
        -
        -
        CanAndMagSwerve
        -
        -
        HELIUM Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.
        -
        -
        CANCoderSwerve
        -
        -
        Swerve Absolute Encoder for CTRE CANCoders.
        -
        -
        PWMDutyCycleEncoderSwerve
        -
        -
        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.
        -
        -
        SparkMaxAnalogEncoderSwerve
        -
        -
        SparkMax absolute encoder, attached through the data port analog pin.
        -
        -
        SparkMaxEncoderSwerve
        -
        -
        SparkMax absolute encoder, attached through the data port.
        -
        -
        SwerveAbsoluteEncoder
        -
        -
        Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
        -
        -
        -
        -
        • -
      -
      -
      -
      -
      - - diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html deleted file mode 100644 index f94463c..0000000 --- a/docs/swervelib/encoders/package-tree.html +++ /dev/null @@ -1,80 +0,0 @@ - - - - -swervelib.encoders Class Hierarchy - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Hierarchy For Package swervelib.encoders

      -Package Hierarchies: - -
      -
      -

      Class Hierarchy

      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html deleted file mode 100644 index 3a91c7d..0000000 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ /dev/null @@ -1,370 +0,0 @@ - - - - -ADIS16448Swerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.imu
      -

      Class ADIS16448Swerve

      -
      -
      java.lang.Object -
      swervelib.imu.SwerveIMU -
      swervelib.imu.ADIS16448Swerve
      -
      -
      -
      -
      -
      public class ADIS16448Swerve -extends SwerveIMU
      -
      IMU Swerve class for the ADIS16448_IMU device.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private final edu.wpi.first.wpilibj.ADIS16448_IMU
        -
        imu
        -
        -
        ADIS16448_IMU device to read the current headings from.
        -
        -
        private boolean
        -
        invertedIMU
        -
        -
        Inversion for the gyro
        -
        -
        private edu.wpi.first.math.geometry.Rotation3d
        -
        offset
        -
        -
        Offset for the ADIS16448.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        ADIS16448Swerve()
        -
        -
        Construct the ADIS16448 imu and reset default configurations.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear sticky faults on IMU.
        -
        -
        void
        -
        factoryDefault()
        -
        -
        Reset IMU to factory default.
        -
        -
        Optional<edu.wpi.first.math.geometry.Translation3d>
        -
        getAccel()
        -
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
        -
        -
        Object
        -
        getIMU()
        -
        -
        Get the instantiated IMU object.
        -
        -
        double
        -
        getRate()
        -
        -
        Fetch the rotation rate from the IMU in degrees per second.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRawRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU without any zeroing.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU.
        -
        -
        void
        -
        setInverted(boolean invertIMU)
        -
        -
        Set the gyro to invert its default direction
        -
        -
        void
        -
        setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
        -
        -
        Set the gyro offset.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          imu

          -
          private final edu.wpi.first.wpilibj.ADIS16448_IMU imu
          -
          ADIS16448_IMU device to read the current headings from.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the ADIS16448.
          -
          -
          • -
        • -
          -

          invertedIMU

          -
          private boolean invertedIMU
          -
          Inversion for the gyro
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          ADIS16448Swerve

          -
          public ADIS16448Swerve()
          -
          Construct the ADIS16448 imu and reset default configurations. Publish the gyro to the SmartDashboard.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset IMU to factory default.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on IMU.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          setOffset

          -
          public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
          -
          Set the gyro offset.
          -
          -
          Specified by:
          -
          setOffset in class SwerveIMU
          -
          Parameters:
          -
          offset - gyro offset as a Rotation3d.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean invertIMU)
          -
          Set the gyro to invert its default direction
          -
          -
          Specified by:
          -
          setInverted in class SwerveIMU
          -
          Parameters:
          -
          invertIMU - invert gyro direction
          -
          -
          -
          • -
        • -
          -

          getRawRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
          -
          Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
          -
          -
          Specified by:
          -
          getRawRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
          -
          Fetch the Rotation3d from the IMU. Robot relative.
          -
          -
          Specified by:
          -
          getRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getAccel

          -
          public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
          -
          Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
          -
          -
          Specified by:
          -
          getAccel in class SwerveIMU
          -
          Returns:
          -
          Translation3d of the acceleration.
          -
          -
          -
          • -
        • -
          -

          getRate

          -
          public double getRate()
          -
          Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
          -
          -
          Specified by:
          -
          getRate in class SwerveIMU
          -
          Returns:
          -
          Double of the rotation rate as an Optional.
          -
          -
          -
          • -
        • -
          -

          getIMU

          -
          public Object getIMU()
          -
          Get the instantiated IMU object.
          -
          -
          Specified by:
          -
          getIMU in class SwerveIMU
          -
          Returns:
          -
          IMU object.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html deleted file mode 100644 index 72cb34e..0000000 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ /dev/null @@ -1,370 +0,0 @@ - - - - -ADIS16470Swerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.imu
      -

      Class ADIS16470Swerve

      -
      -
      java.lang.Object -
      swervelib.imu.SwerveIMU -
      swervelib.imu.ADIS16470Swerve
      -
      -
      -
      -
      -
      public class ADIS16470Swerve -extends SwerveIMU
      -
      IMU Swerve class for the ADIS16470_IMU device.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private final edu.wpi.first.wpilibj.ADIS16470_IMU
        -
        imu
        -
        -
        ADIS16470_IMU device to read the current headings from.
        -
        -
        private boolean
        -
        invertedIMU
        -
        -
        Inversion for the gyro
        -
        -
        private edu.wpi.first.math.geometry.Rotation3d
        -
        offset
        -
        -
        Offset for the ADIS16470.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        ADIS16470Swerve()
        -
        -
        Construct the ADIS16470 imu and reset default configurations.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear sticky faults on IMU.
        -
        -
        void
        -
        factoryDefault()
        -
        -
        Reset IMU to factory default.
        -
        -
        Optional<edu.wpi.first.math.geometry.Translation3d>
        -
        getAccel()
        -
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
        -
        -
        Object
        -
        getIMU()
        -
        -
        Get the instantiated IMU object.
        -
        -
        double
        -
        getRate()
        -
        -
        Fetch the rotation rate from the IMU in degrees per second.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRawRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU without any zeroing.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU.
        -
        -
        void
        -
        setInverted(boolean invertIMU)
        -
        -
        Set the gyro to invert its default direction
        -
        -
        void
        -
        setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
        -
        -
        Set the gyro offset.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          imu

          -
          private final edu.wpi.first.wpilibj.ADIS16470_IMU imu
          -
          ADIS16470_IMU device to read the current headings from.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the ADIS16470.
          -
          -
          • -
        • -
          -

          invertedIMU

          -
          private boolean invertedIMU
          -
          Inversion for the gyro
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          ADIS16470Swerve

          -
          public ADIS16470Swerve()
          -
          Construct the ADIS16470 imu and reset default configurations. Publish the gyro to the SmartDashboard.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset IMU to factory default.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on IMU.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          setOffset

          -
          public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
          -
          Set the gyro offset.
          -
          -
          Specified by:
          -
          setOffset in class SwerveIMU
          -
          Parameters:
          -
          offset - gyro offset as a Rotation3d.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean invertIMU)
          -
          Set the gyro to invert its default direction
          -
          -
          Specified by:
          -
          setInverted in class SwerveIMU
          -
          Parameters:
          -
          invertIMU - invert gyro direction
          -
          -
          -
          • -
        • -
          -

          getRawRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
          -
          Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
          -
          -
          Specified by:
          -
          getRawRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
          -
          Fetch the Rotation3d from the IMU. Robot relative.
          -
          -
          Specified by:
          -
          getRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getAccel

          -
          public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
          -
          Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
          -
          -
          Specified by:
          -
          getAccel in class SwerveIMU
          -
          Returns:
          -
          Translation3d of the acceleration as an Optional.
          -
          -
          -
          • -
        • -
          -

          getRate

          -
          public double getRate()
          -
          Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
          -
          -
          Specified by:
          -
          getRate in class SwerveIMU
          -
          Returns:
          -
          Double of the rotation rate as an Optional.
          -
          -
          -
          • -
        • -
          -

          getIMU

          -
          public Object getIMU()
          -
          Get the instantiated IMU object.
          -
          -
          Specified by:
          -
          getIMU in class SwerveIMU
          -
          Returns:
          -
          IMU object.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html deleted file mode 100644 index 9c4edb1..0000000 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ /dev/null @@ -1,370 +0,0 @@ - - - - -ADXRS450Swerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.imu
      -

      Class ADXRS450Swerve

      -
      -
      java.lang.Object -
      swervelib.imu.SwerveIMU -
      swervelib.imu.ADXRS450Swerve
      -
      -
      -
      -
      -
      public class ADXRS450Swerve -extends SwerveIMU
      -
      IMU Swerve class for the ADXRS450_Gyro device.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private final edu.wpi.first.wpilibj.ADXRS450_Gyro
        -
        imu
        -
        -
        ADXRS450_Gyro device to read the current headings from.
        -
        -
        private boolean
        -
        invertedIMU
        -
        -
        Inversion for the gyro
        -
        -
        private edu.wpi.first.math.geometry.Rotation3d
        -
        offset
        -
        -
        Offset for the ADXRS450.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        ADXRS450Swerve()
        -
        -
        Construct the ADXRS450 imu and reset default configurations.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear sticky faults on IMU.
        -
        -
        void
        -
        factoryDefault()
        -
        -
        Reset IMU to factory default.
        -
        -
        Optional<edu.wpi.first.math.geometry.Translation3d>
        -
        getAccel()
        -
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
        -
        -
        Object
        -
        getIMU()
        -
        -
        Get the instantiated IMU object.
        -
        -
        double
        -
        getRate()
        -
        -
        Fetch the rotation rate from the IMU in degrees per second.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRawRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU without any zeroing.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU.
        -
        -
        void
        -
        setInverted(boolean invertIMU)
        -
        -
        Set the gyro to invert its default direction
        -
        -
        void
        -
        setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
        -
        -
        Set the gyro offset.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          imu

          -
          private final edu.wpi.first.wpilibj.ADXRS450_Gyro imu
          -
          ADXRS450_Gyro device to read the current headings from.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the ADXRS450.
          -
          -
          • -
        • -
          -

          invertedIMU

          -
          private boolean invertedIMU
          -
          Inversion for the gyro
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          ADXRS450Swerve

          -
          public ADXRS450Swerve()
          -
          Construct the ADXRS450 imu and reset default configurations. Publish the gyro to the SmartDashboard.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset IMU to factory default.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on IMU.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          setOffset

          -
          public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
          -
          Set the gyro offset.
          -
          -
          Specified by:
          -
          setOffset in class SwerveIMU
          -
          Parameters:
          -
          offset - gyro offset as a Rotation3d.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean invertIMU)
          -
          Set the gyro to invert its default direction
          -
          -
          Specified by:
          -
          setInverted in class SwerveIMU
          -
          Parameters:
          -
          invertIMU - invert gyro direction
          -
          -
          -
          • -
        • -
          -

          getRawRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
          -
          Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
          -
          -
          Specified by:
          -
          getRawRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
          -
          Fetch the Rotation3d from the IMU. Robot relative.
          -
          -
          Specified by:
          -
          getRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getAccel

          -
          public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
          -
          Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
          -
          -
          Specified by:
          -
          getAccel in class SwerveIMU
          -
          Returns:
          -
          Translation3d of the acceleration as an Optional.
          -
          -
          -
          • -
        • -
          -

          getRate

          -
          public double getRate()
          -
          Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
          -
          -
          Specified by:
          -
          getRate in class SwerveIMU
          -
          Returns:
          -
          Double of the rotation rate as an Optional.
          -
          -
          -
          • -
        • -
          -

          getIMU

          -
          public Object getIMU()
          -
          Get the instantiated IMU object.
          -
          -
          Specified by:
          -
          getIMU in class SwerveIMU
          -
          Returns:
          -
          IMU object.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html deleted file mode 100644 index c01bffb..0000000 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ /dev/null @@ -1,374 +0,0 @@ - - - - -AnalogGyroSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.imu
      -

      Class AnalogGyroSwerve

      -
      -
      java.lang.Object -
      swervelib.imu.SwerveIMU -
      swervelib.imu.AnalogGyroSwerve
      -
      -
      -
      -
      -
      public class AnalogGyroSwerve -extends SwerveIMU
      -
      Creates a IMU for AnalogGyro devices, only uses yaw.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private final edu.wpi.first.wpilibj.AnalogGyro
        -
        imu
        -
        -
        Gyroscope object.
        -
        -
        private boolean
        -
        invertedIMU
        -
        -
        Inversion for the gyro
        -
        -
        private edu.wpi.first.math.geometry.Rotation3d
        -
        offset
        -
        -
        Offset for the analog gyro.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        AnalogGyroSwerve(int channel)
        -
        -
        Analog port in which the gyroscope is connected.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear sticky faults on IMU.
        -
        -
        void
        -
        factoryDefault()
        -
        -
        Reset IMU to factory default.
        -
        -
        Optional<edu.wpi.first.math.geometry.Translation3d>
        -
        getAccel()
        -
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
        -
        -
        Object
        -
        getIMU()
        -
        -
        Get the instantiated IMU object.
        -
        -
        double
        -
        getRate()
        -
        -
        Fetch the rotation rate from the IMU in degrees per second.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRawRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU without any zeroing.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU.
        -
        -
        void
        -
        setInverted(boolean invertIMU)
        -
        -
        Set the gyro to invert its default direction
        -
        -
        void
        -
        setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
        -
        -
        Set the gyro offset.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          imu

          -
          private final edu.wpi.first.wpilibj.AnalogGyro imu
          -
          Gyroscope object.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the analog gyro.
          -
          -
          • -
        • -
          -

          invertedIMU

          -
          private boolean invertedIMU
          -
          Inversion for the gyro
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          AnalogGyroSwerve

          -
          public AnalogGyroSwerve(int channel)
          -
          Analog port in which the gyroscope is connected. Can only be attached to analog ports 0 or 1.
          -
          -
          Parameters:
          -
          channel - Analog port 0 or 1.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset IMU to factory default.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on IMU.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          setOffset

          -
          public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
          -
          Set the gyro offset.
          -
          -
          Specified by:
          -
          setOffset in class SwerveIMU
          -
          Parameters:
          -
          offset - gyro offset as a Rotation3d.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean invertIMU)
          -
          Set the gyro to invert its default direction
          -
          -
          Specified by:
          -
          setInverted in class SwerveIMU
          -
          Parameters:
          -
          invertIMU - invert gyro direction
          -
          -
          -
          • -
        • -
          -

          getRawRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
          -
          Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
          -
          -
          Specified by:
          -
          getRawRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
          -
          Fetch the Rotation3d from the IMU. Robot relative.
          -
          -
          Specified by:
          -
          getRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getAccel

          -
          public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
          -
          Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
          -
          -
          Specified by:
          -
          getAccel in class SwerveIMU
          -
          Returns:
          -
          Translation3d of the acceleration as an Optional.
          -
          -
          -
          • -
        • -
          -

          getRate

          -
          public double getRate()
          -
          Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
          -
          -
          Specified by:
          -
          getRate in class SwerveIMU
          -
          Returns:
          -
          Double of the rotation rate as an Optional.
          -
          -
          -
          • -
        • -
          -

          getIMU

          -
          public Object getIMU()
          -
          Get the instantiated IMU object.
          -
          -
          Specified by:
          -
          getIMU in class SwerveIMU
          -
          Returns:
          -
          IMU object.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/imu/CanandgyroSwerve.html b/docs/swervelib/imu/CanandgyroSwerve.html deleted file mode 100644 index 3c79c8f..0000000 --- a/docs/swervelib/imu/CanandgyroSwerve.html +++ /dev/null @@ -1,386 +0,0 @@ - - - - -CanandgyroSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.imu
      -

      Class CanandgyroSwerve

      -
      -
      java.lang.Object -
      swervelib.imu.SwerveIMU -
      swervelib.imu.CanandgyroSwerve
      -
      -
      -
      -
      -
      public class CanandgyroSwerve -extends SwerveIMU
      -
      SwerveIMU interface for the Boron Candandgyro by Redux Robotics
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        (package private) com.reduxrobotics.sensors.canandgyro.Canandgyro
        -
        imu
        -
        -
        Boron Canandgyro by Redux Robotics.
        -
        -
        private boolean
        -
        invertedIMU
        -
        -
        Inversion for the gyro
        -
        -
        private edu.wpi.first.math.geometry.Rotation3d
        -
        offset
        -
        -
        Offset for the Boron Canandgyro.
        -
        -
        static double
        -
        STATUS_TIMEOUT_SECONDS
        -
        -
        Wait time for status frames to show up.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        CanandgyroSwerve(int canid)
        -
        -
        Generate the SwerveIMU for Canandgyro.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear sticky faults on IMU.
        -
        -
        void
        -
        factoryDefault()
        -
        -
        Reset IMU to factory default.
        -
        -
        Optional<edu.wpi.first.math.geometry.Translation3d>
        -
        getAccel()
        -
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
        -
        -
        Object
        -
        getIMU()
        -
        -
        Get the instantiated IMU object.
        -
        -
        double
        -
        getRate()
        -
        -
        Fetch the rotation rate from the IMU in degrees per second.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRawRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU without any zeroing.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU.
        -
        -
        void
        -
        setInverted(boolean invertIMU)
        -
        -
        Set the gyro to invert its default direction
        -
        -
        void
        -
        setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
        -
        -
        Set the gyro offset.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          STATUS_TIMEOUT_SECONDS

          -
          public static double STATUS_TIMEOUT_SECONDS
          -
          Wait time for status frames to show up.
          -
          -
          • -
        • -
          -

          imu

          -
          com.reduxrobotics.sensors.canandgyro.Canandgyro imu
          -
          Boron Canandgyro by Redux Robotics.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the Boron Canandgyro.
          -
          -
          • -
        • -
          -

          invertedIMU

          -
          private boolean invertedIMU
          -
          Inversion for the gyro
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          CanandgyroSwerve

          -
          public CanandgyroSwerve(int canid)
          -
          Generate the SwerveIMU for Canandgyro.
          -
          -
          Parameters:
          -
          canid - CAN ID for the Boron Canandgyro
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset IMU to factory default.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on IMU.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          setOffset

          -
          public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
          -
          Set the gyro offset.
          -
          -
          Specified by:
          -
          setOffset in class SwerveIMU
          -
          Parameters:
          -
          offset - gyro offset as a Rotation3d.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean invertIMU)
          -
          Set the gyro to invert its default direction
          -
          -
          Specified by:
          -
          setInverted in class SwerveIMU
          -
          Parameters:
          -
          invertIMU - invert gyro direction
          -
          -
          -
          • -
        • -
          -

          getRawRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
          -
          Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
          -
          -
          Specified by:
          -
          getRawRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
          -
          Fetch the Rotation3d from the IMU. Robot relative.
          -
          -
          Specified by:
          -
          getRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getAccel

          -
          public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
          -
          Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
          -
          -
          Specified by:
          -
          getAccel in class SwerveIMU
          -
          Returns:
          -
          Translation3d of the acceleration as an Optional.
          -
          -
          -
          • -
        • -
          -

          getRate

          -
          public double getRate()
          -
          Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
          -
          -
          Specified by:
          -
          getRate in class SwerveIMU
          -
          Returns:
          -
          Double of the rotation rate as an Optional.
          -
          -
          -
          • -
        • -
          -

          getIMU

          -
          public Object getIMU()
          -
          Get the instantiated IMU object.
          -
          -
          Specified by:
          -
          getIMU in class SwerveIMU
          -
          Returns:
          -
          IMU object.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/imu/IMUVelocity.html b/docs/swervelib/imu/IMUVelocity.html deleted file mode 100644 index a4d9213..0000000 --- a/docs/swervelib/imu/IMUVelocity.html +++ /dev/null @@ -1,321 +0,0 @@ - - - - -IMUVelocity - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.imu
      -

      Class IMUVelocity

      -
      -
      java.lang.Object -
      swervelib.imu.IMUVelocity
      -
      -
      -
      -
      public class IMUVelocity -extends Object
      -
      Generic IMU Velocity filter.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private boolean
        -
        firstCycle
        -
        -
        Prevents calculation when no previous measurement exists.
        -
        -
        private final SwerveIMU
        -
        gyro
        -
        -
        Swerve IMU.
        -
        -
        private final edu.wpi.first.wpilibj.Notifier
        -
        notifier
        -
        -
        WPILib Notifier to keep IMU velocity up to date.
        -
        -
        private edu.wpi.first.math.geometry.Rotation2d
        -
        position
        -
        -
        Tracks the previous loop's position as a Rotation2d.
        -
        -
        private double
        -
        timestamp
        -
        -
        Tracks the previous loop's recorded time.
        -
        -
        private double
        -
        velocity
        -
        -
        The calculated velocity of the robot based on averaged IMU measurements.
        -
        -
        private final IMULinearMovingAverageFilter
        -
        velocityFilter
        -
        -
        Linear filter used to calculate velocity, we use a custom filter class - to prevent unwanted operations.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        IMUVelocity(SwerveIMU gyro, - double periodSeconds, - int averagingTaps)
        -
        -
        Constructor for the IMU Velocity.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        static IMUVelocity
        -
        createIMUVelocity(SwerveIMU gyro)
        -
        -
        Static factory for IMU Velocity.
        -
        -
        double
        -
        getVelocity()
        -
        -
        Get the robot's angular velocity based on averaged meaasurements from the IMU.
        -
        -
        private void
        -
        update()
        -
        -
        Update the robot's rotational velocity based on the current gyro position.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          gyro

          -
          private final SwerveIMU gyro
          -
          Swerve IMU.
          -
          -
          • -
        • -
          -

          velocityFilter

          -
          private final IMULinearMovingAverageFilter velocityFilter
          -
          Linear filter used to calculate velocity, we use a custom filter class - to prevent unwanted operations.
          -
          -
          • -
        • -
          -

          notifier

          -
          private final edu.wpi.first.wpilibj.Notifier notifier
          -
          WPILib Notifier to keep IMU velocity up to date.
          -
          -
          • -
        • -
          -

          firstCycle

          -
          private boolean firstCycle
          -
          Prevents calculation when no previous measurement exists.
          -
          -
          • -
        • -
          -

          timestamp

          -
          private double timestamp
          -
          Tracks the previous loop's recorded time.
          -
          -
          • -
        • -
          -

          position

          -
          private edu.wpi.first.math.geometry.Rotation2d position
          -
          Tracks the previous loop's position as a Rotation2d.
          -
          -
          • -
        • -
          -

          velocity

          -
          private double velocity
          -
          The calculated velocity of the robot based on averaged IMU measurements.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          IMUVelocity

          -
          public IMUVelocity(SwerveIMU gyro, - double periodSeconds, - int averagingTaps)
          -
          Constructor for the IMU Velocity.
          -
          -
          Parameters:
          -
          gyro - The SwerveIMU gyro.
          -
          periodSeconds - The rate to collect measurements from the gyro, in the form (1/number of samples per second), - make sure this does not exceed the update rate of your IMU.
          -
          averagingTaps - The number of samples to used for the moving average linear filter. Higher values will not - allow the system to update to changes in velocity, lower values may create a less smooth signal. Expected taps - will probably be ~2-8, with the goal of having the lowest smooth value.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          createIMUVelocity

          -
          public static IMUVelocity createIMUVelocity(SwerveIMU gyro)
          -
          Static factory for IMU Velocity. Supported IMU rates will be as quick as possible - but will not exceed 100hz and will use 5 taps (supported IMUs are listed in swervelib's IMU folder). - Other gyroscopes will default to 50hz and 5 taps. For custom rates please use the IMUVelocity constructor.
          -
          -
          Parameters:
          -
          gyro - The SwerveIMU gyro.
          -
          Returns:
          -
          IMUVelocity for the given gyro with adjusted period readings for velocity.
          -
          -
          -
          • -
        • -
          -

          update

          -
          private void update()
          -
          Update the robot's rotational velocity based on the current gyro position.
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the robot's angular velocity based on averaged meaasurements from the IMU. - Velocity is multiplied by 1e+6 (1,000,000) because the timestamps are in microseconds.
          -
          -
          Returns:
          -
          robot's angular velocity in rads/s as a double.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html deleted file mode 100644 index 2532b3f..0000000 --- a/docs/swervelib/imu/NavXSwerve.html +++ /dev/null @@ -1,416 +0,0 @@ - - - - -NavXSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.imu
      -

      Class NavXSwerve

      -
      -
      java.lang.Object -
      swervelib.imu.SwerveIMU -
      swervelib.imu.NavXSwerve
      -
      -
      -
      -
      -
      public class NavXSwerve -extends SwerveIMU
      -
      Communicates with the NavX as the IMU.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private com.kauailabs.navx.frc.AHRS
        -
        imu
        -
        -
        NavX IMU.
        -
        -
        private boolean
        -
        invertedIMU
        -
        -
        Inversion for the gyro
        -
        -
        private Alert
        -
        navXError
        -
        -
        An Alert for if there is an error instantiating the NavX.
        -
        -
        private edu.wpi.first.math.geometry.Rotation3d
        -
        offset
        -
        -
        Offset for the NavX.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        NavXSwerve(edu.wpi.first.wpilibj.I2C.Port port)
        -
        -
        Constructor for the NavX swerve.
        -
        -
        NavXSwerve(edu.wpi.first.wpilibj.SerialPort.Port port)
        -
        -
        Constructor for the NavX swerve.
        -
        -
        NavXSwerve(edu.wpi.first.wpilibj.SPI.Port port)
        -
        -
        Constructor for the NavX swerve.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear sticky faults on IMU.
        -
        -
        void
        -
        factoryDefault()
        -
        -
        Reset IMU to factory default.
        -
        -
        Optional<edu.wpi.first.math.geometry.Translation3d>
        -
        getAccel()
        -
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
        -
        -
        Object
        -
        getIMU()
        -
        -
        Get the instantiated IMU object.
        -
        -
        double
        -
        getRate()
        -
        -
        Fetch the rotation rate from the IMU in degrees per second.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRawRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU without any zeroing.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU.
        -
        -
        void
        -
        setInverted(boolean invertIMU)
        -
        -
        Set the gyro to invert its default direction
        -
        -
        void
        -
        setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
        -
        -
        Set the gyro offset.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          imu

          -
          private com.kauailabs.navx.frc.AHRS imu
          -
          NavX IMU.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the NavX.
          -
          -
          • -
        • -
          -

          invertedIMU

          -
          private boolean invertedIMU
          -
          Inversion for the gyro
          -
          -
          • -
        • - -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          NavXSwerve

          -
          public NavXSwerve(edu.wpi.first.wpilibj.SerialPort.Port port)
          -
          Constructor for the NavX swerve.
          -
          -
          Parameters:
          -
          port - Serial Port to connect to.
          -
          -
          -
          • -
        • -
          -

          NavXSwerve

          -
          public NavXSwerve(edu.wpi.first.wpilibj.SPI.Port port)
          -
          Constructor for the NavX swerve.
          -
          -
          Parameters:
          -
          port - SPI Port to connect to.
          -
          -
          -
          • -
        • -
          -

          NavXSwerve

          -
          public NavXSwerve(edu.wpi.first.wpilibj.I2C.Port port)
          -
          Constructor for the NavX swerve.
          -
          -
          Parameters:
          -
          port - I2C Port to connect to.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset IMU to factory default.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on IMU.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          setOffset

          -
          public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
          -
          Set the gyro offset.
          -
          -
          Specified by:
          -
          setOffset in class SwerveIMU
          -
          Parameters:
          -
          offset - gyro offset as a Rotation3d.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean invertIMU)
          -
          Set the gyro to invert its default direction
          -
          -
          Specified by:
          -
          setInverted in class SwerveIMU
          -
          Parameters:
          -
          invertIMU - invert gyro direction
          -
          -
          -
          • -
        • -
          -

          getRawRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
          -
          Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
          -
          -
          Specified by:
          -
          getRawRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
          -
          Fetch the Rotation3d from the IMU. Robot relative.
          -
          -
          Specified by:
          -
          getRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getAccel

          -
          public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
          -
          Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
          -
          -
          Specified by:
          -
          getAccel in class SwerveIMU
          -
          Returns:
          -
          Translation3d of the acceleration as an Optional.
          -
          -
          -
          • -
        • -
          -

          getRate

          -
          public double getRate()
          -
          Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
          -
          -
          Specified by:
          -
          getRate in class SwerveIMU
          -
          Returns:
          -
          Double of the rotation rate as an Optional.
          -
          -
          -
          • -
        • -
          -

          getIMU

          -
          public Object getIMU()
          -
          Get the instantiated IMU object.
          -
          -
          Specified by:
          -
          getIMU in class SwerveIMU
          -
          Returns:
          -
          IMU object.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html deleted file mode 100644 index b5026b3..0000000 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ /dev/null @@ -1,416 +0,0 @@ - - - - -Pigeon2Swerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.imu
      -

      Class Pigeon2Swerve

      -
      -
      java.lang.Object -
      swervelib.imu.SwerveIMU -
      swervelib.imu.Pigeon2Swerve
      -
      -
      -
      -
      -
      public class Pigeon2Swerve -extends SwerveIMU
      -
      SwerveIMU interface for the Pigeon2
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private com.ctre.phoenix6.configs.Pigeon2Configurator
        -
        cfg
        -
        -
        Pigeon2 configurator.
        -
        -
        (package private) com.ctre.phoenix6.hardware.Pigeon2
        -
        imu
        -
        -
        Pigeon2 IMU device.
        -
        -
        private boolean
        -
        invertedIMU
        -
        -
        Inversion for the gyro
        -
        -
        private edu.wpi.first.math.geometry.Rotation3d
        -
        offset
        -
        -
        Offset for the Pigeon 2.
        -
        -
        static double
        -
        STATUS_TIMEOUT_SECONDS
        -
        -
        Wait time for status frames to show up.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        Pigeon2Swerve(int canid)
        -
        -
        Generate the SwerveIMU for pigeon.
        -
        -
        Pigeon2Swerve(int canid, - String canbus)
        -
        -
        Generate the SwerveIMU for pigeon.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear sticky faults on IMU.
        -
        -
        void
        -
        factoryDefault()
        -
        -
        Reset IMU to factory default.
        -
        -
        Optional<edu.wpi.first.math.geometry.Translation3d>
        -
        getAccel()
        -
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
        -
        -
        Object
        -
        getIMU()
        -
        -
        Get the instantiated IMU object.
        -
        -
        double
        -
        getRate()
        -
        -
        Fetch the rotation rate from the IMU in degrees per second.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRawRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU without any zeroing.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU.
        -
        -
        void
        -
        setInverted(boolean invertIMU)
        -
        -
        Set the gyro to invert its default direction
        -
        -
        void
        -
        setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
        -
        -
        Set the gyro offset.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          STATUS_TIMEOUT_SECONDS

          -
          public static double STATUS_TIMEOUT_SECONDS
          -
          Wait time for status frames to show up.
          -
          -
          • -
        • -
          -

          imu

          -
          com.ctre.phoenix6.hardware.Pigeon2 imu
          -
          Pigeon2 IMU device.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the Pigeon 2.
          -
          -
          • -
        • -
          -

          invertedIMU

          -
          private boolean invertedIMU
          -
          Inversion for the gyro
          -
          -
          • -
        • -
          -

          cfg

          -
          private com.ctre.phoenix6.configs.Pigeon2Configurator cfg
          -
          Pigeon2 configurator.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          Pigeon2Swerve

          -
          public Pigeon2Swerve(int canid, - String canbus)
          -
          Generate the SwerveIMU for pigeon.
          -
          -
          Parameters:
          -
          canid - CAN ID for the pigeon
          -
          canbus - CAN Bus name the pigeon resides on.
          -
          -
          -
          • -
        • -
          -

          Pigeon2Swerve

          -
          public Pigeon2Swerve(int canid)
          -
          Generate the SwerveIMU for pigeon.
          -
          -
          Parameters:
          -
          canid - CAN ID for the pigeon
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset IMU to factory default.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on IMU.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          setOffset

          -
          public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
          -
          Set the gyro offset.
          -
          -
          Specified by:
          -
          setOffset in class SwerveIMU
          -
          Parameters:
          -
          offset - gyro offset as a Rotation3d.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean invertIMU)
          -
          Set the gyro to invert its default direction
          -
          -
          Specified by:
          -
          setInverted in class SwerveIMU
          -
          Parameters:
          -
          invertIMU - invert gyro direction
          -
          -
          -
          • -
        • -
          -

          getRawRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
          -
          Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
          -
          -
          Specified by:
          -
          getRawRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
          -
          Fetch the Rotation3d from the IMU. Robot relative.
          -
          -
          Specified by:
          -
          getRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getAccel

          -
          public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
          -
          Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
          -
          -
          Specified by:
          -
          getAccel in class SwerveIMU
          -
          Returns:
          -
          Translation3d of the acceleration as an Optional.
          -
          -
          -
          • -
        • -
          -

          getRate

          -
          public double getRate()
          -
          Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
          -
          -
          Specified by:
          -
          getRate in class SwerveIMU
          -
          Returns:
          -
          Double of the rotation rate as an Optional.
          -
          -
          -
          • -
        • -
          -

          getIMU

          -
          public Object getIMU()
          -
          Get the instantiated IMU object.
          -
          -
          Specified by:
          -
          getIMU in class SwerveIMU
          -
          Returns:
          -
          IMU object.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html deleted file mode 100644 index 07aaf1f..0000000 --- a/docs/swervelib/imu/PigeonSwerve.html +++ /dev/null @@ -1,374 +0,0 @@ - - - - -PigeonSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.imu
      -

      Class PigeonSwerve

      -
      -
      java.lang.Object -
      swervelib.imu.SwerveIMU -
      swervelib.imu.PigeonSwerve
      -
      -
      -
      -
      -
      public class PigeonSwerve -extends SwerveIMU
      -
      SwerveIMU interface for the Pigeon.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        (package private) com.ctre.phoenix.sensors.WPI_PigeonIMU
        -
        imu
        -
        -
        Pigeon v1 IMU device.
        -
        -
        private boolean
        -
        invertedIMU
        -
        -
        Inversion for the gyro
        -
        -
        private edu.wpi.first.math.geometry.Rotation3d
        -
        offset
        -
        -
        Offset for the Pigeon.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        PigeonSwerve(int canid)
        -
        -
        Generate the SwerveIMU for pigeon.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear sticky faults on IMU.
        -
        -
        void
        -
        factoryDefault()
        -
        -
        Reset IMU to factory default.
        -
        -
        Optional<edu.wpi.first.math.geometry.Translation3d>
        -
        getAccel()
        -
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
        -
        -
        Object
        -
        getIMU()
        -
        -
        Get the instantiated IMU object.
        -
        -
        double
        -
        getRate()
        -
        -
        Fetch the rotation rate from the IMU in degrees per second.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRawRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU without any zeroing.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU.
        -
        -
        void
        -
        setInverted(boolean invertIMU)
        -
        -
        Set the gyro to invert its default direction
        -
        -
        void
        -
        setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
        -
        -
        Set the gyro offset.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          imu

          -
          com.ctre.phoenix.sensors.WPI_PigeonIMU imu
          -
          Pigeon v1 IMU device.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the Pigeon.
          -
          -
          • -
        • -
          -

          invertedIMU

          -
          private boolean invertedIMU
          -
          Inversion for the gyro
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          PigeonSwerve

          -
          public PigeonSwerve(int canid)
          -
          Generate the SwerveIMU for pigeon.
          -
          -
          Parameters:
          -
          canid - CAN ID for the pigeon, does not support CANBus.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public void factoryDefault()
          -
          Reset IMU to factory default.
          -
          -
          Specified by:
          -
          factoryDefault in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear sticky faults on IMU.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveIMU
          -
          -
          -
          • -
        • -
          -

          setOffset

          -
          public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
          -
          Set the gyro offset.
          -
          -
          Specified by:
          -
          setOffset in class SwerveIMU
          -
          Parameters:
          -
          offset - gyro offset as a Rotation3d.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean invertIMU)
          -
          Set the gyro to invert its default direction
          -
          -
          Specified by:
          -
          setInverted in class SwerveIMU
          -
          Parameters:
          -
          invertIMU - invert gyro direction
          -
          -
          -
          • -
        • -
          -

          getRawRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
          -
          Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
          -
          -
          Specified by:
          -
          getRawRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
          -
          Fetch the Rotation3d from the IMU. Robot relative.
          -
          -
          Specified by:
          -
          getRotation3d in class SwerveIMU
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getAccel

          -
          public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
          -
          Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
          -
          -
          Specified by:
          -
          getAccel in class SwerveIMU
          -
          Returns:
          -
          Translation3d of the acceleration as an Optional.
          -
          -
          -
          • -
        • -
          -

          getRate

          -
          public double getRate()
          -
          Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
          -
          -
          Specified by:
          -
          getRate in class SwerveIMU
          -
          Returns:
          -
          Double of the rotation rate as an Optional.
          -
          -
          -
          • -
        • -
          -

          getIMU

          -
          public Object getIMU()
          -
          Get the instantiated IMU object.
          -
          -
          Specified by:
          -
          getIMU in class SwerveIMU
          -
          Returns:
          -
          IMU object.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html deleted file mode 100644 index b0efd3f..0000000 --- a/docs/swervelib/imu/SwerveIMU.html +++ /dev/null @@ -1,291 +0,0 @@ - - - - -SwerveIMU - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.imu
      -

      Class SwerveIMU

      -
      -
      java.lang.Object -
      swervelib.imu.SwerveIMU
      -
      -
      -
      -
      Direct Known Subclasses:
      -
      ADIS16448Swerve, ADIS16470Swerve, ADXRS450Swerve, AnalogGyroSwerve, CanandgyroSwerve, NavXSwerve, Pigeon2Swerve, PigeonSwerve
      -
      -
      -
      public abstract class SwerveIMU -extends Object
      -
      Swerve IMU abstraction to define a standard interface with a swerve drive.
      -
      -
      -
        - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SwerveIMU()
        -
         
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        abstract void
        -
        clearStickyFaults()
        -
        -
        Clear sticky faults on IMU.
        -
        -
        abstract void
        -
        factoryDefault()
        -
        -
        Reset IMU to factory default.
        -
        -
        abstract Optional<edu.wpi.first.math.geometry.Translation3d>
        -
        getAccel()
        -
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
        -
        -
        abstract Object
        -
        getIMU()
        -
        -
        Get the instantiated IMU object.
        -
        -
        abstract double
        -
        getRate()
        -
        -
        Fetch the rotation rate from the IMU in degrees per second.
        -
        -
        abstract edu.wpi.first.math.geometry.Rotation3d
        -
        getRawRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU without any zeroing.
        -
        -
        abstract edu.wpi.first.math.geometry.Rotation3d
        -
        getRotation3d()
        -
        -
        Fetch the Rotation3d from the IMU.
        -
        -
        abstract void
        -
        setInverted(boolean invertIMU)
        -
        -
        Set the gyro to invert its default direction.
        -
        -
        abstract void
        -
        setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
        -
        -
        Set the gyro offset.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveIMU

          -
          public SwerveIMU()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefault

          -
          public abstract void factoryDefault()
          -
          Reset IMU to factory default.
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public abstract void clearStickyFaults()
          -
          Clear sticky faults on IMU.
          -
          -
          • -
        • -
          -

          setOffset

          -
          public abstract void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
          -
          Set the gyro offset.
          -
          -
          Parameters:
          -
          offset - gyro offset as a Rotation3d.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public abstract void setInverted(boolean invertIMU)
          -
          Set the gyro to invert its default direction.
          -
          -
          Parameters:
          -
          invertIMU - gyro direction
          -
          -
          -
          • -
        • -
          -

          getRawRotation3d

          -
          public abstract edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
          -
          Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
          -
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getRotation3d

          -
          public abstract edu.wpi.first.math.geometry.Rotation3d getRotation3d()
          -
          Fetch the Rotation3d from the IMU. Robot relative.
          -
          -
          Returns:
          -
          Rotation3d from the IMU.
          -
          -
          -
          • -
        • -
          -

          getAccel

          -
          public abstract Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
          -
          Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
          -
          -
          Returns:
          -
          Translation3d of the acceleration as an Optional.
          -
          -
          -
          • -
        • -
          -

          getRate

          -
          public abstract double getRate()
          -
          Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
          -
          -
          Returns:
          -
          Double of the rotation rate as an Optional.
          -
          -
          -
          • -
        • -
          -

          getIMU

          -
          public abstract Object getIMU()
          -
          Get the instantiated IMU object.
          -
          -
          Returns:
          -
          IMU object.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html deleted file mode 100644 index 83173ea..0000000 --- a/docs/swervelib/imu/package-summary.html +++ /dev/null @@ -1,136 +0,0 @@ - - - - -swervelib.imu - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Package swervelib.imu

      -
      -
      -
      package swervelib.imu
      -
      -
      IMUs used for controlling the robot heading. All implement SwerveIMU.
      -
      -
      -
        -
      • - -
        • -
      • -
        -
        Classes
        -
        -
        Class
        -
        Description
        -
        ADIS16448Swerve
        -
        -
        IMU Swerve class for the ADIS16448_IMU device.
        -
        -
        ADIS16470Swerve
        -
        -
        IMU Swerve class for the ADIS16470_IMU device.
        -
        -
        ADXRS450Swerve
        -
        -
        IMU Swerve class for the ADXRS450_Gyro device.
        -
        -
        AnalogGyroSwerve
        -
        -
        Creates a IMU for AnalogGyro devices, only uses yaw.
        -
        -
        CanandgyroSwerve
        -
        -
        SwerveIMU interface for the Boron Candandgyro by Redux Robotics
        -
        -
        IMUVelocity
        -
        -
        Generic IMU Velocity filter.
        -
        -
        NavXSwerve
        -
        -
        Communicates with the NavX as the IMU.
        -
        -
        Pigeon2Swerve
        -
        -
        SwerveIMU interface for the Pigeon2
        -
        -
        PigeonSwerve
        -
        -
        SwerveIMU interface for the Pigeon.
        -
        -
        SwerveIMU
        -
        -
        Swerve IMU abstraction to define a standard interface with a swerve drive.
        -
        -
        -
        -
        • -
      -
      -
      -
      -
      - - diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html deleted file mode 100644 index dca8351..0000000 --- a/docs/swervelib/imu/package-tree.html +++ /dev/null @@ -1,83 +0,0 @@ - - - - -swervelib.imu Class Hierarchy - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Hierarchy For Package swervelib.imu

      -Package Hierarchies: - -
      -
      -

      Class Hierarchy

      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/math/IMULinearMovingAverageFilter.html b/docs/swervelib/math/IMULinearMovingAverageFilter.html deleted file mode 100644 index e31343e..0000000 --- a/docs/swervelib/math/IMULinearMovingAverageFilter.html +++ /dev/null @@ -1,234 +0,0 @@ - - - - -IMULinearMovingAverageFilter - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.math
      -

      Class IMULinearMovingAverageFilter

      -
      -
      java.lang.Object -
      swervelib.math.IMULinearMovingAverageFilter
      -
      -
      -
      -
      public class IMULinearMovingAverageFilter -extends Object
      -
      A linear filter that does not calculate() each time a value is added to - the DoubleCircularBuffer.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private final double
        -
        m_inputGain
        -
        -
        Gain on each reading.
        -
        -
        private final edu.wpi.first.util.DoubleCircularBuffer
        -
        m_inputs
        -
        -
        Circular buffer storing the current IMU readings
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        IMULinearMovingAverageFilter(int bufferLength)
        -
        -
        Construct a linear moving average fitler
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        addValue(double input)
        -
        -
        Add a value to the DoubleCircularBuffer
        -
        -
        double
        -
        calculate()
        -
        -
        Calculate the average of the samples in the buffer
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          m_inputs

          -
          private final edu.wpi.first.util.DoubleCircularBuffer m_inputs
          -
          Circular buffer storing the current IMU readings
          -
          -
          • -
        • -
          -

          m_inputGain

          -
          private final double m_inputGain
          -
          Gain on each reading.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          IMULinearMovingAverageFilter

          -
          public IMULinearMovingAverageFilter(int bufferLength)
          -
          Construct a linear moving average fitler
          -
          -
          Parameters:
          -
          bufferLength - The number of values to average across
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          addValue

          -
          public void addValue(double input)
          -
          Add a value to the DoubleCircularBuffer
          -
          -
          Parameters:
          -
          input - Value to add
          -
          -
          -
          • -
        • -
          -

          calculate

          -
          public double calculate()
          -
          Calculate the average of the samples in the buffer
          -
          -
          Returns:
          -
          The average of the values in the buffer
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html deleted file mode 100644 index ebb3632..0000000 --- a/docs/swervelib/math/Matter.html +++ /dev/null @@ -1,220 +0,0 @@ - - - - -Matter - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.math
      -

      Class Matter

      -
      -
      java.lang.Object -
      swervelib.math.Matter
      -
      -
      -
      -
      public class Matter -extends Object
      -
      Object with significant mass that needs to be taken into account.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        double
        -
        mass
        -
        -
        Mass in kg of object.
        -
        -
        edu.wpi.first.math.geometry.Translation3d
        -
        position
        -
        -
        Position in meters from robot center in 3d space.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        Matter(edu.wpi.first.math.geometry.Translation3d position, - double mass)
        -
        -
        Construct an object representing some significant matter on the robot.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        edu.wpi.first.math.geometry.Translation3d
        -
        massMoment()
        -
        -
        Get the center mass of the object.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          position

          -
          public edu.wpi.first.math.geometry.Translation3d position
          -
          Position in meters from robot center in 3d space.
          -
          -
          • -
        • -
          -

          mass

          -
          public double mass
          -
          Mass in kg of object.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          Matter

          -
          public Matter(edu.wpi.first.math.geometry.Translation3d position, - double mass)
          -
          Construct an object representing some significant matter on the robot.
          -
          -
          Parameters:
          -
          position - Position of the matter in meters.
          -
          mass - Mass in kg.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          massMoment

          -
          public edu.wpi.first.math.geometry.Translation3d massMoment()
          -
          Get the center mass of the object.
          -
          -
          Returns:
          -
          center mass = position * mass
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html deleted file mode 100644 index cdec06b..0000000 --- a/docs/swervelib/math/SwerveMath.html +++ /dev/null @@ -1,573 +0,0 @@ - - - - -SwerveMath - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.math
      -

      Class SwerveMath

      -
      -
      java.lang.Object -
      swervelib.math.SwerveMath
      -
      -
      -
      -
      public class SwerveMath -extends Object
      -
      Mathematical functions which pertain to swerve drive.
      -
      -
      -
        - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SwerveMath()
        -
         
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        static void
        -
        antiJitter(edu.wpi.first.math.kinematics.SwerveModuleState moduleState, - edu.wpi.first.math.kinematics.SwerveModuleState lastModuleState, - double maxSpeed)
        -
        -
        Perform anti-jitter within modules if the speed requested is too low.
        -
        -
        static double
        -
        applyDeadband(double value, - boolean scaled, - double deadband)
        -
        -
        Algebraically apply a deadband using a piece wise function.
        -
        -
        private static double
        -
        calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d angle, - List<Matter> matter, - double robotMass, - SwerveDriveConfiguration config)
        -
        -
        Calculates the maximum acceleration allowed in a direction without tipping the robot.
        -
        -
        static double
        -
        calculateDegreesPerSteeringRotation(double angleGearRatio)
        -
        -
        Calculate the degrees per steering rotation for the integrated encoder.
        -
        -
        static double
        -
        calculateDegreesPerSteeringRotation(double angleGearRatio, - double pulsePerRotation)
        -
        -
        Calculate the degrees per steering rotation for the integrated encoder.
        -
        -
        static double
        -
        calculateMaxAcceleration(double cof)
        -
        -
        Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
        -
        -
        static double
        -
        calculateMaxAcceleration(double stallTorqueNm, - double gearRatio, - double moduleCount, - double wheelDiameter, - double robotMass)
        -
        -
        Calculate the maximum theoretical acceleration without friction.
        -
        -
        static double
        -
        calculateMaxAngularVelocity(double maxSpeed, - double furthestModuleX, - double furthestModuleY)
        -
        -
        Calculate the maximum angular velocity.
        -
        -
        static double
        -
        calculateMetersPerRotation(double wheelDiameter, - double driveGearRatio)
        -
        -
        Calculate the meters per rotation for the integrated encoder.
        -
        -
        static double
        -
        calculateMetersPerRotation(double wheelDiameter, - double driveGearRatio, - double pulsePerRotation)
        -
        -
        Calculate the meters per rotation for the integrated encoder.
        -
        -
        static edu.wpi.first.math.controller.SimpleMotorFeedforward
        -
        createDriveFeedforward(double optimalVoltage, - double maxSpeed, - double wheelGripCoefficientOfFriction)
        -
        -
        Create the drive feedforward for swerve modules.
        -
        -
        static edu.wpi.first.math.geometry.Translation2d
        -
        cubeTranslation(edu.wpi.first.math.geometry.Translation2d translation)
        -
        -
        Cube the Translation2d magnitude given in Polar coordinates.
        -
        -
        static SwerveModuleConfiguration
        -
        getSwerveModule(SwerveModule[] modules, - boolean front, - boolean left)
        -
        -
        Get the fruthest module from center based on the module locations.
        -
        -
        static edu.wpi.first.math.geometry.Translation2d
        -
        limitVelocity(edu.wpi.first.math.geometry.Translation2d commandedVelocity, - edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity, - edu.wpi.first.math.geometry.Pose2d robotPose, - double loopTime, - double robotMass, - List<Matter> matter, - SwerveDriveConfiguration config)
        -
        -
        Limits a commanded velocity to prevent exceeding the maximum acceleration given by calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration).
        -
        -
        static double
        -
        normalizeAngle(double angle)
        -
        -
        Normalize an angle to be within 0 to 360.
        -
        -
        static double
        -
        placeInAppropriate0To360Scope(double scopeReference, - double newAngle)
        -
        -
        Put an angle within the 360 deg scope of a reference.
        -
        -
        static edu.wpi.first.math.geometry.Twist2d
        -
        PoseLog(edu.wpi.first.math.geometry.Pose2d transform)
        -
        -
        Logical inverse of the Pose exponential from 254.
        -
        -
        static edu.wpi.first.math.geometry.Translation2d
        -
        scaleTranslation(edu.wpi.first.math.geometry.Translation2d translation, - double scalar)
        -
        -
        Scale the Translation2d Polar coordinate magnitude.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveMath

          -
          public SwerveMath()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          calculateMetersPerRotation

          -
          public static double calculateMetersPerRotation(double wheelDiameter, - double driveGearRatio, - double pulsePerRotation)
          -
          Calculate the meters per rotation for the integrated encoder. Calculation: (PI * WHEEL DIAMETER IN METERS) / (GEAR - RATIO * ENCODER RESOLUTION)
          -
          -
          Parameters:
          -
          wheelDiameter - Wheel diameter in meters.
          -
          driveGearRatio - The gear ratio of the drive motor.
          -
          pulsePerRotation - The number of encoder pulses per rotation. 1 if using an integrated encoder.
          -
          Returns:
          -
          Meters per rotation for the drive motor.
          -
          -
          -
          • -
        • -
          -

          calculateMetersPerRotation

          -
          public static double calculateMetersPerRotation(double wheelDiameter, - double driveGearRatio)
          -
          Calculate the meters per rotation for the integrated encoder. Calculation: (PI * WHEEL DIAMETER IN METERS) / (GEAR - RATIO)
          -
          -
          Parameters:
          -
          wheelDiameter - Wheel diameter in meters.
          -
          driveGearRatio - The gear ratio of the drive motor.
          -
          Returns:
          -
          Meters per rotation for the drive motor.
          -
          -
          -
          • -
        • -
          -

          normalizeAngle

          -
          public static double normalizeAngle(double angle)
          -
          Normalize an angle to be within 0 to 360.
          -
          -
          Parameters:
          -
          angle - Angle in degrees.
          -
          Returns:
          -
          Normalized angle in degrees.
          -
          -
          -
          • -
        • -
          -

          applyDeadband

          -
          public static double applyDeadband(double value, - boolean scaled, - double deadband)
          -
          Algebraically apply a deadband using a piece wise function.
          -
          -
          Parameters:
          -
          value - value to apply deadband to.
          -
          scaled - Use algebra to determine deadband by starting the value at 0 past deadband.
          -
          deadband - The deadbnad to apply.
          -
          Returns:
          -
          Value with deadband applied.
          -
          -
          -
          • -
        • -
          -

          createDriveFeedforward

          -
          public static edu.wpi.first.math.controller.SimpleMotorFeedforward createDriveFeedforward(double optimalVoltage, - double maxSpeed, - double wheelGripCoefficientOfFriction)
          -
          Create the drive feedforward for swerve modules.
          -
          -
          Parameters:
          -
          optimalVoltage - Optimal voltage to calculate kV (voltage/max Velocity)
          -
          maxSpeed - Maximum velocity in meters per second to use for the feed forward, should be - as close to physical max as possible.
          -
          wheelGripCoefficientOfFriction - Wheel grip coefficient of friction for kA (voltage/(cof*9.81))
          -
          Returns:
          -
          Drive feedforward for drive motor on a swerve module.
          -
          -
          -
          • -
        • -
          -

          calculateDegreesPerSteeringRotation

          -
          public static double calculateDegreesPerSteeringRotation(double angleGearRatio, - double pulsePerRotation)
          -
          Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts - motor rotations to linear wheel distance and steering converts motor rotations to module azimuth.
          -
          -
          Parameters:
          -
          angleGearRatio - The gear ratio of the steering motor.
          -
          pulsePerRotation - The number of pulses in a complete rotation for the encoder, 1 if integrated.
          -
          Returns:
          -
          Degrees per steering rotation for the angle motor.
          -
          -
          -
          • -
        • -
          -

          calculateDegreesPerSteeringRotation

          -
          public static double calculateDegreesPerSteeringRotation(double angleGearRatio)
          -
          Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts - motor rotations to linear wheel distance and steering converts motor rotations to module azimuth.
          -
          -
          Parameters:
          -
          angleGearRatio - The gear ratio of the steering motor.
          -
          Returns:
          -
          Degrees per steering rotation for the angle motor.
          -
          -
          -
          • -
        • -
          -

          calculateMaxAngularVelocity

          -
          public static double calculateMaxAngularVelocity(double maxSpeed, - double furthestModuleX, - double furthestModuleY)
          -
          Calculate the maximum angular velocity.
          -
          -
          Parameters:
          -
          maxSpeed - Max speed of the robot in meters per second.
          -
          furthestModuleX - X of the furthest module in meters.
          -
          furthestModuleY - Y of the furthest module in meters.
          -
          Returns:
          -
          Maximum angular velocity in rad/s.
          -
          -
          -
          • -
        • -
          -

          calculateMaxAcceleration

          -
          public static double calculateMaxAcceleration(double cof)
          -
          Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
          -
          -
          Parameters:
          -
          cof - Coefficient of Friction of the wheel grip tape.
          -
          Returns:
          -
          Practical maximum acceleration in m/s/s.
          -
          -
          -
          • -
        • -
          -

          calculateMaxAcceleration

          -
          public static double calculateMaxAcceleration(double stallTorqueNm, - double gearRatio, - double moduleCount, - double wheelDiameter, - double robotMass)
          -
          Calculate the maximum theoretical acceleration without friction.
          -
          -
          Parameters:
          -
          stallTorqueNm - Stall torque of driving motor in nM.
          -
          gearRatio - Gear ratio for driving motor number of motor rotations until one wheel rotation.
          -
          moduleCount - Number of swerve modules.
          -
          wheelDiameter - Wheel diameter in meters.
          -
          robotMass - Mass of the robot in kg.
          -
          Returns:
          -
          Theoretical maximum acceleration in m/s/s.
          -
          -
          -
          • -
        • -
          -

          calcMaxAccel

          -
          private static double calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d angle, - List<Matter> matter, - double robotMass, - SwerveDriveConfiguration config)
          -
          Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from - NetworkTables and is passed the direction in question.
          -
          -
          Parameters:
          -
          angle - The direction in which to calculate max acceleration, as a Rotation2d. Note that this is - robot-relative.
          -
          matter - Matter that the robot is composed of in kg. (Includes chassis)
          -
          robotMass - The weight of the robot in kg. (Including manipulators, etc).
          -
          config - The swerve drive configuration.
          -
          Returns:
          -
          Maximum acceleration allowed in the robot direction.
          -
          -
          -
          • -
        • -
          -

          PoseLog

          -
          public static edu.wpi.first.math.geometry.Twist2d PoseLog(edu.wpi.first.math.geometry.Pose2d transform)
          -
          Logical inverse of the Pose exponential from 254. Taken from team 3181.
          -
          -
          Parameters:
          -
          transform - Pose to perform the log on.
          -
          Returns:
          -
          Twist2d of the transformed pose.
          -
          -
          -
          • -
        • -
          -

          limitVelocity

          -
          public static edu.wpi.first.math.geometry.Translation2d limitVelocity(edu.wpi.first.math.geometry.Translation2d commandedVelocity, - edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity, - edu.wpi.first.math.geometry.Pose2d robotPose, - double loopTime, - double robotMass, - List<Matter> matter, - SwerveDriveConfiguration config)
          -
          Limits a commanded velocity to prevent exceeding the maximum acceleration given by calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration). - Note that this takes and returns field-relative velocities.
          -
          -
          Parameters:
          -
          commandedVelocity - The desired velocity
          -
          fieldVelocity - The velocity of the robot within a field relative state.
          -
          robotPose - The current pose of the robot.
          -
          loopTime - The time it takes to update the velocity in seconds. Note: this should include the - 100ms that it takes for a SparkMax velocity to update.
          -
          matter - Matter that the robot is composed of with position in meters and mass in kg.
          -
          robotMass - The weight of the robot in kg. (Including manipulators, etc).
          -
          config - The swerve drive configuration.
          -
          Returns:
          -
          The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable - velocity.
          -
          -
          -
          • -
        • -
          -

          getSwerveModule

          -
          public static SwerveModuleConfiguration getSwerveModule(SwerveModule[] modules, - boolean front, - boolean left)
          -
          Get the fruthest module from center based on the module locations.
          -
          -
          Parameters:
          -
          modules - Swerve module list.
          -
          front - True = furthest front, False = furthest back.
          -
          left - True = furthest left, False = furthest right.
          -
          Returns:
          -
          Module location which is the furthest from center and abides by parameters.
          -
          -
          -
          • -
        • -
          -

          placeInAppropriate0To360Scope

          -
          public static double placeInAppropriate0To360Scope(double scopeReference, - double newAngle)
          -
          Put an angle within the 360 deg scope of a reference. For example, given a scope reference of 756 degrees, assumes - the full scope is (720-1080), and places an angle of 22 degrees into it, returning 742 deg. -

          - A more formal definition: returns the closest angle n to scopeReference such that n is - congruent to newAngle.

          -
          -
          Parameters:
          -
          scopeReference - Current Angle (deg)
          -
          newAngle - Target Angle (deg)
          -
          Returns:
          -
          Closest angle within scope (deg)
          -
          -
          -
          • -
        • -
          -

          antiJitter

          -
          public static void antiJitter(edu.wpi.first.math.kinematics.SwerveModuleState moduleState, - edu.wpi.first.math.kinematics.SwerveModuleState lastModuleState, - double maxSpeed)
          -
          Perform anti-jitter within modules if the speed requested is too low.
          -
          -
          Parameters:
          -
          moduleState - Current SwerveModuleState requested.
          -
          lastModuleState - Previous SwerveModuleState used.
          -
          maxSpeed - Maximum speed of the modules.
          -
          -
          -
          • -
        • -
          -

          cubeTranslation

          -
          public static edu.wpi.first.math.geometry.Translation2d cubeTranslation(edu.wpi.first.math.geometry.Translation2d translation)
          -
          Cube the Translation2d magnitude given in Polar coordinates.
          -
          -
          Parameters:
          -
          translation - Translation2d to manipulate.
          -
          Returns:
          -
          Cubed magnitude from Translation2d.
          -
          -
          -
          • -
        • -
          -

          scaleTranslation

          -
          public static edu.wpi.first.math.geometry.Translation2d scaleTranslation(edu.wpi.first.math.geometry.Translation2d translation, - double scalar)
          -
          Scale the Translation2d Polar coordinate magnitude.
          -
          -
          Parameters:
          -
          translation - Translation2d to use.
          -
          scalar - Multiplier for the Polar coordinate magnitude to use.
          -
          Returns:
          -
          Translation2d scaled by given magnitude scalar.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html deleted file mode 100644 index 7c5e2aa..0000000 --- a/docs/swervelib/math/package-summary.html +++ /dev/null @@ -1,111 +0,0 @@ - - - - -swervelib.math - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Package swervelib.math

      -
      -
      -
      package swervelib.math
      -
      -
      Mathematics for swerve drives. Original second order kinematics was developed by Team 3181 - here. -
      -
      -
      -
        -
      • - -
        • -
      • -
        -
        Classes
        -
        -
        Class
        -
        Description
        -
        IMULinearMovingAverageFilter
        -
        -
        A linear filter that does not calculate() each time a value is added to - the DoubleCircularBuffer.
        -
        -
        Matter
        -
        -
        Object with significant mass that needs to be taken into account.
        -
        -
        SwerveMath
        -
        -
        Mathematical functions which pertain to swerve drive.
        -
        -
        -
        -
        • -
      -
      -
      -
      -
      - - diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html deleted file mode 100644 index 1acad1a..0000000 --- a/docs/swervelib/math/package-tree.html +++ /dev/null @@ -1,73 +0,0 @@ - - - - -swervelib.math Class Hierarchy - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Hierarchy For Package swervelib.math

      -Package Hierarchies: - -
      -
      -

      Class Hierarchy

      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html deleted file mode 100644 index c73e0a0..0000000 --- a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html +++ /dev/null @@ -1,268 +0,0 @@ - - - - -SparkFlexSwerve.SparkMAX_slotIdx - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.motors
      -

      Enum Class SparkFlexSwerve.SparkMAX_slotIdx

      -
      -
      java.lang.Object -
      java.lang.Enum<SparkFlexSwerve.SparkMAX_slotIdx> -
      swervelib.motors.SparkFlexSwerve.SparkMAX_slotIdx
      -
      -
      -
      -
      -
      All Implemented Interfaces:
      -
      Serializable, Comparable<SparkFlexSwerve.SparkMAX_slotIdx>, Constable
      -
      -
      -
      Enclosing class:
      -
      SparkFlexSwerve
      -
      -
      -
      static enum SparkFlexSwerve.SparkMAX_slotIdx -extends Enum<SparkFlexSwerve.SparkMAX_slotIdx>
      -
      REV Slots for PID configuration.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Enum Constant Details

        - -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SparkMAX_slotIdx

          -
          private SparkMAX_slotIdx()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          values

          -
          public static SparkFlexSwerve.SparkMAX_slotIdx[] values()
          -
          Returns an array containing the constants of this enum class, in -the order they are declared.
          -
          -
          Returns:
          -
          an array containing the constants of this enum class, in the order they are declared
          -
          -
          -
          • -
        • -
          -

          valueOf

          -
          public static SparkFlexSwerve.SparkMAX_slotIdx valueOf(String name)
          -
          Returns the enum constant of this class with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this class. (Extraneous whitespace characters are -not permitted.)
          -
          -
          Parameters:
          -
          name - the name of the enum constant to be returned.
          -
          Returns:
          -
          the enum constant with the specified name
          -
          Throws:
          -
          IllegalArgumentException - if this enum class has no constant with the specified name
          -
          NullPointerException - if the argument is null
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/motors/SparkFlexSwerve.html b/docs/swervelib/motors/SparkFlexSwerve.html deleted file mode 100644 index 34d3ed0..0000000 --- a/docs/swervelib/motors/SparkFlexSwerve.html +++ /dev/null @@ -1,772 +0,0 @@ - - - - -SparkFlexSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.motors
      -

      Class SparkFlexSwerve

      -
      -
      java.lang.Object -
      swervelib.motors.SwerveMotor -
      swervelib.motors.SparkFlexSwerve
      -
      -
      -
      -
      -
      public class SparkFlexSwerve -extends SwerveMotor
      -
      An implementation of CANSparkFlex as a SwerveMotor.
      -
      -
      -
        - -
      • -
        -

        Nested Class Summary

        -
        Nested Classes
        -
        -
        Modifier and Type
        -
        Class
        -
        Description
        -
        (package private) static enum 
        -
        SparkFlexSwerve.SparkMAX_slotIdx
        -
        -
        REV Slots for PID configuration.
        -
        -
        -
        -
        • - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        SwerveAbsoluteEncoder
        -
        absoluteEncoder
        -
        -
        Absolute encoder attached to the SparkMax (if exists)
        -
        -
        private Alert
        -
        absoluteEncoderOffsetWarning
        -
        -
        An Alert for if the absolute encoder's offset is set in the json instead of the hardware client.
        -
        -
        com.revrobotics.RelativeEncoder
        -
        encoder
        -
        -
        Integrated encoder.
        -
        -
        private boolean
        -
        factoryDefaultOccurred
        -
        -
        Factory default already occurred.
        -
        -
        private Alert
        -
        failureConfiguring
        -
        -
        An Alert for if there is an error configuring the motor.
        -
        -
        com.revrobotics.CANSparkFlex
        -
        motor
        -
        -
        SparkMAX Instance.
        -
        -
        com.revrobotics.SparkPIDController
        -
        pid
        -
        -
        Closed-loop PID controller.
        -
        -
        -
        -

        Fields inherited from class swervelib.motors.SwerveMotor

        -isDriveMotor, maximumRetries
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SparkFlexSwerve(int id, - boolean isDriveMotor)
        -
        -
        Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
        -
        -
        SparkFlexSwerve(com.revrobotics.CANSparkFlex motor, - boolean isDriveMotor)
        -
        -
        Initialize the swerve motor.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        burnFlash()
        -
        -
        Save the configurations from flash to EEPROM.
        -
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear the sticky faults on the motor controller.
        -
        -
        void
        -
        configureCANStatusFrames(int CANStatus0, - int CANStatus1, - int CANStatus2, - int CANStatus3, - int CANStatus4)
        -
        -
        Set the CAN status frames.
        -
        -
        void
        -
        configureIntegratedEncoder(double positionConversionFactor)
        -
        -
        Configure the integrated encoder for the swerve module.
        -
        -
        void
        -
        configurePIDF(PIDFConfig config)
        -
        -
        Configure the PIDF values for the closed loop controller.
        -
        -
        void
        -
        configurePIDWrapping(double minInput, - double maxInput)
        -
        -
        Configure the PID wrapping for the position closed loop controller.
        -
        -
        private void
        -
        configureSparkFlex(Supplier<com.revrobotics.REVLibError> config)
        -
        -
        Run the configuration until it succeeds or times out.
        -
        -
        void
        -
        factoryDefaults()
        -
        -
        Configure the factory defaults.
        -
        -
        double
        -
        getAppliedOutput()
        -
        -
        Get the applied dutycycle output.
        -
        -
        Object
        -
        getMotor()
        -
        -
        Get the motor object from the module.
        -
        -
        double
        -
        getPosition()
        -
        -
        Get the position of the integrated encoder.
        -
        -
        double
        -
        getVelocity()
        -
        -
        Get the velocity of the integrated encoder.
        -
        -
        double
        -
        getVoltage()
        -
        -
        Get the voltage output of the motor controller.
        -
        -
        boolean
        -
        isAttachedAbsoluteEncoder()
        -
        -
        Queries whether the absolute encoder is directly attached to the motor controller.
        -
        -
        void
        -
        set(double percentOutput)
        -
        -
        Set the percentage output.
        -
        -
        SwerveMotor
        -
        setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
        -
        -
        Set the absolute encoder to be a compatible absolute encoder.
        -
        -
        void
        -
        setCurrentLimit(int currentLimit)
        -
        -
        Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
        -
        -
        void
        -
        setInverted(boolean inverted)
        -
        -
        Set the motor to be inverted.
        -
        -
        void
        -
        setLoopRampRate(double rampRate)
        -
        -
        Set the maximum rate the open/closed loop output can change by.
        -
        -
        void
        -
        setMotorBrake(boolean isBrakeMode)
        -
        -
        Set the idle mode.
        -
        -
        void
        -
        setPosition(double position)
        -
        -
        Set the integrated encoder position.
        -
        -
        void
        -
        setReference(double setpoint, - double feedforward)
        -
        -
        Set the closed loop PID controller reference point.
        -
        -
        void
        -
        setReference(double setpoint, - double feedforward, - double position)
        -
        -
        Set the closed loop PID controller reference point.
        -
        -
        void
        -
        setVoltage(double voltage)
        -
        -
        Set the voltage of the motor.
        -
        -
        void
        -
        setVoltageCompensation(double nominalVoltage)
        -
        -
        Set the voltage compensation for the swerve module motor.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          motor

          -
          public com.revrobotics.CANSparkFlex motor
          -
          SparkMAX Instance.
          -
          -
          • -
        • -
          -

          encoder

          -
          public com.revrobotics.RelativeEncoder encoder
          -
          Integrated encoder.
          -
          -
          • -
        • -
          -

          absoluteEncoder

          -
          public SwerveAbsoluteEncoder absoluteEncoder
          -
          Absolute encoder attached to the SparkMax (if exists)
          -
          -
          • -
        • -
          -

          pid

          -
          public com.revrobotics.SparkPIDController pid
          -
          Closed-loop PID controller.
          -
          -
          • -
        • -
          -

          factoryDefaultOccurred

          -
          private boolean factoryDefaultOccurred
          -
          Factory default already occurred.
          -
          -
          • -
        • -
          -

          failureConfiguring

          -
          private Alert failureConfiguring
          -
          An Alert for if there is an error configuring the motor.
          -
          -
          • -
        • -
          -

          absoluteEncoderOffsetWarning

          -
          private Alert absoluteEncoderOffsetWarning
          -
          An Alert for if the absolute encoder's offset is set in the json instead of the hardware client.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SparkFlexSwerve

          -
          public SparkFlexSwerve(com.revrobotics.CANSparkFlex motor, - boolean isDriveMotor)
          -
          Initialize the swerve motor.
          -
          -
          Parameters:
          -
          motor - The SwerveMotor as a SparkFlex object.
          -
          isDriveMotor - Is the motor being initialized a drive motor?
          -
          -
          -
          • -
        • -
          -

          SparkFlexSwerve

          -
          public SparkFlexSwerve(int id, - boolean isDriveMotor)
          -
          Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
          -
          -
          Parameters:
          -
          id - CAN ID of the SparkMax.
          -
          isDriveMotor - Is the motor being initialized a drive motor?
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          configureSparkFlex

          -
          private void configureSparkFlex(Supplier<com.revrobotics.REVLibError> config)
          -
          Run the configuration until it succeeds or times out.
          -
          -
          Parameters:
          -
          config - Lambda supplier returning the error state.
          -
          -
          -
          • -
        • -
          -

          setVoltageCompensation

          -
          public void setVoltageCompensation(double nominalVoltage)
          -
          Set the voltage compensation for the swerve module motor.
          -
          -
          Specified by:
          -
          setVoltageCompensation in class SwerveMotor
          -
          Parameters:
          -
          nominalVoltage - Nominal voltage for operation to output to.
          -
          -
          -
          • -
        • -
          -

          setCurrentLimit

          -
          public void setCurrentLimit(int currentLimit)
          -
          Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation. This is useful to protect the motor from current spikes.
          -
          -
          Specified by:
          -
          setCurrentLimit in class SwerveMotor
          -
          Parameters:
          -
          currentLimit - Current limit in AMPS at free speed.
          -
          -
          -
          • -
        • -
          -

          setLoopRampRate

          -
          public void setLoopRampRate(double rampRate)
          -
          Set the maximum rate the open/closed loop output can change by.
          -
          -
          Specified by:
          -
          setLoopRampRate in class SwerveMotor
          -
          Parameters:
          -
          rampRate - Time in seconds to go from 0 to full throttle.
          -
          -
          -
          • -
        • -
          -

          getMotor

          -
          public Object getMotor()
          -
          Get the motor object from the module.
          -
          -
          Specified by:
          -
          getMotor in class SwerveMotor
          -
          Returns:
          -
          Motor object.
          -
          -
          -
          • -
        • -
          -

          isAttachedAbsoluteEncoder

          -
          public boolean isAttachedAbsoluteEncoder()
          -
          Queries whether the absolute encoder is directly attached to the motor controller.
          -
          -
          Specified by:
          -
          isAttachedAbsoluteEncoder in class SwerveMotor
          -
          Returns:
          -
          connected absolute encoder state.
          -
          -
          -
          • -
        • -
          -

          factoryDefaults

          -
          public void factoryDefaults()
          -
          Configure the factory defaults.
          -
          -
          Specified by:
          -
          factoryDefaults in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear the sticky faults on the motor controller.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoder

          -
          public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
          -
          Set the absolute encoder to be a compatible absolute encoder.
          -
          -
          Specified by:
          -
          setAbsoluteEncoder in class SwerveMotor
          -
          Parameters:
          -
          encoder - The encoder to use.
          -
          Returns:
          -
          The SwerveMotor for easy instantiation.
          -
          -
          -
          • -
        • -
          -

          configureIntegratedEncoder

          -
          public void configureIntegratedEncoder(double positionConversionFactor)
          -
          Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
          -
          -
          Specified by:
          -
          configureIntegratedEncoder in class SwerveMotor
          -
          Parameters:
          -
          positionConversionFactor - The conversion factor to apply.
          -
          -
          -
          • -
        • -
          -

          configurePIDF

          -
          public void configurePIDF(PIDFConfig config)
          -
          Configure the PIDF values for the closed loop controller.
          -
          -
          Specified by:
          -
          configurePIDF in class SwerveMotor
          -
          Parameters:
          -
          config - Configuration class holding the PIDF values.
          -
          -
          -
          • -
        • -
          -

          configurePIDWrapping

          -
          public void configurePIDWrapping(double minInput, - double maxInput)
          -
          Configure the PID wrapping for the position closed loop controller.
          -
          -
          Specified by:
          -
          configurePIDWrapping in class SwerveMotor
          -
          Parameters:
          -
          minInput - Minimum PID input.
          -
          maxInput - Maximum PID input.
          -
          -
          -
          • -
        • -
          -

          configureCANStatusFrames

          -
          public void configureCANStatusFrames(int CANStatus0, - int CANStatus1, - int CANStatus2, - int CANStatus3, - int CANStatus4)
          -
          Set the CAN status frames.
          -
          -
          Parameters:
          -
          CANStatus0 - Applied Output, Faults, Sticky Faults, Is Follower
          -
          CANStatus1 - Motor Velocity, Motor Temperature, Motor Voltage, Motor Current
          -
          CANStatus2 - Motor Position
          -
          CANStatus3 - Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position
          -
          CANStatus4 - Alternate Encoder Velocity, Alternate Encoder Position
          -
          -
          -
          • -
        • -
          -

          setMotorBrake

          -
          public void setMotorBrake(boolean isBrakeMode)
          -
          Set the idle mode.
          -
          -
          Specified by:
          -
          setMotorBrake in class SwerveMotor
          -
          Parameters:
          -
          isBrakeMode - Set the brake mode.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean inverted)
          -
          Set the motor to be inverted.
          -
          -
          Specified by:
          -
          setInverted in class SwerveMotor
          -
          Parameters:
          -
          inverted - State of inversion.
          -
          -
          -
          • -
        • -
          -

          burnFlash

          -
          public void burnFlash()
          -
          Save the configurations from flash to EEPROM.
          -
          -
          Specified by:
          -
          burnFlash in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          set

          -
          public void set(double percentOutput)
          -
          Set the percentage output.
          -
          -
          Specified by:
          -
          set in class SwerveMotor
          -
          Parameters:
          -
          percentOutput - percent out for the motor controller.
          -
          -
          -
          • -
        • -
          -

          setReference

          -
          public void setReference(double setpoint, - double feedforward)
          -
          Set the closed loop PID controller reference point.
          -
          -
          Specified by:
          -
          setReference in class SwerveMotor
          -
          Parameters:
          -
          setpoint - Setpoint in MPS or Angle in degrees.
          -
          feedforward - Feedforward in volt-meter-per-second or kV.
          -
          -
          -
          • -
        • -
          -

          setReference

          -
          public void setReference(double setpoint, - double feedforward, - double position)
          -
          Set the closed loop PID controller reference point.
          -
          -
          Specified by:
          -
          setReference in class SwerveMotor
          -
          Parameters:
          -
          setpoint - Setpoint in meters per second or angle in degrees.
          -
          feedforward - Feedforward in volt-meter-per-second or kV.
          -
          position - Only used on the angle motor, the position of the motor in degrees.
          -
          -
          -
          • -
        • -
          -

          getVoltage

          -
          public double getVoltage()
          -
          Get the voltage output of the motor controller.
          -
          -
          Specified by:
          -
          getVoltage in class SwerveMotor
          -
          Returns:
          -
          Voltage output.
          -
          -
          -
          • -
        • -
          -

          setVoltage

          -
          public void setVoltage(double voltage)
          -
          Set the voltage of the motor.
          -
          -
          Specified by:
          -
          setVoltage in class SwerveMotor
          -
          Parameters:
          -
          voltage - Voltage to set.
          -
          -
          -
          • -
        • -
          -

          getAppliedOutput

          -
          public double getAppliedOutput()
          -
          Get the applied dutycycle output.
          -
          -
          Specified by:
          -
          getAppliedOutput in class SwerveMotor
          -
          Returns:
          -
          Applied dutycycle output to the motor.
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the velocity of the integrated encoder.
          -
          -
          Specified by:
          -
          getVelocity in class SwerveMotor
          -
          Returns:
          -
          velocity
          -
          -
          -
          • -
        • -
          -

          getPosition

          -
          public double getPosition()
          -
          Get the position of the integrated encoder.
          -
          -
          Specified by:
          -
          getPosition in class SwerveMotor
          -
          Returns:
          -
          Position
          -
          -
          -
          • -
        • -
          -

          setPosition

          -
          public void setPosition(double position)
          -
          Set the integrated encoder position.
          -
          -
          Specified by:
          -
          setPosition in class SwerveMotor
          -
          Parameters:
          -
          position - Integrated encoder position.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html deleted file mode 100644 index 7efc642..0000000 --- a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html +++ /dev/null @@ -1,785 +0,0 @@ - - - - -SparkMaxBrushedMotorSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.motors
      -

      Class SparkMaxBrushedMotorSwerve

      -
      -
      java.lang.Object -
      swervelib.motors.SwerveMotor -
      swervelib.motors.SparkMaxBrushedMotorSwerve
      -
      -
      -
      -
      -
      public class SparkMaxBrushedMotorSwerve -extends SwerveMotor
      -
      Brushed motor control with SparkMax.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        com.revrobotics.AbsoluteEncoder
        -
        absoluteEncoder
        -
        -
        Absolute encoder attached to the SparkMax (if exists)
        -
        -
        com.revrobotics.RelativeEncoder
        -
        encoder
        -
        -
        Integrated encoder.
        -
        -
        private boolean
        -
        factoryDefaultOccurred
        -
        -
        Factory default already occurred.
        -
        -
        private Alert
        -
        failureConfiguringAlert
        -
        -
        An Alert for if there is an error configuring the motor.
        -
        -
        com.revrobotics.CANSparkMax
        -
        motor
        -
        -
        SparkMAX Instance.
        -
        -
        private Alert
        -
        noEncoderAlert
        -
        -
        An Alert for if the motor has no encoder.
        -
        -
        private Alert
        -
        noEncoderDefinedAlert
        -
        -
        An Alert for if the motor has no encoder defined.
        -
        -
        com.revrobotics.SparkPIDController
        -
        pid
        -
        -
        Closed-loop PID controller.
        -
        -
        -
        -

        Fields inherited from class swervelib.motors.SwerveMotor

        -isDriveMotor, maximumRetries
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SparkMaxBrushedMotorSwerve(int id, - boolean isDriveMotor, - com.revrobotics.SparkRelativeEncoder.Type encoderType, - int countsPerRevolution, - boolean useDataPortQuadEncoder)
        -
        -
        Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
        -
        -
        SparkMaxBrushedMotorSwerve(com.revrobotics.CANSparkMax motor, - boolean isDriveMotor, - com.revrobotics.SparkRelativeEncoder.Type encoderType, - int countsPerRevolution, - boolean useDataPortQuadEncoder)
        -
        -
        Initialize the swerve motor.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        burnFlash()
        -
        -
        Save the configurations from flash to EEPROM.
        -
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear the sticky faults on the motor controller.
        -
        -
        void
        -
        configureCANStatusFrames(int CANStatus0, - int CANStatus1, - int CANStatus2, - int CANStatus3, - int CANStatus4)
        -
        -
        Set the CAN status frames.
        -
        -
        void
        -
        configureIntegratedEncoder(double positionConversionFactor)
        -
        -
        Configure the integrated encoder for the swerve module.
        -
        -
        void
        -
        configurePIDF(PIDFConfig config)
        -
        -
        Configure the PIDF values for the closed loop controller.
        -
        -
        void
        -
        configurePIDWrapping(double minInput, - double maxInput)
        -
        -
        Configure the PID wrapping for the position closed loop controller.
        -
        -
        private void
        -
        configureSparkMax(Supplier<com.revrobotics.REVLibError> config)
        -
        -
        Run the configuration until it succeeds or times out.
        -
        -
        void
        -
        factoryDefaults()
        -
        -
        Configure the factory defaults.
        -
        -
        double
        -
        getAppliedOutput()
        -
        -
        Get the applied dutycycle output.
        -
        -
        Object
        -
        getMotor()
        -
        -
        Get the motor object from the module.
        -
        -
        double
        -
        getPosition()
        -
        -
        Get the position of the integrated encoder.
        -
        -
        double
        -
        getVelocity()
        -
        -
        Get the velocity of the integrated encoder.
        -
        -
        double
        -
        getVoltage()
        -
        -
        Get the voltage output of the motor controller.
        -
        -
        boolean
        -
        isAttachedAbsoluteEncoder()
        -
        -
        Queries whether the absolute encoder is directly attached to the motor controller.
        -
        -
        void
        -
        set(double percentOutput)
        -
        -
        Set the percentage output.
        -
        -
        SwerveMotor
        -
        setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
        -
        -
        Set the absolute encoder to be a compatible absolute encoder.
        -
        -
        void
        -
        setCurrentLimit(int currentLimit)
        -
        -
        Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
        -
        -
        void
        -
        setInverted(boolean inverted)
        -
        -
        Set the motor to be inverted.
        -
        -
        void
        -
        setLoopRampRate(double rampRate)
        -
        -
        Set the maximum rate the open/closed loop output can change by.
        -
        -
        void
        -
        setMotorBrake(boolean isBrakeMode)
        -
        -
        Set the idle mode.
        -
        -
        void
        -
        setPosition(double position)
        -
        -
        Set the integrated encoder position.
        -
        -
        void
        -
        setReference(double setpoint, - double feedforward)
        -
        -
        Set the closed loop PID controller reference point.
        -
        -
        void
        -
        setReference(double setpoint, - double feedforward, - double position)
        -
        -
        Set the closed loop PID controller reference point.
        -
        -
        void
        -
        setVoltage(double voltage)
        -
        -
        Set the voltage of the motor.
        -
        -
        void
        -
        setVoltageCompensation(double nominalVoltage)
        -
        -
        Set the voltage compensation for the swerve module motor.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          motor

          -
          public com.revrobotics.CANSparkMax motor
          -
          SparkMAX Instance.
          -
          -
          • -
        • -
          -

          absoluteEncoder

          -
          public com.revrobotics.AbsoluteEncoder absoluteEncoder
          -
          Absolute encoder attached to the SparkMax (if exists)
          -
          -
          • -
        • -
          -

          encoder

          -
          public com.revrobotics.RelativeEncoder encoder
          -
          Integrated encoder.
          -
          -
          • -
        • -
          -

          pid

          -
          public com.revrobotics.SparkPIDController pid
          -
          Closed-loop PID controller.
          -
          -
          • -
        • -
          -

          factoryDefaultOccurred

          -
          private boolean factoryDefaultOccurred
          -
          Factory default already occurred.
          -
          -
          • -
        • -
          -

          noEncoderAlert

          -
          private Alert noEncoderAlert
          -
          An Alert for if the motor has no encoder.
          -
          -
          • -
        • -
          -

          failureConfiguringAlert

          -
          private Alert failureConfiguringAlert
          -
          An Alert for if there is an error configuring the motor.
          -
          -
          • -
        • -
          -

          noEncoderDefinedAlert

          -
          private Alert noEncoderDefinedAlert
          -
          An Alert for if the motor has no encoder defined.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SparkMaxBrushedMotorSwerve

          -
          public SparkMaxBrushedMotorSwerve(com.revrobotics.CANSparkMax motor, - boolean isDriveMotor, - com.revrobotics.SparkRelativeEncoder.Type encoderType, - int countsPerRevolution, - boolean useDataPortQuadEncoder)
          -
          Initialize the swerve motor.
          -
          -
          Parameters:
          -
          motor - The SwerveMotor as a SparkMax object.
          -
          isDriveMotor - Is the motor being initialized a drive motor?
          -
          encoderType - SparkRelativeEncoder.Type of encoder to use for the CANSparkMax device.
          -
          countsPerRevolution - The number of encoder pulses for the SparkRelativeEncoder.Type encoder per revolution.
          -
          useDataPortQuadEncoder - Use the encoder attached to the data port of the spark max for a quadrature encoder.
          -
          -
          -
          • -
        • -
          -

          SparkMaxBrushedMotorSwerve

          -
          public SparkMaxBrushedMotorSwerve(int id, - boolean isDriveMotor, - com.revrobotics.SparkRelativeEncoder.Type encoderType, - int countsPerRevolution, - boolean useDataPortQuadEncoder)
          -
          Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
          -
          -
          Parameters:
          -
          id - CAN ID of the SparkMax.
          -
          isDriveMotor - Is the motor being initialized a drive motor?
          -
          encoderType - SparkRelativeEncoder.Type of encoder to use for the CANSparkMax device.
          -
          countsPerRevolution - The number of encoder pulses for the SparkRelativeEncoder.Type encoder per revolution.
          -
          useDataPortQuadEncoder - Use the encoder attached to the data port of the spark max for a quadrature encoder.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          configureSparkMax

          -
          private void configureSparkMax(Supplier<com.revrobotics.REVLibError> config)
          -
          Run the configuration until it succeeds or times out.
          -
          -
          Parameters:
          -
          config - Lambda supplier returning the error state.
          -
          -
          -
          • -
        • -
          -

          setVoltageCompensation

          -
          public void setVoltageCompensation(double nominalVoltage)
          -
          Set the voltage compensation for the swerve module motor.
          -
          -
          Specified by:
          -
          setVoltageCompensation in class SwerveMotor
          -
          Parameters:
          -
          nominalVoltage - Nominal voltage for operation to output to.
          -
          -
          -
          • -
        • -
          -

          setCurrentLimit

          -
          public void setCurrentLimit(int currentLimit)
          -
          Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation. This is useful to protect the motor from current spikes.
          -
          -
          Specified by:
          -
          setCurrentLimit in class SwerveMotor
          -
          Parameters:
          -
          currentLimit - Current limit in AMPS at free speed.
          -
          -
          -
          • -
        • -
          -

          setLoopRampRate

          -
          public void setLoopRampRate(double rampRate)
          -
          Set the maximum rate the open/closed loop output can change by.
          -
          -
          Specified by:
          -
          setLoopRampRate in class SwerveMotor
          -
          Parameters:
          -
          rampRate - Time in seconds to go from 0 to full throttle.
          -
          -
          -
          • -
        • -
          -

          getMotor

          -
          public Object getMotor()
          -
          Get the motor object from the module.
          -
          -
          Specified by:
          -
          getMotor in class SwerveMotor
          -
          Returns:
          -
          Motor object.
          -
          -
          -
          • -
        • -
          -

          isAttachedAbsoluteEncoder

          -
          public boolean isAttachedAbsoluteEncoder()
          -
          Queries whether the absolute encoder is directly attached to the motor controller.
          -
          -
          Specified by:
          -
          isAttachedAbsoluteEncoder in class SwerveMotor
          -
          Returns:
          -
          connected absolute encoder state.
          -
          -
          -
          • -
        • -
          -

          factoryDefaults

          -
          public void factoryDefaults()
          -
          Configure the factory defaults.
          -
          -
          Specified by:
          -
          factoryDefaults in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear the sticky faults on the motor controller.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoder

          -
          public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
          -
          Set the absolute encoder to be a compatible absolute encoder.
          -
          -
          Specified by:
          -
          setAbsoluteEncoder in class SwerveMotor
          -
          Parameters:
          -
          encoder - The encoder to use.
          -
          Returns:
          -
          The SwerveMotor for easy instantiation.
          -
          -
          -
          • -
        • -
          -

          configureIntegratedEncoder

          -
          public void configureIntegratedEncoder(double positionConversionFactor)
          -
          Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
          -
          -
          Specified by:
          -
          configureIntegratedEncoder in class SwerveMotor
          -
          Parameters:
          -
          positionConversionFactor - The conversion factor to apply.
          -
          -
          -
          • -
        • -
          -

          configurePIDF

          -
          public void configurePIDF(PIDFConfig config)
          -
          Configure the PIDF values for the closed loop controller.
          -
          -
          Specified by:
          -
          configurePIDF in class SwerveMotor
          -
          Parameters:
          -
          config - Configuration class holding the PIDF values.
          -
          -
          -
          • -
        • -
          -

          configurePIDWrapping

          -
          public void configurePIDWrapping(double minInput, - double maxInput)
          -
          Configure the PID wrapping for the position closed loop controller.
          -
          -
          Specified by:
          -
          configurePIDWrapping in class SwerveMotor
          -
          Parameters:
          -
          minInput - Minimum PID input.
          -
          maxInput - Maximum PID input.
          -
          -
          -
          • -
        • -
          -

          configureCANStatusFrames

          -
          public void configureCANStatusFrames(int CANStatus0, - int CANStatus1, - int CANStatus2, - int CANStatus3, - int CANStatus4)
          -
          Set the CAN status frames.
          -
          -
          Parameters:
          -
          CANStatus0 - Applied Output, Faults, Sticky Faults, Is Follower
          -
          CANStatus1 - Motor Velocity, Motor Temperature, Motor Voltage, Motor Current
          -
          CANStatus2 - Motor Position
          -
          CANStatus3 - Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position
          -
          CANStatus4 - Alternate Encoder Velocity, Alternate Encoder Position
          -
          -
          -
          • -
        • -
          -

          setMotorBrake

          -
          public void setMotorBrake(boolean isBrakeMode)
          -
          Set the idle mode.
          -
          -
          Specified by:
          -
          setMotorBrake in class SwerveMotor
          -
          Parameters:
          -
          isBrakeMode - Set the brake mode.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean inverted)
          -
          Set the motor to be inverted.
          -
          -
          Specified by:
          -
          setInverted in class SwerveMotor
          -
          Parameters:
          -
          inverted - State of inversion.
          -
          -
          -
          • -
        • -
          -

          burnFlash

          -
          public void burnFlash()
          -
          Save the configurations from flash to EEPROM.
          -
          -
          Specified by:
          -
          burnFlash in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          set

          -
          public void set(double percentOutput)
          -
          Set the percentage output.
          -
          -
          Specified by:
          -
          set in class SwerveMotor
          -
          Parameters:
          -
          percentOutput - percent out for the motor controller.
          -
          -
          -
          • -
        • -
          -

          setReference

          -
          public void setReference(double setpoint, - double feedforward)
          -
          Set the closed loop PID controller reference point.
          -
          -
          Specified by:
          -
          setReference in class SwerveMotor
          -
          Parameters:
          -
          setpoint - Setpoint in MPS or Angle in degrees.
          -
          feedforward - Feedforward in volt-meter-per-second or kV.
          -
          -
          -
          • -
        • -
          -

          setReference

          -
          public void setReference(double setpoint, - double feedforward, - double position)
          -
          Set the closed loop PID controller reference point.
          -
          -
          Specified by:
          -
          setReference in class SwerveMotor
          -
          Parameters:
          -
          setpoint - Setpoint in meters per second or angle in degrees.
          -
          feedforward - Feedforward in volt-meter-per-second or kV.
          -
          position - Only used on the angle motor, the position of the motor in degrees.
          -
          -
          -
          • -
        • -
          -

          getVoltage

          -
          public double getVoltage()
          -
          Get the voltage output of the motor controller.
          -
          -
          Specified by:
          -
          getVoltage in class SwerveMotor
          -
          Returns:
          -
          Voltage output.
          -
          -
          -
          • -
        • -
          -

          setVoltage

          -
          public void setVoltage(double voltage)
          -
          Set the voltage of the motor.
          -
          -
          Specified by:
          -
          setVoltage in class SwerveMotor
          -
          Parameters:
          -
          voltage - Voltage to set.
          -
          -
          -
          • -
        • -
          -

          getAppliedOutput

          -
          public double getAppliedOutput()
          -
          Get the applied dutycycle output.
          -
          -
          Specified by:
          -
          getAppliedOutput in class SwerveMotor
          -
          Returns:
          -
          Applied dutycycle output to the motor.
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the velocity of the integrated encoder.
          -
          -
          Specified by:
          -
          getVelocity in class SwerveMotor
          -
          Returns:
          -
          velocity
          -
          -
          -
          • -
        • -
          -

          getPosition

          -
          public double getPosition()
          -
          Get the position of the integrated encoder.
          -
          -
          Specified by:
          -
          getPosition in class SwerveMotor
          -
          Returns:
          -
          Position
          -
          -
          -
          • -
        • -
          -

          setPosition

          -
          public void setPosition(double position)
          -
          Set the integrated encoder position.
          -
          -
          Specified by:
          -
          setPosition in class SwerveMotor
          -
          Parameters:
          -
          position - Integrated encoder position.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html deleted file mode 100644 index 73b431a..0000000 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ /dev/null @@ -1,268 +0,0 @@ - - - - -SparkMaxSwerve.SparkMAX_slotIdx - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.motors
      -

      Enum Class SparkMaxSwerve.SparkMAX_slotIdx

      -
      -
      java.lang.Object -
      java.lang.Enum<SparkMaxSwerve.SparkMAX_slotIdx> -
      swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
      -
      -
      -
      -
      -
      All Implemented Interfaces:
      -
      Serializable, Comparable<SparkMaxSwerve.SparkMAX_slotIdx>, Constable
      -
      -
      -
      Enclosing class:
      -
      SparkMaxSwerve
      -
      -
      -
      static enum SparkMaxSwerve.SparkMAX_slotIdx -extends Enum<SparkMaxSwerve.SparkMAX_slotIdx>
      -
      REV Slots for PID configuration.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Enum Constant Details

        - -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SparkMAX_slotIdx

          -
          private SparkMAX_slotIdx()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          values

          -
          public static SparkMaxSwerve.SparkMAX_slotIdx[] values()
          -
          Returns an array containing the constants of this enum class, in -the order they are declared.
          -
          -
          Returns:
          -
          an array containing the constants of this enum class, in the order they are declared
          -
          -
          -
          • -
        • -
          -

          valueOf

          -
          public static SparkMaxSwerve.SparkMAX_slotIdx valueOf(String name)
          -
          Returns the enum constant of this class with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this class. (Extraneous whitespace characters are -not permitted.)
          -
          -
          Parameters:
          -
          name - the name of the enum constant to be returned.
          -
          Returns:
          -
          the enum constant with the specified name
          -
          Throws:
          -
          IllegalArgumentException - if this enum class has no constant with the specified name
          -
          NullPointerException - if the argument is null
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html deleted file mode 100644 index c8fbb36..0000000 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ /dev/null @@ -1,778 +0,0 @@ - - - - -SparkMaxSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.motors
      -

      Class SparkMaxSwerve

      -
      -
      java.lang.Object -
      swervelib.motors.SwerveMotor -
      swervelib.motors.SparkMaxSwerve
      -
      -
      -
      -
      -
      public class SparkMaxSwerve -extends SwerveMotor
      -
      An implementation of CANSparkMax as a SwerveMotor.
      -
      -
      -
        - -
      • -
        -

        Nested Class Summary

        -
        Nested Classes
        -
        -
        Modifier and Type
        -
        Class
        -
        Description
        -
        (package private) static enum 
        -
        SparkMaxSwerve.SparkMAX_slotIdx
        -
        -
        REV Slots for PID configuration.
        -
        -
        -
        -
        • - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        SwerveAbsoluteEncoder
        -
        absoluteEncoder
        -
        -
        Absolute encoder attached to the SparkMax (if exists)
        -
        -
        com.revrobotics.RelativeEncoder
        -
        encoder
        -
        -
        Integrated encoder.
        -
        -
        private boolean
        -
        factoryDefaultOccurred
        -
        -
        Factory default already occurred.
        -
        -
        com.revrobotics.CANSparkMax
        -
        motor
        -
        -
        SparkMAX Instance.
        -
        -
        com.revrobotics.SparkPIDController
        -
        pid
        -
        -
        Closed-loop PID controller.
        -
        -
        private Supplier<Double>
        -
        position
        -
        -
        Supplier for the position of the motor controller.
        -
        -
        private Supplier<Double>
        -
        velocity
        -
        -
        Supplier for the velocity of the motor controller.
        -
        -
        -
        -

        Fields inherited from class swervelib.motors.SwerveMotor

        -isDriveMotor, maximumRetries
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SparkMaxSwerve(int id, - boolean isDriveMotor)
        -
        -
        Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
        -
        -
        SparkMaxSwerve(com.revrobotics.CANSparkMax motor, - boolean isDriveMotor)
        -
        -
        Initialize the swerve motor.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        burnFlash()
        -
        -
        Save the configurations from flash to EEPROM.
        -
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear the sticky faults on the motor controller.
        -
        -
        void
        -
        configureCANStatusFrames(int CANStatus0, - int CANStatus1, - int CANStatus2, - int CANStatus3, - int CANStatus4, - int CANStatus5, - int CANStatus6)
        -
        -
        Set the CAN status frames.
        -
        -
        void
        -
        configureIntegratedEncoder(double positionConversionFactor)
        -
        -
        Configure the integrated encoder for the swerve module.
        -
        -
        void
        -
        configurePIDF(PIDFConfig config)
        -
        -
        Configure the PIDF values for the closed loop controller.
        -
        -
        void
        -
        configurePIDWrapping(double minInput, - double maxInput)
        -
        -
        Configure the PID wrapping for the position closed loop controller.
        -
        -
        private void
        -
        configureSparkMax(Supplier<com.revrobotics.REVLibError> config)
        -
        -
        Run the configuration until it succeeds or times out.
        -
        -
        void
        -
        factoryDefaults()
        -
        -
        Configure the factory defaults.
        -
        -
        double
        -
        getAppliedOutput()
        -
        -
        Get the applied dutycycle output.
        -
        -
        Object
        -
        getMotor()
        -
        -
        Get the motor object from the module.
        -
        -
        double
        -
        getPosition()
        -
        -
        Get the position of the integrated encoder.
        -
        -
        double
        -
        getVelocity()
        -
        -
        Get the velocity of the integrated encoder.
        -
        -
        double
        -
        getVoltage()
        -
        -
        Get the voltage output of the motor controller.
        -
        -
        boolean
        -
        isAttachedAbsoluteEncoder()
        -
        -
        Queries whether the absolute encoder is directly attached to the motor controller.
        -
        -
        void
        -
        set(double percentOutput)
        -
        -
        Set the percentage output.
        -
        -
        SwerveMotor
        -
        setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
        -
        -
        Set the absolute encoder to be a compatible absolute encoder.
        -
        -
        void
        -
        setCurrentLimit(int currentLimit)
        -
        -
        Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
        -
        -
        void
        -
        setInverted(boolean inverted)
        -
        -
        Set the motor to be inverted.
        -
        -
        void
        -
        setLoopRampRate(double rampRate)
        -
        -
        Set the maximum rate the open/closed loop output can change by.
        -
        -
        void
        -
        setMotorBrake(boolean isBrakeMode)
        -
        -
        Set the idle mode.
        -
        -
        void
        -
        setPosition(double position)
        -
        -
        Set the integrated encoder position.
        -
        -
        void
        -
        setReference(double setpoint, - double feedforward)
        -
        -
        Set the closed loop PID controller reference point.
        -
        -
        void
        -
        setReference(double setpoint, - double feedforward, - double position)
        -
        -
        Set the closed loop PID controller reference point.
        -
        -
        void
        -
        setVoltage(double voltage)
        -
        -
        Set the voltage of the motor.
        -
        -
        void
        -
        setVoltageCompensation(double nominalVoltage)
        -
        -
        Set the voltage compensation for the swerve module motor.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          motor

          -
          public com.revrobotics.CANSparkMax motor
          -
          SparkMAX Instance.
          -
          -
          • -
        • -
          -

          encoder

          -
          public com.revrobotics.RelativeEncoder encoder
          -
          Integrated encoder.
          -
          -
          • -
        • -
          -

          absoluteEncoder

          -
          public SwerveAbsoluteEncoder absoluteEncoder
          -
          Absolute encoder attached to the SparkMax (if exists)
          -
          -
          • -
        • -
          -

          pid

          -
          public com.revrobotics.SparkPIDController pid
          -
          Closed-loop PID controller.
          -
          -
          • -
        • -
          -

          factoryDefaultOccurred

          -
          private boolean factoryDefaultOccurred
          -
          Factory default already occurred.
          -
          -
          • -
        • -
          -

          velocity

          -
          private Supplier<Double> velocity
          -
          Supplier for the velocity of the motor controller.
          -
          -
          • -
        • -
          -

          position

          -
          private Supplier<Double> position
          -
          Supplier for the position of the motor controller.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SparkMaxSwerve

          -
          public SparkMaxSwerve(com.revrobotics.CANSparkMax motor, - boolean isDriveMotor)
          -
          Initialize the swerve motor.
          -
          -
          Parameters:
          -
          motor - The SwerveMotor as a SparkMax object.
          -
          isDriveMotor - Is the motor being initialized a drive motor?
          -
          -
          -
          • -
        • -
          -

          SparkMaxSwerve

          -
          public SparkMaxSwerve(int id, - boolean isDriveMotor)
          -
          Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
          -
          -
          Parameters:
          -
          id - CAN ID of the SparkMax.
          -
          isDriveMotor - Is the motor being initialized a drive motor?
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          configureSparkMax

          -
          private void configureSparkMax(Supplier<com.revrobotics.REVLibError> config)
          -
          Run the configuration until it succeeds or times out.
          -
          -
          Parameters:
          -
          config - Lambda supplier returning the error state.
          -
          -
          -
          • -
        • -
          -

          setVoltageCompensation

          -
          public void setVoltageCompensation(double nominalVoltage)
          -
          Set the voltage compensation for the swerve module motor.
          -
          -
          Specified by:
          -
          setVoltageCompensation in class SwerveMotor
          -
          Parameters:
          -
          nominalVoltage - Nominal voltage for operation to output to.
          -
          -
          -
          • -
        • -
          -

          setCurrentLimit

          -
          public void setCurrentLimit(int currentLimit)
          -
          Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation. This is useful to protect the motor from current spikes.
          -
          -
          Specified by:
          -
          setCurrentLimit in class SwerveMotor
          -
          Parameters:
          -
          currentLimit - Current limit in AMPS at free speed.
          -
          -
          -
          • -
        • -
          -

          setLoopRampRate

          -
          public void setLoopRampRate(double rampRate)
          -
          Set the maximum rate the open/closed loop output can change by.
          -
          -
          Specified by:
          -
          setLoopRampRate in class SwerveMotor
          -
          Parameters:
          -
          rampRate - Time in seconds to go from 0 to full throttle.
          -
          -
          -
          • -
        • -
          -

          getMotor

          -
          public Object getMotor()
          -
          Get the motor object from the module.
          -
          -
          Specified by:
          -
          getMotor in class SwerveMotor
          -
          Returns:
          -
          Motor object.
          -
          -
          -
          • -
        • -
          -

          isAttachedAbsoluteEncoder

          -
          public boolean isAttachedAbsoluteEncoder()
          -
          Queries whether the absolute encoder is directly attached to the motor controller.
          -
          -
          Specified by:
          -
          isAttachedAbsoluteEncoder in class SwerveMotor
          -
          Returns:
          -
          connected absolute encoder state.
          -
          -
          -
          • -
        • -
          -

          factoryDefaults

          -
          public void factoryDefaults()
          -
          Configure the factory defaults.
          -
          -
          Specified by:
          -
          factoryDefaults in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear the sticky faults on the motor controller.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoder

          -
          public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
          -
          Set the absolute encoder to be a compatible absolute encoder.
          -
          -
          Specified by:
          -
          setAbsoluteEncoder in class SwerveMotor
          -
          Parameters:
          -
          encoder - The encoder to use.
          -
          Returns:
          -
          The SwerveMotor for easy instantiation.
          -
          -
          -
          • -
        • -
          -

          configureIntegratedEncoder

          -
          public void configureIntegratedEncoder(double positionConversionFactor)
          -
          Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
          -
          -
          Specified by:
          -
          configureIntegratedEncoder in class SwerveMotor
          -
          Parameters:
          -
          positionConversionFactor - The conversion factor to apply.
          -
          -
          -
          • -
        • -
          -

          configurePIDF

          -
          public void configurePIDF(PIDFConfig config)
          -
          Configure the PIDF values for the closed loop controller.
          -
          -
          Specified by:
          -
          configurePIDF in class SwerveMotor
          -
          Parameters:
          -
          config - Configuration class holding the PIDF values.
          -
          -
          -
          • -
        • -
          -

          configurePIDWrapping

          -
          public void configurePIDWrapping(double minInput, - double maxInput)
          -
          Configure the PID wrapping for the position closed loop controller.
          -
          -
          Specified by:
          -
          configurePIDWrapping in class SwerveMotor
          -
          Parameters:
          -
          minInput - Minimum PID input.
          -
          maxInput - Maximum PID input.
          -
          -
          -
          • -
        • -
          -

          configureCANStatusFrames

          -
          public void configureCANStatusFrames(int CANStatus0, - int CANStatus1, - int CANStatus2, - int CANStatus3, - int CANStatus4, - int CANStatus5, - int CANStatus6)
          -
          Set the CAN status frames.
          -
          -
          Parameters:
          -
          CANStatus0 - Applied Output, Faults, Sticky Faults, Is Follower
          -
          CANStatus1 - Motor Velocity, Motor Temperature, Motor Voltage, Motor Current
          -
          CANStatus2 - Motor Position
          -
          CANStatus3 - Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position
          -
          CANStatus4 - Alternate Encoder Velocity, Alternate Encoder Position
          -
          CANStatus5 - Duty Cycle Absolute Encoder Position, Duty Cycle Absolute Encoder Absolute Angle
          -
          CANStatus6 - Duty Cycle Absolute Encoder Velocity, Duty Cycle Absolute Encoder Frequency
          -
          -
          -
          • -
        • -
          -

          setMotorBrake

          -
          public void setMotorBrake(boolean isBrakeMode)
          -
          Set the idle mode.
          -
          -
          Specified by:
          -
          setMotorBrake in class SwerveMotor
          -
          Parameters:
          -
          isBrakeMode - Set the brake mode.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean inverted)
          -
          Set the motor to be inverted.
          -
          -
          Specified by:
          -
          setInverted in class SwerveMotor
          -
          Parameters:
          -
          inverted - State of inversion.
          -
          -
          -
          • -
        • -
          -

          burnFlash

          -
          public void burnFlash()
          -
          Save the configurations from flash to EEPROM.
          -
          -
          Specified by:
          -
          burnFlash in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          set

          -
          public void set(double percentOutput)
          -
          Set the percentage output.
          -
          -
          Specified by:
          -
          set in class SwerveMotor
          -
          Parameters:
          -
          percentOutput - percent out for the motor controller.
          -
          -
          -
          • -
        • -
          -

          setReference

          -
          public void setReference(double setpoint, - double feedforward)
          -
          Set the closed loop PID controller reference point.
          -
          -
          Specified by:
          -
          setReference in class SwerveMotor
          -
          Parameters:
          -
          setpoint - Setpoint in MPS or Angle in degrees.
          -
          feedforward - Feedforward in volt-meter-per-second or kV.
          -
          -
          -
          • -
        • -
          -

          setReference

          -
          public void setReference(double setpoint, - double feedforward, - double position)
          -
          Set the closed loop PID controller reference point.
          -
          -
          Specified by:
          -
          setReference in class SwerveMotor
          -
          Parameters:
          -
          setpoint - Setpoint in meters per second or angle in degrees.
          -
          feedforward - Feedforward in volt-meter-per-second or kV.
          -
          position - Only used on the angle motor, the position of the motor in degrees.
          -
          -
          -
          • -
        • -
          -

          getVoltage

          -
          public double getVoltage()
          -
          Get the voltage output of the motor controller.
          -
          -
          Specified by:
          -
          getVoltage in class SwerveMotor
          -
          Returns:
          -
          Voltage output.
          -
          -
          -
          • -
        • -
          -

          setVoltage

          -
          public void setVoltage(double voltage)
          -
          Set the voltage of the motor.
          -
          -
          Specified by:
          -
          setVoltage in class SwerveMotor
          -
          Parameters:
          -
          voltage - Voltage to set.
          -
          -
          -
          • -
        • -
          -

          getAppliedOutput

          -
          public double getAppliedOutput()
          -
          Get the applied dutycycle output.
          -
          -
          Specified by:
          -
          getAppliedOutput in class SwerveMotor
          -
          Returns:
          -
          Applied dutycycle output to the motor.
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the velocity of the integrated encoder.
          -
          -
          Specified by:
          -
          getVelocity in class SwerveMotor
          -
          Returns:
          -
          velocity
          -
          -
          -
          • -
        • -
          -

          getPosition

          -
          public double getPosition()
          -
          Get the position of the integrated encoder.
          -
          -
          Specified by:
          -
          getPosition in class SwerveMotor
          -
          Returns:
          -
          Position
          -
          -
          -
          • -
        • -
          -

          setPosition

          -
          public void setPosition(double position)
          -
          Set the integrated encoder position.
          -
          -
          Specified by:
          -
          setPosition in class SwerveMotor
          -
          Parameters:
          -
          position - Integrated encoder position.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html deleted file mode 100644 index 010fd99..0000000 --- a/docs/swervelib/motors/SwerveMotor.html +++ /dev/null @@ -1,578 +0,0 @@ - - - - -SwerveMotor - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.motors
      -

      Class SwerveMotor

      -
      -
      java.lang.Object -
      swervelib.motors.SwerveMotor
      -
      -
      -
      -
      Direct Known Subclasses:
      -
      SparkFlexSwerve, SparkMaxBrushedMotorSwerve, SparkMaxSwerve, TalonFXSwerve, TalonSRXSwerve
      -
      -
      -
      public abstract class SwerveMotor -extends Object
      -
      Swerve motor abstraction which defines a standard interface for motors within a swerve module.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        protected boolean
        -
        isDriveMotor
        -
        -
        Whether the swerve motor is a drive motor.
        -
        -
        final int
        -
        maximumRetries
        -
        -
        The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SwerveMotor()
        -
         
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        abstract void
        -
        burnFlash()
        -
        -
        Save the configurations from flash to EEPROM.
        -
        -
        abstract void
        -
        clearStickyFaults()
        -
        -
        Clear the sticky faults on the motor controller.
        -
        -
        abstract void
        -
        configureIntegratedEncoder(double positionConversionFactor)
        -
        -
        Configure the integrated encoder for the swerve module.
        -
        -
        abstract void
        -
        configurePIDF(PIDFConfig config)
        -
        -
        Configure the PIDF values for the closed loop controller.
        -
        -
        abstract void
        -
        configurePIDWrapping(double minInput, - double maxInput)
        -
        -
        Configure the PID wrapping for the position closed loop controller.
        -
        -
        abstract void
        -
        factoryDefaults()
        -
        -
        Configure the factory defaults.
        -
        -
        abstract double
        -
        getAppliedOutput()
        -
        -
        Get the applied dutycycle output.
        -
        -
        abstract Object
        -
        getMotor()
        -
        -
        Get the motor object from the module.
        -
        -
        abstract double
        -
        getPosition()
        -
        -
        Get the position of the integrated encoder.
        -
        -
        abstract double
        -
        getVelocity()
        -
        -
        Get the velocity of the integrated encoder.
        -
        -
        abstract double
        -
        getVoltage()
        -
        -
        Get the voltage output of the motor controller.
        -
        -
        abstract boolean
        -
        isAttachedAbsoluteEncoder()
        -
        -
        Queries whether the absolute encoder is directly attached to the motor controller.
        -
        -
        abstract void
        -
        set(double percentOutput)
        -
        -
        Set the percentage output.
        -
        -
        abstract SwerveMotor
        -
        setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
        -
        -
        Set the absolute encoder to be a compatible absolute encoder.
        -
        -
        abstract void
        -
        setCurrentLimit(int currentLimit)
        -
        -
        Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
        -
        -
        abstract void
        -
        setInverted(boolean inverted)
        -
        -
        Set the motor to be inverted.
        -
        -
        abstract void
        -
        setLoopRampRate(double rampRate)
        -
        -
        Set the maximum rate the open/closed loop output can change by.
        -
        -
        abstract void
        -
        setMotorBrake(boolean isBrakeMode)
        -
        -
        Set the idle mode.
        -
        -
        abstract void
        -
        setPosition(double position)
        -
        -
        Set the integrated encoder position.
        -
        -
        abstract void
        -
        setReference(double setpoint, - double feedforward)
        -
        -
        Set the closed loop PID controller reference point.
        -
        -
        abstract void
        -
        setReference(double setpoint, - double feedforward, - double position)
        -
        -
        Set the closed loop PID controller reference point.
        -
        -
        abstract void
        -
        setVoltage(double voltage)
        -
        -
        Set the voltage of the motor.
        -
        -
        abstract void
        -
        setVoltageCompensation(double nominalVoltage)
        -
        -
        Set the voltage compensation for the swerve module motor.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          maximumRetries

          -
          public final int maximumRetries
          -
          The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.
          -
          -
          See Also:
          -
          - -
          -
          -
          -
          • -
        • -
          -

          isDriveMotor

          -
          protected boolean isDriveMotor
          -
          Whether the swerve motor is a drive motor.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveMotor

          -
          public SwerveMotor()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefaults

          -
          public abstract void factoryDefaults()
          -
          Configure the factory defaults.
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public abstract void clearStickyFaults()
          -
          Clear the sticky faults on the motor controller.
          -
          -
          • -
        • -
          -

          setAbsoluteEncoder

          -
          public abstract SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
          -
          Set the absolute encoder to be a compatible absolute encoder.
          -
          -
          Parameters:
          -
          encoder - The encoder to use.
          -
          Returns:
          -
          The SwerveMotor for single line configuration.
          -
          -
          -
          • -
        • -
          -

          configureIntegratedEncoder

          -
          public abstract void configureIntegratedEncoder(double positionConversionFactor)
          -
          Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
          -
          -
          Parameters:
          -
          positionConversionFactor - The conversion factor to apply for position.
          -
          -
          -
          • -
        • -
          -

          configurePIDF

          -
          public abstract void configurePIDF(PIDFConfig config)
          -
          Configure the PIDF values for the closed loop controller. 0 is disabled or off.
          -
          -
          Parameters:
          -
          config - Configuration class holding the PIDF values.
          -
          -
          -
          • -
        • -
          -

          configurePIDWrapping

          -
          public abstract void configurePIDWrapping(double minInput, - double maxInput)
          -
          Configure the PID wrapping for the position closed loop controller.
          -
          -
          Parameters:
          -
          minInput - Minimum PID input.
          -
          maxInput - Maximum PID input.
          -
          -
          -
          • -
        • -
          -

          setMotorBrake

          -
          public abstract void setMotorBrake(boolean isBrakeMode)
          -
          Set the idle mode.
          -
          -
          Parameters:
          -
          isBrakeMode - Set the brake mode.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public abstract void setInverted(boolean inverted)
          -
          Set the motor to be inverted.
          -
          -
          Parameters:
          -
          inverted - State of inversion.
          -
          -
          -
          • -
        • -
          -

          burnFlash

          -
          public abstract void burnFlash()
          -
          Save the configurations from flash to EEPROM.
          -
          -
          • -
        • -
          -

          set

          -
          public abstract void set(double percentOutput)
          -
          Set the percentage output.
          -
          -
          Parameters:
          -
          percentOutput - percent out for the motor controller.
          -
          -
          -
          • -
        • -
          -

          setReference

          -
          public abstract void setReference(double setpoint, - double feedforward)
          -
          Set the closed loop PID controller reference point.
          -
          -
          Parameters:
          -
          setpoint - Setpoint in meters per second or angle in degrees.
          -
          feedforward - Feedforward in volt-meter-per-second or kV.
          -
          -
          -
          • -
        • -
          -

          setReference

          -
          public abstract void setReference(double setpoint, - double feedforward, - double position)
          -
          Set the closed loop PID controller reference point.
          -
          -
          Parameters:
          -
          setpoint - Setpoint in meters per second or angle in degrees.
          -
          feedforward - Feedforward in volt-meter-per-second or kV.
          -
          position - Only used on the angle motor, the position of the motor in degrees.
          -
          -
          -
          • -
        • -
          -

          getVoltage

          -
          public abstract double getVoltage()
          -
          Get the voltage output of the motor controller.
          -
          -
          Returns:
          -
          Voltage output.
          -
          -
          -
          • -
        • -
          -

          setVoltage

          -
          public abstract void setVoltage(double voltage)
          -
          Set the voltage of the motor.
          -
          -
          Parameters:
          -
          voltage - Voltage to set.
          -
          -
          -
          • -
        • -
          -

          getAppliedOutput

          -
          public abstract double getAppliedOutput()
          -
          Get the applied dutycycle output.
          -
          -
          Returns:
          -
          Applied dutycycle output to the motor.
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public abstract double getVelocity()
          -
          Get the velocity of the integrated encoder.
          -
          -
          Returns:
          -
          velocity in meters per second or degrees per second.
          -
          -
          -
          • -
        • -
          -

          getPosition

          -
          public abstract double getPosition()
          -
          Get the position of the integrated encoder.
          -
          -
          Returns:
          -
          Position in meters or degrees.
          -
          -
          -
          • -
        • -
          -

          setPosition

          -
          public abstract void setPosition(double position)
          -
          Set the integrated encoder position.
          -
          -
          Parameters:
          -
          position - Integrated encoder position. Should be angle in degrees or meters per second.
          -
          -
          -
          • -
        • -
          -

          setVoltageCompensation

          -
          public abstract void setVoltageCompensation(double nominalVoltage)
          -
          Set the voltage compensation for the swerve module motor.
          -
          -
          Parameters:
          -
          nominalVoltage - Nominal voltage for operation to output to.
          -
          -
          -
          • -
        • -
          -

          setCurrentLimit

          -
          public abstract void setCurrentLimit(int currentLimit)
          -
          Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation. This is useful to protect the motor from current spikes.
          -
          -
          Parameters:
          -
          currentLimit - Current limit in AMPS at free speed.
          -
          -
          -
          • -
        • -
          -

          setLoopRampRate

          -
          public abstract void setLoopRampRate(double rampRate)
          -
          Set the maximum rate the open/closed loop output can change by.
          -
          -
          Parameters:
          -
          rampRate - Time in seconds to go from 0 to full throttle.
          -
          -
          -
          • -
        • -
          -

          getMotor

          -
          public abstract Object getMotor()
          -
          Get the motor object from the module.
          -
          -
          Returns:
          -
          Motor object.
          -
          -
          -
          • -
        • -
          -

          isAttachedAbsoluteEncoder

          -
          public abstract boolean isAttachedAbsoluteEncoder()
          -
          Queries whether the absolute encoder is directly attached to the motor controller.
          -
          -
          Returns:
          -
          connected absolute encoder state.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html deleted file mode 100644 index 653ce8b..0000000 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ /dev/null @@ -1,845 +0,0 @@ - - - - -TalonFXSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.motors
      -

      Class TalonFXSwerve

      -
      -
      java.lang.Object -
      swervelib.motors.SwerveMotor -
      swervelib.motors.TalonFXSwerve
      -
      -
      -
      -
      -
      public class TalonFXSwerve -extends SwerveMotor
      -
      TalonFX Swerve Motor. Made by Team 1466 WebbRobotics.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private final boolean
        -
        absoluteEncoder
        -
        -
        Whether the absolute encoder is integrated.
        -
        -
        private com.ctre.phoenix6.configs.TalonFXConfigurator
        -
        cfg
        -
        -
        Current TalonFX Configurator.
        -
        -
        private com.ctre.phoenix6.configs.TalonFXConfiguration
        -
        configuration
        -
        -
        Current TalonFX configuration.
        -
        -
        private double
        -
        conversionFactor
        -
        -
        Conversion factor for the motor.
        -
        -
        private final boolean
        -
        factoryDefaultOccurred
        -
        -
        Factory default already occurred.
        -
        -
        private final com.ctre.phoenix6.controls.MotionMagicVoltage
        -
        m_angleVoltageSetter
        -
        -
        Motion magic angle voltage setter.
        -
        -
        private final com.ctre.phoenix6.controls.VelocityVoltage
        -
        m_velocityVoltageSetter
        -
        -
        Velocity voltage setter for controlling drive motor.
        -
        -
        (package private) com.ctre.phoenix6.hardware.TalonFX
        -
        motor
        -
        -
        TalonFX motor controller.
        -
        -
        static double
        -
        STATUS_TIMEOUT_SECONDS
        -
        -
        Wait time for status frames to show up.
        -
        -
        -
        -

        Fields inherited from class swervelib.motors.SwerveMotor

        -isDriveMotor, maximumRetries
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        TalonFXSwerve(int id, - boolean isDriveMotor)
        -
        -
        Construct the TalonFX swerve motor given the ID.
        -
        -
        TalonFXSwerve(int id, - String canbus, - boolean isDriveMotor)
        -
        -
        Construct the TalonFX swerve motor given the ID and CANBus.
        -
        -
        TalonFXSwerve(com.ctre.phoenix6.hardware.TalonFX motor, - boolean isDriveMotor)
        -
        -
        Constructor for TalonFX swerve motor.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        burnFlash()
        -
        -
        Save the configurations from flash to EEPROM.
        -
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear the sticky faults on the motor controller.
        -
        -
        void
        -
        configureCANStatusFrames(int CANStatus1)
        -
        -
        Set the CAN status frames.
        -
        -
        void
        -
        configureCANStatusFrames(int CANStatus1, - int CANStatus2, - int CANStatus3, - int CANStatus4, - int CANStatus8, - int CANStatus10, - int CANStatus12, - int CANStatus13, - int CANStatus14, - int CANStatus21, - int CANStatusCurrent)
        -
        -
        Set the CAN status frames.
        -
        -
        void
        -
        configureIntegratedEncoder(double positionConversionFactor)
        -
        -
        Configure the integrated encoder for the swerve module.
        -
        -
        void
        -
        configurePIDF(PIDFConfig config)
        -
        -
        Configure the PIDF values for the closed loop controller.
        -
        -
        void
        -
        configurePIDWrapping(double minInput, - double maxInput)
        -
        -
        Configure the PID wrapping for the position closed loop controller.
        -
        -
        void
        -
        factoryDefaults()
        -
        -
        Configure the factory defaults.
        -
        -
        double
        -
        getAppliedOutput()
        -
        -
        Get the applied dutycycle output.
        -
        -
        Object
        -
        getMotor()
        -
        -
        Get the motor object from the module.
        -
        -
        double
        -
        getPosition()
        -
        -
        Get the position of the integrated encoder.
        -
        -
        double
        -
        getVelocity()
        -
        -
        Get the velocity of the integrated encoder.
        -
        -
        double
        -
        getVoltage()
        -
        -
        Get the voltage output of the motor controller.
        -
        -
        boolean
        -
        isAttachedAbsoluteEncoder()
        -
        -
        Queries whether the absolute encoder is directly attached to the motor controller.
        -
        -
        void
        -
        set(double percentOutput)
        -
        -
        Set the percentage output.
        -
        -
        SwerveMotor
        -
        setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
        -
        -
        Set the absolute encoder to be a compatible absolute encoder.
        -
        -
        void
        -
        setCurrentLimit(int currentLimit)
        -
        -
        Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
        -
        -
        void
        -
        setInverted(boolean inverted)
        -
        -
        Set the motor to be inverted.
        -
        -
        void
        -
        setLoopRampRate(double rampRate)
        -
        -
        Set the maximum rate the open/closed loop output can change by.
        -
        -
        void
        -
        setMotorBrake(boolean isBrakeMode)
        -
        -
        Set the idle mode.
        -
        -
        void
        -
        setPosition(double position)
        -
        -
        Set the integrated encoder position.
        -
        -
        void
        -
        setReference(double setpoint, - double feedforward)
        -
        -
        Set the closed loop PID controller reference point.
        -
        -
        void
        -
        setReference(double setpoint, - double feedforward, - double position)
        -
        -
        Set the closed loop PID controller reference point.
        -
        -
        void
        -
        setVoltage(double voltage)
        -
        -
        Set the voltage of the motor.
        -
        -
        void
        -
        setVoltageCompensation(double nominalVoltage)
        -
        -
        Set the voltage compensation for the swerve module motor.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          STATUS_TIMEOUT_SECONDS

          -
          public static double STATUS_TIMEOUT_SECONDS
          -
          Wait time for status frames to show up.
          -
          -
          • -
        • -
          -

          factoryDefaultOccurred

          -
          private final boolean factoryDefaultOccurred
          -
          Factory default already occurred.
          -
          -
          See Also:
          -
          - -
          -
          -
          -
          • -
        • -
          -

          absoluteEncoder

          -
          private final boolean absoluteEncoder
          -
          Whether the absolute encoder is integrated.
          -
          -
          See Also:
          -
          - -
          -
          -
          -
          • -
        • -
          -

          m_angleVoltageSetter

          -
          private final com.ctre.phoenix6.controls.MotionMagicVoltage m_angleVoltageSetter
          -
          Motion magic angle voltage setter.
          -
          -
          • -
        • -
          -

          m_velocityVoltageSetter

          -
          private final com.ctre.phoenix6.controls.VelocityVoltage m_velocityVoltageSetter
          -
          Velocity voltage setter for controlling drive motor.
          -
          -
          • -
        • -
          -

          motor

          -
          com.ctre.phoenix6.hardware.TalonFX motor
          -
          TalonFX motor controller.
          -
          -
          • -
        • -
          -

          conversionFactor

          -
          private double conversionFactor
          -
          Conversion factor for the motor.
          -
          -
          • -
        • -
          -

          configuration

          -
          private com.ctre.phoenix6.configs.TalonFXConfiguration configuration
          -
          Current TalonFX configuration.
          -
          -
          • -
        • -
          -

          cfg

          -
          private com.ctre.phoenix6.configs.TalonFXConfigurator cfg
          -
          Current TalonFX Configurator.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          TalonFXSwerve

          -
          public TalonFXSwerve(com.ctre.phoenix6.hardware.TalonFX motor, - boolean isDriveMotor)
          -
          Constructor for TalonFX swerve motor.
          -
          -
          Parameters:
          -
          motor - Motor to use.
          -
          isDriveMotor - Whether this motor is a drive motor.
          -
          -
          -
          • -
        • -
          -

          TalonFXSwerve

          -
          public TalonFXSwerve(int id, - String canbus, - boolean isDriveMotor)
          -
          Construct the TalonFX swerve motor given the ID and CANBus.
          -
          -
          Parameters:
          -
          id - ID of the TalonFX on the CANBus.
          -
          canbus - CANBus on which the TalonFX is on.
          -
          isDriveMotor - Whether the motor is a drive or steering motor.
          -
          -
          -
          • -
        • -
          -

          TalonFXSwerve

          -
          public TalonFXSwerve(int id, - boolean isDriveMotor)
          -
          Construct the TalonFX swerve motor given the ID.
          -
          -
          Parameters:
          -
          id - ID of the TalonFX on the canbus.
          -
          isDriveMotor - Whether the motor is a drive or steering motor.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefaults

          -
          public void factoryDefaults()
          -
          Configure the factory defaults.
          -
          -
          Specified by:
          -
          factoryDefaults in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear the sticky faults on the motor controller.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoder

          -
          public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
          -
          Set the absolute encoder to be a compatible absolute encoder.
          -
          -
          Specified by:
          -
          setAbsoluteEncoder in class SwerveMotor
          -
          Parameters:
          -
          encoder - The encoder to use.
          -
          Returns:
          -
          The SwerveMotor for single line configuration.
          -
          -
          -
          • -
        • -
          -

          configureIntegratedEncoder

          -
          public void configureIntegratedEncoder(double positionConversionFactor)
          -
          Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
          -
          -
          Specified by:
          -
          configureIntegratedEncoder in class SwerveMotor
          -
          Parameters:
          -
          positionConversionFactor - The conversion factor to apply for position. -


          - Degrees:
          - - 360 / (angleGearRatio * encoderTicksPerRotation) -
          -


          - Meters:
          - - (Math.PI * wheelDiameter) / (driveGearRatio * encoderTicksPerRotation) -

          -
          -
          -
          • -
        • -
          -

          configureCANStatusFrames

          -
          public void configureCANStatusFrames(int CANStatus1)
          -
          Set the CAN status frames.
          -
          -
          Parameters:
          -
          CANStatus1 - Applied Motor Output, Fault Information, Limit Switch Information
          -
          -
          -
          • -
        • -
          -

          configureCANStatusFrames

          -
          public void configureCANStatusFrames(int CANStatus1, - int CANStatus2, - int CANStatus3, - int CANStatus4, - int CANStatus8, - int CANStatus10, - int CANStatus12, - int CANStatus13, - int CANStatus14, - int CANStatus21, - int CANStatusCurrent)
          -
          Set the CAN status frames.
          -
          -
          Parameters:
          -
          CANStatus1 - Applied Motor Output, Fault Information, Limit Switch Information
          -
          CANStatus2 - Selected Sensor Position (PID 0), Selected Sensor Velocity (PID 0), Brushed Supply Current - Measurement, Sticky Fault Information
          -
          CANStatus3 - Quadrature Information
          -
          CANStatus4 - Analog Input, Supply Battery Voltage, Controller Temperature
          -
          CANStatus8 - Pulse Width Information
          -
          CANStatus10 - Motion Profiling/Motion Magic Information
          -
          CANStatus12 - Selected Sensor Position (Aux PID 1), Selected Sensor Velocity (Aux PID 1)
          -
          CANStatus13 - PID0 (Primary PID) Information
          -
          CANStatus14 - PID1 (Auxiliary PID) Information
          -
          CANStatus21 - Integrated Sensor Position (Talon FX), Integrated Sensor Velocity (Talon FX)
          -
          CANStatusCurrent - Brushless Supply Current Measurement, Brushless Stator Current Measurement
          -
          -
          -
          • -
        • -
          -

          configurePIDF

          -
          public void configurePIDF(PIDFConfig config)
          -
          Configure the PIDF values for the closed loop controller. 0 is disabled or off.
          -
          -
          Specified by:
          -
          configurePIDF in class SwerveMotor
          -
          Parameters:
          -
          config - Configuration class holding the PIDF values.
          -
          -
          -
          • -
        • -
          -

          configurePIDWrapping

          -
          public void configurePIDWrapping(double minInput, - double maxInput)
          -
          Configure the PID wrapping for the position closed loop controller.
          -
          -
          Specified by:
          -
          configurePIDWrapping in class SwerveMotor
          -
          Parameters:
          -
          minInput - Minimum PID input.
          -
          maxInput - Maximum PID input.
          -
          -
          -
          • -
        • -
          -

          setMotorBrake

          -
          public void setMotorBrake(boolean isBrakeMode)
          -
          Set the idle mode.
          -
          -
          Specified by:
          -
          setMotorBrake in class SwerveMotor
          -
          Parameters:
          -
          isBrakeMode - Set the brake mode.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean inverted)
          -
          Set the motor to be inverted.
          -
          -
          Specified by:
          -
          setInverted in class SwerveMotor
          -
          Parameters:
          -
          inverted - State of inversion.
          -
          -
          -
          • -
        • -
          -

          burnFlash

          -
          public void burnFlash()
          -
          Save the configurations from flash to EEPROM.
          -
          -
          Specified by:
          -
          burnFlash in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          set

          -
          public void set(double percentOutput)
          -
          Set the percentage output.
          -
          -
          Specified by:
          -
          set in class SwerveMotor
          -
          Parameters:
          -
          percentOutput - percent out for the motor controller.
          -
          -
          -
          • -
        • -
          -

          setReference

          -
          public void setReference(double setpoint, - double feedforward)
          -
          Set the closed loop PID controller reference point.
          -
          -
          Specified by:
          -
          setReference in class SwerveMotor
          -
          Parameters:
          -
          setpoint - Setpoint in MPS or Angle in degrees.
          -
          feedforward - Feedforward in volt-meter-per-second or kV.
          -
          -
          -
          • -
        • -
          -

          setReference

          -
          public void setReference(double setpoint, - double feedforward, - double position)
          -
          Set the closed loop PID controller reference point.
          -
          -
          Specified by:
          -
          setReference in class SwerveMotor
          -
          Parameters:
          -
          setpoint - Setpoint in meters per second or angle in degrees.
          -
          feedforward - Feedforward in volt-meter-per-second or kV.
          -
          position - Only used on the angle motor, the position of the motor in degrees.
          -
          -
          -
          • -
        • -
          -

          getVoltage

          -
          public double getVoltage()
          -
          Get the voltage output of the motor controller.
          -
          -
          Specified by:
          -
          getVoltage in class SwerveMotor
          -
          Returns:
          -
          Voltage output.
          -
          -
          -
          • -
        • -
          -

          setVoltage

          -
          public void setVoltage(double voltage)
          -
          Set the voltage of the motor.
          -
          -
          Specified by:
          -
          setVoltage in class SwerveMotor
          -
          Parameters:
          -
          voltage - Voltage to set.
          -
          -
          -
          • -
        • -
          -

          getAppliedOutput

          -
          public double getAppliedOutput()
          -
          Get the applied dutycycle output.
          -
          -
          Specified by:
          -
          getAppliedOutput in class SwerveMotor
          -
          Returns:
          -
          Applied dutycycle output to the motor.
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the velocity of the integrated encoder.
          -
          -
          Specified by:
          -
          getVelocity in class SwerveMotor
          -
          Returns:
          -
          velocity in Meters Per Second, or Degrees per Second.
          -
          -
          -
          • -
        • -
          -

          getPosition

          -
          public double getPosition()
          -
          Get the position of the integrated encoder.
          -
          -
          Specified by:
          -
          getPosition in class SwerveMotor
          -
          Returns:
          -
          Position in Meters or Degrees.
          -
          -
          -
          • -
        • -
          -

          setPosition

          -
          public void setPosition(double position)
          -
          Set the integrated encoder position.
          -
          -
          Specified by:
          -
          setPosition in class SwerveMotor
          -
          Parameters:
          -
          position - Integrated encoder position. Should be angle in degrees or meters.
          -
          -
          -
          • -
        • -
          -

          setVoltageCompensation

          -
          public void setVoltageCompensation(double nominalVoltage)
          -
          Set the voltage compensation for the swerve module motor.
          -
          -
          Specified by:
          -
          setVoltageCompensation in class SwerveMotor
          -
          Parameters:
          -
          nominalVoltage - Nominal voltage for operation to output to.
          -
          -
          -
          • -
        • -
          -

          setCurrentLimit

          -
          public void setCurrentLimit(int currentLimit)
          -
          Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation. This is useful to protect the motor from current spikes.
          -
          -
          Specified by:
          -
          setCurrentLimit in class SwerveMotor
          -
          Parameters:
          -
          currentLimit - Current limit in AMPS at free speed.
          -
          -
          -
          • -
        • -
          -

          setLoopRampRate

          -
          public void setLoopRampRate(double rampRate)
          -
          Set the maximum rate the open/closed loop output can change by.
          -
          -
          Specified by:
          -
          setLoopRampRate in class SwerveMotor
          -
          Parameters:
          -
          rampRate - Time in seconds to go from 0 to full throttle.
          -
          -
          -
          • -
        • -
          -

          getMotor

          -
          public Object getMotor()
          -
          Get the motor object from the module.
          -
          -
          Specified by:
          -
          getMotor in class SwerveMotor
          -
          Returns:
          -
          Motor object.
          -
          -
          -
          • -
        • -
          -

          isAttachedAbsoluteEncoder

          -
          public boolean isAttachedAbsoluteEncoder()
          -
          Queries whether the absolute encoder is directly attached to the motor controller.
          -
          -
          Specified by:
          -
          isAttachedAbsoluteEncoder in class SwerveMotor
          -
          Returns:
          -
          connected absolute encoder state.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html deleted file mode 100644 index 084e181..0000000 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ /dev/null @@ -1,821 +0,0 @@ - - - - -TalonSRXSwerve - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.motors
      -

      Class TalonSRXSwerve

      -
      -
      java.lang.Object -
      swervelib.motors.SwerveMotor -
      swervelib.motors.TalonSRXSwerve
      -
      -
      -
      -
      -
      public class TalonSRXSwerve -extends SwerveMotor
      -
      WPI_TalonSRX Swerve Motor.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private final boolean
        -
        absoluteEncoder
        -
        -
        Whether the absolute encoder is integrated.
        -
        -
        private boolean
        -
        configChanged
        -
        -
        If the TalonFX configuration has changed.
        -
        -
        private final com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration
        -
        configuration
        -
        -
        Current TalonFX configuration.
        -
        -
        private final boolean
        -
        factoryDefaultOccurred
        -
        -
        Factory default already occurred.
        -
        -
        (package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX
        -
        motor
        -
        -
        TalonSRX motor controller.
        -
        -
        private double
        -
        nominalVoltage
        -
        -
        Nominal voltage default to use with feedforward.
        -
        -
        private double
        -
        positionConversionFactor
        -
        -
        The position conversion factor to convert raw sensor units to Meters Per 100ms, or Ticks to Degrees.
        -
        -
        -
        -

        Fields inherited from class swervelib.motors.SwerveMotor

        -isDriveMotor, maximumRetries
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        TalonSRXSwerve(int id, - boolean isDriveMotor)
        -
        -
        Construct the TalonSRX swerve motor given the ID.
        -
        -
        TalonSRXSwerve(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor, - boolean isDriveMotor)
        -
        -
        Constructor for TalonSRX swerve motor.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        void
        -
        burnFlash()
        -
        -
        Save the configurations from flash to EEPROM.
        -
        -
        void
        -
        clearStickyFaults()
        -
        -
        Clear the sticky faults on the motor controller.
        -
        -
        void
        -
        configureCANStatusFrames(int CANStatus1)
        -
        -
        Set the CAN status frames.
        -
        -
        void
        -
        configureCANStatusFrames(int CANStatus1, - int CANStatus2, - int CANStatus3, - int CANStatus4, - int CANStatus8, - int CANStatus10, - int CANStatus12, - int CANStatus13, - int CANStatus14, - int CANStatus21, - int CANStatusCurrent)
        -
        -
        Set the CAN status frames.
        -
        -
        void
        -
        configureIntegratedEncoder(double positionConversionFactor)
        -
        -
        Configure the integrated encoder for the swerve module.
        -
        -
        void
        -
        configurePIDF(PIDFConfig config)
        -
        -
        Configure the PIDF values for the closed loop controller.
        -
        -
        void
        -
        configurePIDWrapping(double minInput, - double maxInput)
        -
        -
        Configure the PID wrapping for the position closed loop controller.
        -
        -
        double
        -
        convertToNativeSensorUnits(double setpoint, - double position)
        -
        -
        Convert the setpoint into native sensor units.
        -
        -
        void
        -
        factoryDefaults()
        -
        -
        Configure the factory defaults.
        -
        -
        double
        -
        getAppliedOutput()
        -
        -
        Get the applied dutycycle output.
        -
        -
        Object
        -
        getMotor()
        -
        -
        Get the motor object from the module.
        -
        -
        double
        -
        getPosition()
        -
        -
        Get the position of the integrated encoder.
        -
        -
        double
        -
        getVelocity()
        -
        -
        Get the velocity of the integrated encoder.
        -
        -
        double
        -
        getVoltage()
        -
        -
        Get the voltage output of the motor controller.
        -
        -
        boolean
        -
        isAttachedAbsoluteEncoder()
        -
        -
        Queries whether the absolute encoder is directly attached to the motor controller.
        -
        -
        void
        -
        set(double percentOutput)
        -
        -
        Set the percentage output.
        -
        -
        SwerveMotor
        -
        setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
        -
        -
        Set the absolute encoder to be a compatible absolute encoder.
        -
        -
        void
        -
        setCurrentLimit(int currentLimit)
        -
        -
        Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
        -
        -
        void
        -
        setInverted(boolean inverted)
        -
        -
        Set the motor to be inverted.
        -
        -
        void
        -
        setLoopRampRate(double rampRate)
        -
        -
        Set the maximum rate the open/closed loop output can change by.
        -
        -
        void
        -
        setMotorBrake(boolean isBrakeMode)
        -
        -
        Set the idle mode.
        -
        -
        void
        -
        setPosition(double position)
        -
        -
        Set the integrated encoder position.
        -
        -
        void
        -
        setReference(double setpoint, - double feedforward)
        -
        -
        Set the closed loop PID controller reference point.
        -
        -
        void
        -
        setReference(double setpoint, - double feedforward, - double position)
        -
        -
        Set the closed loop PID controller reference point.
        -
        -
        void
        -
        setVoltage(double voltage)
        -
        -
        Set the voltage of the motor.
        -
        -
        void
        -
        setVoltageCompensation(double nominalVoltage)
        -
        -
        Set the voltage compensation for the swerve module motor.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          factoryDefaultOccurred

          -
          private final boolean factoryDefaultOccurred
          -
          Factory default already occurred.
          -
          -
          See Also:
          -
          - -
          -
          -
          -
          • -
        • -
          -

          configuration

          -
          private final com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration configuration
          -
          Current TalonFX configuration.
          -
          -
          • -
        • -
          -

          absoluteEncoder

          -
          private final boolean absoluteEncoder
          -
          Whether the absolute encoder is integrated.
          -
          -
          See Also:
          -
          - -
          -
          -
          -
          • -
        • -
          -

          motor

          -
          com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor
          -
          TalonSRX motor controller.
          -
          -
          • -
        • -
          -

          positionConversionFactor

          -
          private double positionConversionFactor
          -
          The position conversion factor to convert raw sensor units to Meters Per 100ms, or Ticks to Degrees.
          -
          -
          • -
        • -
          -

          configChanged

          -
          private boolean configChanged
          -
          If the TalonFX configuration has changed.
          -
          -
          • -
        • -
          -

          nominalVoltage

          -
          private double nominalVoltage
          -
          Nominal voltage default to use with feedforward.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          TalonSRXSwerve

          -
          public TalonSRXSwerve(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor, - boolean isDriveMotor)
          -
          Constructor for TalonSRX swerve motor.
          -
          -
          Parameters:
          -
          motor - Motor to use.
          -
          isDriveMotor - Whether this motor is a drive motor.
          -
          -
          -
          • -
        • -
          -

          TalonSRXSwerve

          -
          public TalonSRXSwerve(int id, - boolean isDriveMotor)
          -
          Construct the TalonSRX swerve motor given the ID.
          -
          -
          Parameters:
          -
          id - ID of the TalonSRX on the canbus.
          -
          isDriveMotor - Whether the motor is a drive or steering motor.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          factoryDefaults

          -
          public void factoryDefaults()
          -
          Configure the factory defaults.
          -
          -
          Specified by:
          -
          factoryDefaults in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          clearStickyFaults

          -
          public void clearStickyFaults()
          -
          Clear the sticky faults on the motor controller.
          -
          -
          Specified by:
          -
          clearStickyFaults in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          setAbsoluteEncoder

          -
          public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
          -
          Set the absolute encoder to be a compatible absolute encoder.
          -
          -
          Specified by:
          -
          setAbsoluteEncoder in class SwerveMotor
          -
          Parameters:
          -
          encoder - The encoder to use.
          -
          Returns:
          -
          The SwerveMotor for single line configuration.
          -
          -
          -
          • -
        • -
          -

          configureIntegratedEncoder

          -
          public void configureIntegratedEncoder(double positionConversionFactor)
          -
          Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
          -
          -
          Specified by:
          -
          configureIntegratedEncoder in class SwerveMotor
          -
          Parameters:
          -
          positionConversionFactor - The conversion factor to apply for position. -


          - Degrees:
          - - 360 / (angleGearRatio * encoderTicksPerRotation) -
          -


          - Meters:
          - - (Math.PI * wheelDiameter) / (driveGearRatio * encoderTicksPerRotation) -

          -
          -
          -
          • -
        • -
          -

          configureCANStatusFrames

          -
          public void configureCANStatusFrames(int CANStatus1)
          -
          Set the CAN status frames.
          -
          -
          Parameters:
          -
          CANStatus1 - Applied Motor Output, Fault Information, Limit Switch Information
          -
          -
          -
          • -
        • -
          -

          configureCANStatusFrames

          -
          public void configureCANStatusFrames(int CANStatus1, - int CANStatus2, - int CANStatus3, - int CANStatus4, - int CANStatus8, - int CANStatus10, - int CANStatus12, - int CANStatus13, - int CANStatus14, - int CANStatus21, - int CANStatusCurrent)
          -
          Set the CAN status frames.
          -
          -
          Parameters:
          -
          CANStatus1 - Applied Motor Output, Fault Information, Limit Switch Information
          -
          CANStatus2 - Selected Sensor Position (PID 0), Selected Sensor Velocity (PID 0), Brushed Supply Current - Measurement, Sticky Fault Information
          -
          CANStatus3 - Quadrature Information
          -
          CANStatus4 - Analog Input, Supply Battery Voltage, Controller Temperature
          -
          CANStatus8 - Pulse Width Information
          -
          CANStatus10 - Motion Profiling/Motion Magic Information
          -
          CANStatus12 - Selected Sensor Position (Aux PID 1), Selected Sensor Velocity (Aux PID 1)
          -
          CANStatus13 - PID0 (Primary PID) Information
          -
          CANStatus14 - PID1 (Auxiliary PID) Information
          -
          CANStatus21 - Integrated Sensor Position (Talon FX), Integrated Sensor Velocity (Talon FX)
          -
          CANStatusCurrent - Brushless Supply Current Measurement, Brushless Stator Current Measurement
          -
          -
          -
          • -
        • -
          -

          configurePIDF

          -
          public void configurePIDF(PIDFConfig config)
          -
          Configure the PIDF values for the closed loop controller. 0 is disabled or off.
          -
          -
          Specified by:
          -
          configurePIDF in class SwerveMotor
          -
          Parameters:
          -
          config - Configuration class holding the PIDF values.
          -
          -
          -
          • -
        • -
          -

          configurePIDWrapping

          -
          public void configurePIDWrapping(double minInput, - double maxInput)
          -
          Configure the PID wrapping for the position closed loop controller.
          -
          -
          Specified by:
          -
          configurePIDWrapping in class SwerveMotor
          -
          Parameters:
          -
          minInput - Minimum PID input.
          -
          maxInput - Maximum PID input.
          -
          -
          -
          • -
        • -
          -

          setMotorBrake

          -
          public void setMotorBrake(boolean isBrakeMode)
          -
          Set the idle mode.
          -
          -
          Specified by:
          -
          setMotorBrake in class SwerveMotor
          -
          Parameters:
          -
          isBrakeMode - Set the brake mode.
          -
          -
          -
          • -
        • -
          -

          setInverted

          -
          public void setInverted(boolean inverted)
          -
          Set the motor to be inverted.
          -
          -
          Specified by:
          -
          setInverted in class SwerveMotor
          -
          Parameters:
          -
          inverted - State of inversion.
          -
          -
          -
          • -
        • -
          -

          burnFlash

          -
          public void burnFlash()
          -
          Save the configurations from flash to EEPROM.
          -
          -
          Specified by:
          -
          burnFlash in class SwerveMotor
          -
          -
          -
          • -
        • -
          -

          set

          -
          public void set(double percentOutput)
          -
          Set the percentage output.
          -
          -
          Specified by:
          -
          set in class SwerveMotor
          -
          Parameters:
          -
          percentOutput - percent out for the motor controller.
          -
          -
          -
          • -
        • -
          -

          convertToNativeSensorUnits

          -
          public double convertToNativeSensorUnits(double setpoint, - double position)
          -
          Convert the setpoint into native sensor units.
          -
          -
          Parameters:
          -
          setpoint - Setpoint to mutate. In meters per second or degrees.
          -
          position - Position in degrees, only used on angle motors.
          -
          Returns:
          -
          Setpoint as native sensor units. Encoder ticks per 100ms, or Encoder tick.
          -
          -
          -
          • -
        • -
          -

          setReference

          -
          public void setReference(double setpoint, - double feedforward)
          -
          Set the closed loop PID controller reference point.
          -
          -
          Specified by:
          -
          setReference in class SwerveMotor
          -
          Parameters:
          -
          setpoint - Setpoint in MPS or Angle in degrees.
          -
          feedforward - Feedforward in volt-meter-per-second or kV.
          -
          -
          -
          • -
        • -
          -

          setReference

          -
          public void setReference(double setpoint, - double feedforward, - double position)
          -
          Set the closed loop PID controller reference point.
          -
          -
          Specified by:
          -
          setReference in class SwerveMotor
          -
          Parameters:
          -
          setpoint - Setpoint in meters per second or angle in degrees.
          -
          feedforward - Feedforward in volt-meter-per-second or kV.
          -
          position - Only used on the angle motor, the position of the motor in degrees.
          -
          -
          -
          • -
        • -
          -

          getVoltage

          -
          public double getVoltage()
          -
          Get the voltage output of the motor controller.
          -
          -
          Specified by:
          -
          getVoltage in class SwerveMotor
          -
          Returns:
          -
          Voltage output.
          -
          -
          -
          • -
        • -
          -

          setVoltage

          -
          public void setVoltage(double voltage)
          -
          Set the voltage of the motor.
          -
          -
          Specified by:
          -
          setVoltage in class SwerveMotor
          -
          Parameters:
          -
          voltage - Voltage to set.
          -
          -
          -
          • -
        • -
          -

          getAppliedOutput

          -
          public double getAppliedOutput()
          -
          Get the applied dutycycle output.
          -
          -
          Specified by:
          -
          getAppliedOutput in class SwerveMotor
          -
          Returns:
          -
          Applied dutycycle output to the motor.
          -
          -
          -
          • -
        • -
          -

          getVelocity

          -
          public double getVelocity()
          -
          Get the velocity of the integrated encoder.
          -
          -
          Specified by:
          -
          getVelocity in class SwerveMotor
          -
          Returns:
          -
          velocity in Meters Per Second, or Degrees per Second.
          -
          -
          -
          • -
        • -
          -

          getPosition

          -
          public double getPosition()
          -
          Get the position of the integrated encoder.
          -
          -
          Specified by:
          -
          getPosition in class SwerveMotor
          -
          Returns:
          -
          Position in Meters or Degrees.
          -
          -
          -
          • -
        • -
          -

          setPosition

          -
          public void setPosition(double position)
          -
          Set the integrated encoder position.
          -
          -
          Specified by:
          -
          setPosition in class SwerveMotor
          -
          Parameters:
          -
          position - Integrated encoder position. Should be angle in degrees or meters.
          -
          -
          -
          • -
        • -
          -

          setVoltageCompensation

          -
          public void setVoltageCompensation(double nominalVoltage)
          -
          Set the voltage compensation for the swerve module motor.
          -
          -
          Specified by:
          -
          setVoltageCompensation in class SwerveMotor
          -
          Parameters:
          -
          nominalVoltage - Nominal voltage for operation to output to.
          -
          -
          -
          • -
        • -
          -

          setCurrentLimit

          -
          public void setCurrentLimit(int currentLimit)
          -
          Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation. This is useful to protect the motor from current spikes.
          -
          -
          Specified by:
          -
          setCurrentLimit in class SwerveMotor
          -
          Parameters:
          -
          currentLimit - Current limit in AMPS at free speed.
          -
          -
          -
          • -
        • -
          -

          setLoopRampRate

          -
          public void setLoopRampRate(double rampRate)
          -
          Set the maximum rate the open/closed loop output can change by.
          -
          -
          Specified by:
          -
          setLoopRampRate in class SwerveMotor
          -
          Parameters:
          -
          rampRate - Time in seconds to go from 0 to full throttle.
          -
          -
          -
          • -
        • -
          -

          getMotor

          -
          public Object getMotor()
          -
          Get the motor object from the module.
          -
          -
          Specified by:
          -
          getMotor in class SwerveMotor
          -
          Returns:
          -
          Motor object.
          -
          -
          -
          • -
        • -
          -

          isAttachedAbsoluteEncoder

          -
          public boolean isAttachedAbsoluteEncoder()
          -
          Queries whether the absolute encoder is directly attached to the motor controller.
          -
          -
          Specified by:
          -
          isAttachedAbsoluteEncoder in class SwerveMotor
          -
          Returns:
          -
          connected absolute encoder state.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html deleted file mode 100644 index 33b40af..0000000 --- a/docs/swervelib/motors/package-summary.html +++ /dev/null @@ -1,134 +0,0 @@ - - - - -swervelib.motors - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Package swervelib.motors

      -
      -
      -
      package swervelib.motors
      -
      -
      Swerve motor controller wrappers which implement SwerveMotor.
      -
      -
      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html deleted file mode 100644 index ae01eae..0000000 --- a/docs/swervelib/motors/package-tree.html +++ /dev/null @@ -1,94 +0,0 @@ - - - - -swervelib.motors Class Hierarchy - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Hierarchy For Package swervelib.motors

      -Package Hierarchies: - -
      -
      -

      Class Hierarchy

      - -
      -
      -

      Enum Class Hierarchy

      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html deleted file mode 100644 index 99c10a4..0000000 --- a/docs/swervelib/package-summary.html +++ /dev/null @@ -1,136 +0,0 @@ - - - - -swervelib - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Package swervelib

      -
      -
      -
      package swervelib
      -
      -
      Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
      -
      -
      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html deleted file mode 100644 index c62a102..0000000 --- a/docs/swervelib/package-tree.html +++ /dev/null @@ -1,74 +0,0 @@ - - - - -swervelib Class Hierarchy - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Hierarchy For Package swervelib

      -Package Hierarchies: - -
      -
      -

      Class Hierarchy

      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/parser/Cache.html b/docs/swervelib/parser/Cache.html deleted file mode 100644 index 027de0d..0000000 --- a/docs/swervelib/parser/Cache.html +++ /dev/null @@ -1,312 +0,0 @@ - - - - -Cache - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser
      -

      Class Cache<T>

      -
      -
      java.lang.Object -
      swervelib.parser.Cache<T>
      -
      -
      -
      -
      public class Cache<T> -extends Object
      -
      Cache for frequently requested data.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private Supplier<T>
        -
        supplier
        -
        -
        Supplier for cached value.
        -
        -
        private long
        -
        timestamp
        -
        -
        Timestamp in microseconds.
        -
        -
        private long
        -
        validityPeriod
        -
        -
        Validity period in microseconds.
        -
        -
        private T
        -
        value
        -
        -
        Cached value.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        Cache(Supplier<T> val, - long validityPeriod)
        -
        -
        Cache for arbitrary values.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        T
        -
        getValue()
        -
        -
        Get the most up to date cached value.
        -
        -
        boolean
        -
        isStale()
        -
        -
        Return whether the cache is stale.
        -
        -
        Cache<T>
        -
        update()
        -
        -
        Update the cache value and timestamp.
        -
        -
        Cache<T>
        -
        updateSupplier(Supplier<T> supplier)
        -
        -
        Update the supplier to a new source.
        -
        -
        Cache<T>
        -
        updateValidityPeriod(long validityPeriod)
        -
        -
        Update the validity period for the cached value, also updates the value.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          value

          -
          private T value
          -
          Cached value.
          -
          -
          • -
        • -
          -

          supplier

          -
          private Supplier<T> supplier
          -
          Supplier for cached value.
          -
          -
          • -
        • -
          -

          timestamp

          -
          private long timestamp
          -
          Timestamp in microseconds.
          -
          -
          • -
        • -
          -

          validityPeriod

          -
          private long validityPeriod
          -
          Validity period in microseconds.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          Cache

          -
          public Cache(Supplier<T> val, - long validityPeriod)
          -
          Cache for arbitrary values.
          -
          -
          Parameters:
          -
          val - Value to cache.
          -
          validityPeriod - Validity period in milliseconds.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          isStale

          -
          public boolean isStale()
          -
          Return whether the cache is stale.
          -
          -
          Returns:
          -
          The stale state of the cache.
          -
          -
          -
          • -
        • -
          -

          update

          -
          public Cache<T> update()
          -
          Update the cache value and timestamp.
          -
          -
          Returns:
          -
          Cache used.
          -
          -
          -
          • -
        • -
          -

          updateSupplier

          -
          public Cache<T> updateSupplier(Supplier<T> supplier)
          -
          Update the supplier to a new source. Updates the value and timestamp as well.
          -
          -
          Parameters:
          -
          supplier - new supplier source.
          -
          Returns:
          -
          Cache for chaining.
          -
          -
          -
          • -
        • -
          -

          updateValidityPeriod

          -
          public Cache<T> updateValidityPeriod(long validityPeriod)
          -
          Update the validity period for the cached value, also updates the value.
          -
          -
          Parameters:
          -
          validityPeriod - The new validity period in milliseconds.
          -
          Returns:
          -
          Cache for chaining.
          -
          -
          -
          • -
        • -
          -

          getValue

          -
          public T getValue()
          -
          Get the most up to date cached value.
          -
          -
          Returns:
          -
          Cache updated to the latest cached version.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html deleted file mode 100644 index bee5a2f..0000000 --- a/docs/swervelib/parser/PIDFConfig.html +++ /dev/null @@ -1,351 +0,0 @@ - - - - -PIDFConfig - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser
      -

      Class PIDFConfig

      -
      -
      java.lang.Object -
      swervelib.parser.PIDFConfig
      -
      -
      -
      -
      public class PIDFConfig -extends Object
      -
      Hold the PIDF and Integral Zone values for a PID.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        double
        -
        d
        -
        -
        Derivative Gain for PID.
        -
        -
        double
        -
        f
        -
        -
        Feedforward value for PID.
        -
        -
        double
        -
        i
        -
        -
        Integral Gain for PID.
        -
        -
        double
        -
        iz
        -
        -
        Integral zone of the PID.
        -
        -
        PIDFRange
        -
        output
        -
        -
        The PIDF output range.
        -
        -
        double
        -
        p
        -
        -
        Proportional Gain for PID.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        PIDFConfig()
        -
        -
        Used when parsing PIDF values from JSON.
        -
        -
        PIDFConfig(double p, - double d)
        -
        -
        PIDF Config constructor to contain the values.
        -
        -
        PIDFConfig(double p, - double i, - double d)
        -
        -
        PIDF Config constructor to contain the values.
        -
        -
        PIDFConfig(double p, - double i, - double d, - double f)
        -
        -
        PIDF Config constructor to contain the values.
        -
        -
        PIDFConfig(double p, - double i, - double d, - double f, - double iz)
        -
        -
        PIDF Config constructor to contain the values.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        edu.wpi.first.math.controller.PIDController
        -
        createPIDController()
        -
        -
        Create a PIDController from the PID values.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          p

          -
          public double p
          -
          Proportional Gain for PID.
          -
          -
          • -
        • -
          -

          i

          -
          public double i
          -
          Integral Gain for PID.
          -
          -
          • -
        • -
          -

          d

          -
          public double d
          -
          Derivative Gain for PID.
          -
          -
          • -
        • -
          -

          f

          -
          public double f
          -
          Feedforward value for PID.
          -
          -
          • -
        • -
          -

          iz

          -
          public double iz
          -
          Integral zone of the PID.
          -
          -
          • -
        • -
          -

          output

          -
          public PIDFRange output
          -
          The PIDF output range.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          PIDFConfig

          -
          public PIDFConfig()
          -
          Used when parsing PIDF values from JSON.
          -
          -
          • -
        • -
          -

          PIDFConfig

          -
          public PIDFConfig(double p, - double i, - double d, - double f, - double iz)
          -
          PIDF Config constructor to contain the values.
          -
          -
          Parameters:
          -
          p - P gain.
          -
          i - I gain.
          -
          d - D gain.
          -
          f - F gain.
          -
          iz - Intergral zone.
          -
          -
          -
          • -
        • -
          -

          PIDFConfig

          -
          public PIDFConfig(double p, - double i, - double d, - double f)
          -
          PIDF Config constructor to contain the values.
          -
          -
          Parameters:
          -
          p - P gain.
          -
          i - I gain.
          -
          d - D gain.
          -
          f - F gain.
          -
          -
          -
          • -
        • -
          -

          PIDFConfig

          -
          public PIDFConfig(double p, - double i, - double d)
          -
          PIDF Config constructor to contain the values.
          -
          -
          Parameters:
          -
          p - P gain.
          -
          i - I gain.
          -
          d - D gain.
          -
          -
          -
          • -
        • -
          -

          PIDFConfig

          -
          public PIDFConfig(double p, - double d)
          -
          PIDF Config constructor to contain the values.
          -
          -
          Parameters:
          -
          p - P gain.
          -
          d - D gain.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          createPIDController

          -
          public edu.wpi.first.math.controller.PIDController createPIDController()
          -
          Create a PIDController from the PID values.
          -
          -
          Returns:
          -
          PIDController.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html deleted file mode 100644 index bbf94c5..0000000 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ /dev/null @@ -1,225 +0,0 @@ - - - - -SwerveControllerConfiguration - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser
      -

      Class SwerveControllerConfiguration

      -
      -
      java.lang.Object -
      swervelib.parser.SwerveControllerConfiguration
      -
      -
      -
      -
      public class SwerveControllerConfiguration -extends Object
      -
      Swerve Controller configuration class which is used to configure SwerveController.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          headingPIDF

          -
          public final PIDFConfig headingPIDF
          -
          PIDF for the heading of the robot.
          -
          -
          • -
        • -
          -

          angleJoyStickRadiusDeadband

          -
          public final double angleJoyStickRadiusDeadband
          -
          hypotenuse deadband for the robot angle control joystick.
          -
          -
          • -
        • -
          -

          maxAngularVelocity

          -
          public double maxAngularVelocity
          -
          Maximum angular velocity in rad/s
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveControllerConfiguration

          -
          public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, - PIDFConfig headingPIDF, - double angleJoyStickRadiusDeadband, - double maxSpeedMPS)
          -
          Construct the swerve controller configuration. Assumes robot is square to fetch maximum angular velocity.
          -
          -
          Parameters:
          -
          driveCfg - SwerveDriveConfiguration to fetch the first module X and Y used to - calculate the maximum angular velocity.
          -
          headingPIDF - Heading PIDF configuration.
          -
          angleJoyStickRadiusDeadband - Deadband on radius of angle joystick.
          -
          maxSpeedMPS - Maximum speed in meters per second for angular velocity, remember if you have - feet per second use Units.feetToMeters(double).
          -
          -
          -
          • -
        • -
          -

          SwerveControllerConfiguration

          -
          public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, - PIDFConfig headingPIDF, - double maxSpeedMPS)
          -
          Construct the swerve controller configuration. Assumes hypotenuse deadband of 0.5 (minimum radius for angle to be - set on angle joystick is .5 of the controller).
          -
          -
          Parameters:
          -
          driveCfg - Drive configuration.
          -
          headingPIDF - Heading PIDF configuration.
          -
          maxSpeedMPS - Maximum speed in meters per second for angular velocity, remember if you have feet per second - use Units.feetToMeters(double).
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html deleted file mode 100644 index 28cfe3c..0000000 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ /dev/null @@ -1,287 +0,0 @@ - - - - -SwerveDriveConfiguration - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser
      -

      Class SwerveDriveConfiguration

      -
      -
      java.lang.Object -
      swervelib.parser.SwerveDriveConfiguration
      -
      -
      -
      -
      public class SwerveDriveConfiguration -extends Object
      -
      Swerve drive configurations used during SwerveDrive construction.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          moduleCount

          -
          public final int moduleCount
          -
          Number of modules on the robot.
          -
          -
          • -
        • -
          -

          moduleLocationsMeters

          -
          public edu.wpi.first.math.geometry.Translation2d[] moduleLocationsMeters
          -
          Swerve Module locations.
          -
          -
          • -
        • -
          -

          imu

          -
          public SwerveIMU imu
          -
          Swerve IMU
          -
          -
          • -
        • -
          -

          modules

          -
          public SwerveModule[] modules
          -
          Swerve Modules.
          -
          -
          • -
        • -
          -

          physicalCharacteristics

          -
          public SwerveModulePhysicalCharacteristics physicalCharacteristics
          -
          Physical characteristics of the swerve drive from physicalproperties.json.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveDriveConfiguration

          -
          public SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, - SwerveIMU swerveIMU, - boolean invertedIMU, - edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward, - SwerveModulePhysicalCharacteristics physicalCharacteristics)
          -
          Create swerve drive configuration.
          -
          -
          Parameters:
          -
          moduleConfigs - Module configuration.
          -
          swerveIMU - Swerve IMU.
          -
          invertedIMU - Invert the IMU.
          -
          driveFeedforward - The drive motor feedforward to use for the SwerveModule.
          -
          physicalCharacteristics - SwerveModulePhysicalCharacteristics to store in association with self.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          createModules

          -
          public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves, - edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)
          -
          Create modules based off of the SwerveModuleConfiguration.
          -
          -
          Parameters:
          -
          swerves - Swerve constants.
          -
          driveFeedforward - Drive feedforward created using - SwerveMath.createDriveFeedforward(double, double, double).
          -
          Returns:
          -
          Swerve Modules.
          -
          -
          -
          • -
        • -
          -

          getDriveBaseRadiusMeters

          -
          public double getDriveBaseRadiusMeters()
          -
          Calculate the Drive Base Radius
          -
          -
          Returns:
          -
          Drive base radius from center of robot to the farthest wheel in meters.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html deleted file mode 100644 index 53ee227..0000000 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ /dev/null @@ -1,417 +0,0 @@ - - - - -SwerveModuleConfiguration - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser
      -

      Class SwerveModuleConfiguration

      -
      -
      java.lang.Object -
      swervelib.parser.SwerveModuleConfiguration
      -
      -
      -
      -
      public class SwerveModuleConfiguration -extends Object
      -
      Swerve Module configuration class which is used to configure SwerveModule.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          conversionFactors

          -
          public final MotorConfigDouble conversionFactors
          -
          Conversion factor for drive motor onboard PID's and angle PID's. Use - SwerveMath.calculateMetersPerRotation(double, double, double) and - SwerveMath.calculateDegreesPerSteeringRotation(double, double) respectively to calculate the - conversion factors.
          -
          -
          • -
        • -
          -

          angleOffset

          -
          public final double angleOffset
          -
          Angle offset in degrees for the Swerve Module.
          -
          -
          • -
        • -
          -

          absoluteEncoderInverted

          -
          public final boolean absoluteEncoderInverted
          -
          Whether the absolute encoder is inverted.
          -
          -
          • -
        • -
          -

          driveMotorInverted

          -
          public final boolean driveMotorInverted
          -
          State of inversion of the drive motor.
          -
          -
          • -
        • -
          -

          angleMotorInverted

          -
          public final boolean angleMotorInverted
          -
          State of inversion of the angle motor.
          -
          -
          • -
        • -
          -

          anglePIDF

          -
          public PIDFConfig anglePIDF
          -
          PIDF configuration options for the angle motor closed-loop PID controller.
          -
          -
          • -
        • -
          -

          velocityPIDF

          -
          public PIDFConfig velocityPIDF
          -
          PIDF configuration options for the drive motor closed-loop PID controller.
          -
          -
          • -
        • -
          -

          moduleLocation

          -
          public edu.wpi.first.math.geometry.Translation2d moduleLocation
          -
          Swerve module location relative to the robot.
          -
          -
          • -
        • -
          -

          physicalCharacteristics

          -
          public SwerveModulePhysicalCharacteristics physicalCharacteristics
          -
          Physical characteristics of the swerve module.
          -
          -
          • -
        • -
          -

          driveMotor

          -
          public SwerveMotor driveMotor
          -
          The drive motor and angle motor of this swerve module.
          -
          -
          • -
        • -
          -

          angleMotor

          -
          public SwerveMotor angleMotor
          -
          The drive motor and angle motor of this swerve module.
          -
          -
          • -
        • -
          -

          absoluteEncoder

          -
          public SwerveAbsoluteEncoder absoluteEncoder
          -
          The Absolute Encoder for the swerve module.
          -
          -
          • -
        • -
          -

          name

          -
          public String name
          -
          Name for the swerve module for telemetry.
          -
          -
          • -
        • -
          -

          useCosineCompensator

          -
          public boolean useCosineCompensator
          -
          Should do cosine compensation when not pointing correct direction;.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveModuleConfiguration

          -
          public SwerveModuleConfiguration(SwerveMotor driveMotor, - SwerveMotor angleMotor, - MotorConfigDouble conversionFactors, - SwerveAbsoluteEncoder absoluteEncoder, - double angleOffset, - double xMeters, - double yMeters, - PIDFConfig anglePIDF, - PIDFConfig velocityPIDF, - SwerveModulePhysicalCharacteristics physicalCharacteristics, - boolean absoluteEncoderInverted, - boolean driveMotorInverted, - boolean angleMotorInverted, - String name, - boolean useCosineCompensator)
          -
          Construct a configuration object for swerve modules.
          -
          -
          Parameters:
          -
          driveMotor - Drive SwerveMotor.
          -
          angleMotor - Angle SwerveMotor
          -
          absoluteEncoder - Absolute encoder SwerveAbsoluteEncoder.
          -
          angleOffset - Absolute angle offset to 0.
          -
          absoluteEncoderInverted - Absolute encoder inverted.
          -
          angleMotorInverted - State of inversion of the angle motor.
          -
          driveMotorInverted - Drive motor inverted.
          -
          xMeters - Module location in meters from the center horizontally.
          -
          yMeters - Module location in meters from center vertically.
          -
          anglePIDF - Angle PIDF configuration.
          -
          velocityPIDF - Velocity PIDF configuration.
          -
          physicalCharacteristics - Physical characteristics of the swerve module.
          -
          name - The name for the swerve module.
          -
          conversionFactors - Conversion factors to be applied to the drive and angle motors.
          -
          useCosineCompensator - Should use cosineCompensation.
          -
          -
          -
          • -
        • -
          -

          SwerveModuleConfiguration

          -
          public SwerveModuleConfiguration(SwerveMotor driveMotor, - SwerveMotor angleMotor, - MotorConfigDouble conversionFactors, - SwerveAbsoluteEncoder absoluteEncoder, - double angleOffset, - double xMeters, - double yMeters, - PIDFConfig anglePIDF, - PIDFConfig velocityPIDF, - SwerveModulePhysicalCharacteristics physicalCharacteristics, - String name, - boolean useCosineCompensator)
          -
          Construct a configuration object for swerve modules. Assumes the absolute encoder and drive motor are not - inverted.
          -
          -
          Parameters:
          -
          driveMotor - Drive SwerveMotor.
          -
          angleMotor - Angle SwerveMotor
          -
          conversionFactors - Conversion factors for angle/azimuth motors drive factors.
          -
          absoluteEncoder - Absolute encoder SwerveAbsoluteEncoder.
          -
          angleOffset - Absolute angle offset to 0.
          -
          xMeters - Module location in meters from the center horizontally.
          -
          yMeters - Module location in meters from center vertically.
          -
          anglePIDF - Angle PIDF configuration.
          -
          velocityPIDF - Velocity PIDF configuration.
          -
          physicalCharacteristics - Physical characteristics of the swerve module.
          -
          name - Name for the module.
          -
          useCosineCompensator - Should use cosineCompensation.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html deleted file mode 100644 index f28c9a3..0000000 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ /dev/null @@ -1,292 +0,0 @@ - - - - -SwerveModulePhysicalCharacteristics - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser
      -

      Class SwerveModulePhysicalCharacteristics

      -
      -
      java.lang.Object -
      swervelib.parser.SwerveModulePhysicalCharacteristics
      -
      -
      -
      -
      public class SwerveModulePhysicalCharacteristics -extends Object
      -
      Configuration class which stores physical characteristics shared between every swerve module.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          driveMotorCurrentLimit

          -
          public final int driveMotorCurrentLimit
          -
          Current limits for the Swerve Module.
          -
          -
          • -
        • -
          -

          angleMotorCurrentLimit

          -
          public final int angleMotorCurrentLimit
          -
          Current limits for the Swerve Module.
          -
          -
          • -
        • -
          -

          driveMotorRampRate

          -
          public final double driveMotorRampRate
          -
          The time it takes for the motor to go from 0 to full throttle in seconds.
          -
          -
          • -
        • -
          -

          angleMotorRampRate

          -
          public final double angleMotorRampRate
          -
          The time it takes for the motor to go from 0 to full throttle in seconds.
          -
          -
          • -
        • -
          -

          wheelGripCoefficientOfFriction

          -
          public final double wheelGripCoefficientOfFriction
          -
          Wheel grip tape coefficient of friction on carpet, as described by the vendor.
          -
          -
          • -
        • -
          -

          optimalVoltage

          -
          public double optimalVoltage
          -
          The voltage to use for the smart motor voltage compensation.
          -
          -
          • -
        • -
          -

          conversionFactor

          -
          public MotorConfigDouble conversionFactor
          -
          The conversion factors for the drive and angle motors, created by - SwerveMath.calculateMetersPerRotation(double, double, double) and - SwerveMath.calculateDegreesPerSteeringRotation(double, double).
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveModulePhysicalCharacteristics

          -
          public SwerveModulePhysicalCharacteristics(MotorConfigDouble conversionFactors, - double wheelGripCoefficientOfFriction, - double optimalVoltage, - int driveMotorCurrentLimit, - int angleMotorCurrentLimit, - double driveMotorRampRate, - double angleMotorRampRate)
          -
          Construct the swerve module physical characteristics.
          -
          -
          Parameters:
          -
          conversionFactors - The conversion factors for the drive and angle motors, created by - SwerveMath.calculateMetersPerRotation(double, double, double) and - SwerveMath.calculateDegreesPerSteeringRotation(double, double).
          -
          wheelGripCoefficientOfFriction - Wheel grip coefficient of friction on carpet given by manufacturer.
          -
          optimalVoltage - Optimal robot voltage.
          -
          driveMotorCurrentLimit - Current limit for the drive motor.
          -
          angleMotorCurrentLimit - Current limit for the angle motor.
          -
          driveMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents - over drawing power from battery)
          -
          angleMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents - overdrawing power and power loss).
          -
          -
          -
          • -
        • -
          -

          SwerveModulePhysicalCharacteristics

          -
          public SwerveModulePhysicalCharacteristics(MotorConfigDouble conversionFactors, - double driveMotorRampRate, - double angleMotorRampRate)
          -
          Construct the swerve module physical characteristics. Assume coefficient of friction is 1.19 (taken from blue - nitrile on carpet from Studica) and optimal voltage is 12v. Assumes the drive motor current limit is 40A, and the - angle motor current limit is 20A.
          -
          -
          Parameters:
          -
          conversionFactors - The conversion factors for the drive and angle motors, created by - SwerveMath.calculateMetersPerRotation(double, double, double) and - SwerveMath.calculateDegreesPerSteeringRotation(double, double).
          -
          driveMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents over drawing - power from battery)
          -
          angleMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents overdrawing - power and power loss).
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html deleted file mode 100644 index b2beb27..0000000 --- a/docs/swervelib/parser/SwerveParser.html +++ /dev/null @@ -1,413 +0,0 @@ - - - - -SwerveParser - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser
      -

      Class SwerveParser

      -
      -
      java.lang.Object -
      swervelib.parser.SwerveParser
      -
      -
      -
      -
      public class SwerveParser -extends Object
      -
      Helper class used to parse the JSON directory with specified configuration options.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          moduleConfigs

          -
          private static final HashMap<String,Integer> moduleConfigs
          -
          Module number mapped to the JSON name.
          -
          -
          • -
        • -
          -

          swerveDriveJson

          -
          public static SwerveDriveJson swerveDriveJson
          -
          Parsed swervedrive.json
          -
          -
          • -
        • -
          -

          controllerPropertiesJson

          -
          public static ControllerPropertiesJson controllerPropertiesJson
          -
          Parsed controllerproperties.json
          -
          -
          • -
        • -
          -

          pidfPropertiesJson

          -
          public static PIDFPropertiesJson pidfPropertiesJson
          -
          Parsed modules/pidfproperties.json
          -
          -
          • -
        • -
          -

          physicalPropertiesJson

          -
          public static PhysicalPropertiesJson physicalPropertiesJson
          -
          Parsed modules/physicalproperties.json
          -
          -
          • -
        • -
          -

          moduleJsons

          -
          public static ModuleJson[] moduleJsons
          -
          Array holding the module jsons given in SwerveDriveJson.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveParser

          -
          public SwerveParser(File directory) - throws IOException
          -
          Construct a swerve parser. Will throw an error if there is a missing file.
          -
          -
          Parameters:
          -
          directory - Directory with swerve configurations.
          -
          Throws:
          -
          IOException - if a file doesn't exist.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        - -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html deleted file mode 100644 index d916dc8..0000000 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ /dev/null @@ -1,172 +0,0 @@ - - - - -PIDFRange - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.deserializer
      -

      Class PIDFRange

      -
      -
      java.lang.Object -
      swervelib.parser.deserializer.PIDFRange
      -
      -
      -
      -
      public class PIDFRange -extends Object
      -
      Class to hold the minimum and maximum input or output of the PIDF.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          min

          -
          public double min
          -
          Minimum value.
          -
          -
          • -
        • -
          -

          max

          -
          public double max
          -
          Maximum value.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          PIDFRange

          -
          public PIDFRange()
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html deleted file mode 100644 index b90e675..0000000 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ /dev/null @@ -1,104 +0,0 @@ - - - - -swervelib.parser.deserializer - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Package swervelib.parser.deserializer

      -
      -
      -
      package swervelib.parser.deserializer
      -
      -
      Deserialize specific variables for outside the parser.
      -
      -
      -
        -
      • - -
        • -
      • -
        -
        Classes
        -
        -
        Class
        -
        Description
        -
        PIDFRange
        -
        -
        Class to hold the minimum and maximum input or output of the PIDF.
        -
        -
        -
        -
        • -
      -
      -
      -
      -
      - - diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html deleted file mode 100644 index 7517f3b..0000000 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ /dev/null @@ -1,71 +0,0 @@ - - - - -swervelib.parser.deserializer Class Hierarchy - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Hierarchy For Package swervelib.parser.deserializer

      -Package Hierarchies: - -
      -
      -

      Class Hierarchy

      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html deleted file mode 100644 index c0f0c7c..0000000 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ /dev/null @@ -1,215 +0,0 @@ - - - - -ControllerPropertiesJson - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json
      -

      Class ControllerPropertiesJson

      -
      -
      java.lang.Object -
      swervelib.parser.json.ControllerPropertiesJson
      -
      -
      -
      -
      public class ControllerPropertiesJson -extends Object
      -
      SwerveController parsed class. Used to access the JSON data.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          angleJoystickRadiusDeadband

          -
          public double angleJoystickRadiusDeadband
          -
          The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
          -
          -
          • -
        • -
          -

          heading

          -
          public PIDFConfig heading
          -
          The PID used to control the robot heading.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          ControllerPropertiesJson

          -
          public ControllerPropertiesJson()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        - -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html deleted file mode 100644 index b8333a5..0000000 --- a/docs/swervelib/parser/json/DeviceJson.html +++ /dev/null @@ -1,259 +0,0 @@ - - - - -DeviceJson - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json
      -

      Class DeviceJson

      -
      -
      java.lang.Object -
      swervelib.parser.json.DeviceJson
      -
      -
      -
      -
      public class DeviceJson -extends Object
      -
      Device JSON parsed class. Used to access the JSON data.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          type

          -
          public String type
          -
          The device type, e.g. pigeon/pigeon2/sparkmax/talonfx/navx
          -
          -
          • -
        • -
          -

          id

          -
          public int id
          -
          The CAN ID or pin ID of the device.
          -
          -
          • -
        • -
          -

          canbus

          -
          public String canbus
          -
          The CAN bus name which the device resides on if using CAN.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          DeviceJson

          -
          public DeviceJson()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        - -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html deleted file mode 100644 index b076045..0000000 --- a/docs/swervelib/parser/json/ModuleJson.html +++ /dev/null @@ -1,321 +0,0 @@ - - - - -ModuleJson - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json
      -

      Class ModuleJson

      -
      -
      java.lang.Object -
      swervelib.parser.json.ModuleJson
      -
      -
      -
      -
      public class ModuleJson -extends Object
      -
      SwerveModule JSON parsed class. Used to access the JSON data.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          drive

          -
          public DeviceJson drive
          -
          Drive motor device configuration.
          -
          -
          • -
        • -
          -

          angle

          -
          public DeviceJson angle
          -
          Angle motor device configuration.
          -
          -
          • -
        • -
          -

          conversionFactor

          -
          public MotorConfigDouble conversionFactor
          -
          Conversion factor for the module, if different from the one in swervedrive.json -

          - Conversion factor applied to the motor controllers PID loops. Can be calculated with - SwerveMath.calculateDegreesPerSteeringRotation(double, double) for angle motors or - SwerveMath.calculateMetersPerRotation(double, double, double) for drive motors.

          -
          -
          • -
        • -
          -

          conversionFactors

          -
          public ConversionFactorsJson conversionFactors
          -
          Conversion Factors composition. Auto-calculates the conversion factors.
          -
          -
          • -
        • -
          -

          encoder

          -
          public DeviceJson encoder
          -
          Absolute encoder device configuration.
          -
          -
          • -
        • -
          -

          inverted

          -
          public BoolMotorJson inverted
          -
          Defines which motors are inverted.
          -
          -
          • -
        • -
          -

          absoluteEncoderOffset

          -
          public double absoluteEncoderOffset
          -
          Absolute encoder offset from 0 in degrees.
          -
          -
          • -
        • -
          -

          absoluteEncoderInverted

          -
          public boolean absoluteEncoderInverted
          -
          Absolute encoder inversion state.
          -
          -
          • -
        • -
          -

          location

          -
          public LocationJson location
          -
          The location of the swerve module from the center of the robot in inches.
          -
          -
          • -
        • -
          -

          useCosineCompensator

          -
          public boolean useCosineCompensator
          -
          Should do cosine compensation when not pointing correct direction;.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          ModuleJson

          -
          public ModuleJson()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          createModuleConfiguration

          -
          public SwerveModuleConfiguration createModuleConfiguration(PIDFConfig anglePIDF, - PIDFConfig velocityPIDF, - SwerveModulePhysicalCharacteristics physicalCharacteristics, - String name)
          -
          Create the swerve module configuration based off of parsed data.
          -
          -
          Parameters:
          -
          anglePIDF - The PIDF values for the angle motor.
          -
          velocityPIDF - The velocity PIDF values for the drive motor.
          -
          physicalCharacteristics - Physical characteristics of the swerve module.
          -
          name - Module json filename.
          -
          Returns:
          -
          SwerveModuleConfiguration based on the provided data and parsed data.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html deleted file mode 100644 index 9cd853e..0000000 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ /dev/null @@ -1,193 +0,0 @@ - - - - -MotorConfigDouble - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json
      -

      Class MotorConfigDouble

      -
      -
      java.lang.Object -
      swervelib.parser.json.MotorConfigDouble
      -
      -
      -
      -
      public class MotorConfigDouble -extends Object
      -
      Used to store doubles for motor configuration.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          drive

          -
          public double drive
          -
          Drive motor.
          -
          -
          • -
        • -
          -

          angle

          -
          public double angle
          -
          Angle motor.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          MotorConfigDouble

          -
          public MotorConfigDouble()
          -
          Default constructor.
          -
          -
          • -
        • -
          -

          MotorConfigDouble

          -
          public MotorConfigDouble(double angle, - double drive)
          -
          Default constructor.
          -
          -
          Parameters:
          -
          angle - Angle data.
          -
          drive - Drive data.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html deleted file mode 100644 index 1c5a462..0000000 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ /dev/null @@ -1,193 +0,0 @@ - - - - -MotorConfigInt - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json
      -

      Class MotorConfigInt

      -
      -
      java.lang.Object -
      swervelib.parser.json.MotorConfigInt
      -
      -
      -
      -
      public class MotorConfigInt -extends Object
      -
      Used to store ints for motor configuration.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          drive

          -
          public int drive
          -
          Drive motor.
          -
          -
          • -
        • -
          -

          angle

          -
          public int angle
          -
          Angle motor.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          MotorConfigInt

          -
          public MotorConfigInt()
          -
          Default constructor.
          -
          -
          • -
        • -
          -

          MotorConfigInt

          -
          public MotorConfigInt(int drive, - int angle)
          -
          Default constructor with values.
          -
          -
          Parameters:
          -
          drive - Drive data.
          -
          angle - Angle data.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html deleted file mode 100644 index 8b98dc2..0000000 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ /dev/null @@ -1,172 +0,0 @@ - - - - -PIDFPropertiesJson - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json
      -

      Class PIDFPropertiesJson

      -
      -
      java.lang.Object -
      swervelib.parser.json.PIDFPropertiesJson
      -
      -
      -
      -
      public class PIDFPropertiesJson -extends Object
      -
      SwerveModule PID with Feedforward for the drive motor and angle motor.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          drive

          -
          public PIDFConfig drive
          -
          The PIDF with Integral Zone used for the drive motor.
          -
          -
          • -
        • -
          -

          angle

          -
          public PIDFConfig angle
          -
          The PIDF with Integral Zone used for the angle motor.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          PIDFPropertiesJson

          -
          public PIDFPropertiesJson()
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html deleted file mode 100644 index 18dbd73..0000000 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ /dev/null @@ -1,260 +0,0 @@ - - - - -PhysicalPropertiesJson - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json
      -

      Class PhysicalPropertiesJson

      -
      -
      java.lang.Object -
      swervelib.parser.json.PhysicalPropertiesJson
      -
      -
      -
      -
      public class PhysicalPropertiesJson -extends Object
      -
      SwerveModulePhysicalCharacteristics parsed data. Used to configure the SwerveModule.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          conversionFactor

          -
          public MotorConfigDouble conversionFactor
          -
          Conversion factor applied to the motor controllers PID loops. Can be calculated with - SwerveMath.calculateDegreesPerSteeringRotation(double, double) for angle motors or - SwerveMath.calculateMetersPerRotation(double, double, double) for drive motors.
          -
          -
          • -
        • -
          -

          conversionFactors

          -
          public ConversionFactorsJson conversionFactors
          -
          Conversion Factors composition. Auto-calculates the conversion factors.
          -
          -
          • -
        • -
          -

          currentLimit

          -
          public MotorConfigInt currentLimit
          -
          The current limit in AMPs to apply to the motors.
          -
          -
          • -
        • -
          -

          rampRate

          -
          public MotorConfigDouble rampRate
          -
          The minimum number of seconds to take for the motor to go from 0 to full throttle.
          -
          -
          • -
        • -
          -

          wheelGripCoefficientOfFriction

          -
          public double wheelGripCoefficientOfFriction
          -
          The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.
          -
          -
          • -
        • -
          -

          optimalVoltage

          -
          public double optimalVoltage
          -
          The voltage to use for the smart motor voltage compensation, default is 12.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          PhysicalPropertiesJson

          -
          public PhysicalPropertiesJson()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        - -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html deleted file mode 100644 index 9e953b9..0000000 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ /dev/null @@ -1,184 +0,0 @@ - - - - -SwerveDriveJson - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json
      -

      Class SwerveDriveJson

      -
      -
      java.lang.Object -
      swervelib.parser.json.SwerveDriveJson
      -
      -
      -
      -
      public class SwerveDriveJson -extends Object
      -
      SwerveDrive JSON parsed class. Used to access parsed data from the swervedrive.json file.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          imu

          -
          public DeviceJson imu
          -
          Robot IMU used to determine heading of the robot.
          -
          -
          • -
        • -
          -

          invertedIMU

          -
          public boolean invertedIMU
          -
          Invert the IMU of the robot.
          -
          -
          • -
        • -
          -

          modules

          -
          public String[] modules
          -
          Module JSONs in order clockwise order starting from front left.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveDriveJson

          -
          public SwerveDriveJson()
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/modules/AngleConversionFactorsJson.html b/docs/swervelib/parser/json/modules/AngleConversionFactorsJson.html deleted file mode 100644 index c948f10..0000000 --- a/docs/swervelib/parser/json/modules/AngleConversionFactorsJson.html +++ /dev/null @@ -1,210 +0,0 @@ - - - - -AngleConversionFactorsJson - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json.modules
      -

      Class AngleConversionFactorsJson

      -
      -
      java.lang.Object -
      swervelib.parser.json.modules.AngleConversionFactorsJson
      -
      -
      -
      -
      public class AngleConversionFactorsJson -extends Object
      -
      Angle motor conversion factors composite JSON parse class.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        double
        -
        factor
        -
        -
        Calculated or given conversion factor.
        -
        -
        double
        -
        gearRatio
        -
        -
        Gear ratio for the angle/steering/azimuth motor on the Swerve Module.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        AngleConversionFactorsJson()
        -
         
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        double
        -
        calculate()
        -
        -
        Calculate the drive conversion factor.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          gearRatio

          -
          public double gearRatio
          -
          Gear ratio for the angle/steering/azimuth motor on the Swerve Module. Motor rotations to 1 wheel rotation.
          -
          -
          • -
        • -
          -

          factor

          -
          public double factor
          -
          Calculated or given conversion factor.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          AngleConversionFactorsJson

          -
          public AngleConversionFactorsJson()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          calculate

          -
          public double calculate()
          -
          Calculate the drive conversion factor.
          -
          -
          Returns:
          -
          Drive conversion factor, if factor isn't set.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html deleted file mode 100644 index c07abd2..0000000 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ /dev/null @@ -1,172 +0,0 @@ - - - - -BoolMotorJson - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json.modules
      -

      Class BoolMotorJson

      -
      -
      java.lang.Object -
      swervelib.parser.json.modules.BoolMotorJson
      -
      -
      -
      -
      public class BoolMotorJson -extends Object
      -
      Inverted motor JSON parsed class. Used to access the JSON data.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          drive

          -
          public boolean drive
          -
          Drive motor inversion state.
          -
          -
          • -
        • -
          -

          angle

          -
          public boolean angle
          -
          Angle motor inversion state.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          BoolMotorJson

          -
          public BoolMotorJson()
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/modules/ConversionFactorsJson.html b/docs/swervelib/parser/json/modules/ConversionFactorsJson.html deleted file mode 100644 index 4ccff2c..0000000 --- a/docs/swervelib/parser/json/modules/ConversionFactorsJson.html +++ /dev/null @@ -1,226 +0,0 @@ - - - - -ConversionFactorsJson - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json.modules
      -

      Class ConversionFactorsJson

      -
      -
      java.lang.Object -
      swervelib.parser.json.modules.ConversionFactorsJson
      -
      -
      -
      -
      public class ConversionFactorsJson -extends Object
      -
      Conversion Factors parsed JSON class
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        - -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          ConversionFactorsJson

          -
          public ConversionFactorsJson()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          isDriveEmpty

          -
          public boolean isDriveEmpty()
          -
          Check if the conversion factors are set for the drive motor.
          -
          -
          Returns:
          -
          Empty
          -
          -
          -
          • -
        • -
          -

          isAngleEmpty

          -
          public boolean isAngleEmpty()
          -
          Check if the conversion factors are set for the angle motor.
          -
          -
          Returns:
          -
          Empty
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/modules/DriveConversionFactorsJson.html b/docs/swervelib/parser/json/modules/DriveConversionFactorsJson.html deleted file mode 100644 index 2534d4b..0000000 --- a/docs/swervelib/parser/json/modules/DriveConversionFactorsJson.html +++ /dev/null @@ -1,222 +0,0 @@ - - - - -DriveConversionFactorsJson - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json.modules
      -

      Class DriveConversionFactorsJson

      -
      -
      java.lang.Object -
      swervelib.parser.json.modules.DriveConversionFactorsJson
      -
      -
      -
      -
      public class DriveConversionFactorsJson -extends Object
      -
      Drive motor composite JSON parse class.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        double
        -
        diameter
        -
        -
        Diameter of the wheel in inches.
        -
        -
        double
        -
        factor
        -
        -
        Calculated conversion factor.
        -
        -
        double
        -
        gearRatio
        -
        -
        Gear ratio for the drive motor rotations to turn the wheel 1 complete rotation.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        DriveConversionFactorsJson()
        -
         
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        double
        -
        calculate()
        -
        -
        Calculate the drive conversion factor.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          gearRatio

          -
          public double gearRatio
          -
          Gear ratio for the drive motor rotations to turn the wheel 1 complete rotation.
          -
          -
          • -
        • -
          -

          diameter

          -
          public double diameter
          -
          Diameter of the wheel in inches.
          -
          -
          • -
        • -
          -

          factor

          -
          public double factor
          -
          Calculated conversion factor.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          DriveConversionFactorsJson

          -
          public DriveConversionFactorsJson()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          calculate

          -
          public double calculate()
          -
          Calculate the drive conversion factor.
          -
          -
          Returns:
          -
          Drive conversion factor, if factor isn't set.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html deleted file mode 100644 index f07662d..0000000 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ /dev/null @@ -1,197 +0,0 @@ - - - - -LocationJson - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.parser.json.modules
      -

      Class LocationJson

      -
      -
      java.lang.Object -
      swervelib.parser.json.modules.LocationJson
      -
      -
      -
      -
      public class LocationJson -extends Object
      -
      Location JSON parsed class. Used to access the JSON data. Module locations, in inches, as distances to the center of - the robot. +x is towards the robot front, and +y is towards robot left.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        double
        -
        front
        -
        -
        Location of the swerve module in inches from the center of the robot horizontally.
        -
        -
        double
        -
        left
        -
        -
        Location of the swerve module in inches from the center of the robot vertically.
        -
        -
        double
        -
        x
        -
        -
        Location of the swerve module in inches from the center of the robot horizontally.
        -
        -
        double
        -
        y
        -
        -
        Location of the swerve module in inches from the center of the robot vertically.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        LocationJson()
        -
         
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          front

          -
          public double front
          -
          Location of the swerve module in inches from the center of the robot horizontally.
          -
          -
          • -
        • -
          -

          x

          -
          public double x
          -
          Location of the swerve module in inches from the center of the robot horizontally.
          -
          -
          • -
        • -
          -

          left

          -
          public double left
          -
          Location of the swerve module in inches from the center of the robot vertically.
          -
          -
          • -
        • -
          -

          y

          -
          public double y
          -
          Location of the swerve module in inches from the center of the robot vertically.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          LocationJson

          -
          public LocationJson()
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html deleted file mode 100644 index a45892c..0000000 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ /dev/null @@ -1,116 +0,0 @@ - - - - -swervelib.parser.json.modules - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Package swervelib.parser.json.modules

      -
      -
      -
      package swervelib.parser.json.modules
      -
      -
      JSON Mapped Configuration types for modules.
      -
      -
      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html deleted file mode 100644 index 40630ec..0000000 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ /dev/null @@ -1,75 +0,0 @@ - - - - -swervelib.parser.json.modules Class Hierarchy - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Hierarchy For Package swervelib.parser.json.modules

      -Package Hierarchies: - -
      -
      -

      Class Hierarchy

      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html deleted file mode 100644 index e39e2be..0000000 --- a/docs/swervelib/parser/json/package-summary.html +++ /dev/null @@ -1,136 +0,0 @@ - - - - -swervelib.parser.json - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Package swervelib.parser.json

      -
      -
      -
      package swervelib.parser.json
      -
      -
      JSON Mapped classes for parsing configuration files.
      -
      -
      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html deleted file mode 100644 index eaa4113..0000000 --- a/docs/swervelib/parser/json/package-tree.html +++ /dev/null @@ -1,78 +0,0 @@ - - - - -swervelib.parser.json Class Hierarchy - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Hierarchy For Package swervelib.parser.json

      -Package Hierarchies: - -
      -
      -

      Class Hierarchy

      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html deleted file mode 100644 index d1194bf..0000000 --- a/docs/swervelib/parser/package-summary.html +++ /dev/null @@ -1,132 +0,0 @@ - - - - -swervelib.parser - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Package swervelib.parser

      -
      -
      -
      package swervelib.parser
      -
      -
      JSON Parser for YAGSL configurations.
      -
      -
      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html deleted file mode 100644 index f3c2c35..0000000 --- a/docs/swervelib/parser/package-tree.html +++ /dev/null @@ -1,77 +0,0 @@ - - - - -swervelib.parser Class Hierarchy - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Hierarchy For Package swervelib.parser

      -Package Hierarchies: - -
      -
      -

      Class Hierarchy

      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html deleted file mode 100644 index c9a7a73..0000000 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ /dev/null @@ -1,332 +0,0 @@ - - - - -SwerveIMUSimulation - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.simulation
      -

      Class SwerveIMUSimulation

      -
      -
      java.lang.Object -
      swervelib.simulation.SwerveIMUSimulation
      -
      -
      -
      -
      public class SwerveIMUSimulation -extends Object
      -
      Simulation for SwerveDrive IMU.
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private double
        -
        angle
        -
        -
        Heading of the robot.
        -
        -
        private double
        -
        lastTime
        -
        -
        The last time the timer was read, used to determine position changes.
        -
        -
        private final edu.wpi.first.wpilibj.Timer
        -
        timer
        -
        -
        Main timer to control movement estimations.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SwerveIMUSimulation()
        -
        -
        Create the swerve drive IMU simulation.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        Optional<edu.wpi.first.math.geometry.Translation3d>
        -
        getAccel()
        -
        -
        Fetch the acceleration [x, y, z] from the IMU in m/s/s.
        -
        -
        edu.wpi.first.math.geometry.Rotation3d
        -
        getGyroRotation3d()
        -
        -
        Gets the estimated gyro Rotation3d of the robot.
        -
        -
        edu.wpi.first.math.geometry.Rotation2d
        -
        getPitch()
        -
        -
        Pitch is not simulated currently, always returns 0.
        -
        -
        edu.wpi.first.math.geometry.Rotation2d
        -
        getRoll()
        -
        -
        Roll is not simulated currently, always returns 0.
        -
        -
        edu.wpi.first.math.geometry.Rotation2d
        -
        getYaw()
        -
        -
        Get the estimated angle of the robot.
        -
        -
        void
        -
        setAngle(double angle)
        -
        -
        Set the heading of the robot.
        -
        -
        void
        -
        updateOdometry(edu.wpi.first.math.kinematics.SwerveDriveKinematics kinematics, - edu.wpi.first.math.kinematics.SwerveModuleState[] states, - edu.wpi.first.math.geometry.Pose2d[] modulePoses, - edu.wpi.first.wpilibj.smartdashboard.Field2d field)
        -
        -
        Update the odometry of the simulated SwerveDrive and post the SwerveModule - states to the Field2d.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          timer

          -
          private final edu.wpi.first.wpilibj.Timer timer
          -
          Main timer to control movement estimations.
          -
          -
          • -
        • -
          -

          lastTime

          -
          private double lastTime
          -
          The last time the timer was read, used to determine position changes.
          -
          -
          • -
        • -
          -

          angle

          -
          private double angle
          -
          Heading of the robot.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveIMUSimulation

          -
          public SwerveIMUSimulation()
          -
          Create the swerve drive IMU simulation.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          getYaw

          -
          public edu.wpi.first.math.geometry.Rotation2d getYaw()
          -
          Get the estimated angle of the robot.
          -
          -
          Returns:
          -
          Rotation2d estimation of the robot.
          -
          -
          -
          • -
        • -
          -

          getPitch

          -
          public edu.wpi.first.math.geometry.Rotation2d getPitch()
          -
          Pitch is not simulated currently, always returns 0.
          -
          -
          Returns:
          -
          Pitch of the robot as Rotation2d.
          -
          -
          -
          • -
        • -
          -

          getRoll

          -
          public edu.wpi.first.math.geometry.Rotation2d getRoll()
          -
          Roll is not simulated currently, always returns 0.
          -
          -
          Returns:
          -
          Roll of the robot as Rotation2d.
          -
          -
          -
          • -
        • -
          -

          getGyroRotation3d

          -
          public edu.wpi.first.math.geometry.Rotation3d getGyroRotation3d()
          -
          Gets the estimated gyro Rotation3d of the robot.
          -
          -
          Returns:
          -
          The heading as a Rotation3d angle
          -
          -
          -
          • -
        • -
          -

          getAccel

          -
          public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
          -
          Fetch the acceleration [x, y, z] from the IMU in m/s/s. If acceleration isn't supported returns empty.
          -
          -
          Returns:
          -
          Translation3d of the acceleration as an Optional.
          -
          -
          -
          • -
        • -
          -

          updateOdometry

          -
          public void updateOdometry(edu.wpi.first.math.kinematics.SwerveDriveKinematics kinematics, - edu.wpi.first.math.kinematics.SwerveModuleState[] states, - edu.wpi.first.math.geometry.Pose2d[] modulePoses, - edu.wpi.first.wpilibj.smartdashboard.Field2d field)
          -
          Update the odometry of the simulated SwerveDrive and post the SwerveModule - states to the Field2d.
          -
          -
          Parameters:
          -
          kinematics - SwerveDriveKinematics of the swerve drive.
          -
          states - SwerveModuleState array of the module states.
          -
          modulePoses - Pose2d representing the swerve modules.
          -
          field - Field2d to update.
          -
          -
          -
          • -
        • -
          -

          setAngle

          -
          public void setAngle(double angle)
          -
          Set the heading of the robot.
          -
          -
          Parameters:
          -
          angle - Angle of the robot in radians.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html deleted file mode 100644 index 6e895bc..0000000 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ /dev/null @@ -1,294 +0,0 @@ - - - - -SwerveModuleSimulation - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.simulation
      -

      Class SwerveModuleSimulation

      -
      -
      java.lang.Object -
      swervelib.simulation.SwerveModuleSimulation
      -
      -
      -
      -
      public class SwerveModuleSimulation -extends Object
      -
      Class to hold simulation data for SwerveModule
      -
      -
      -
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private double
        -
        dt
        -
        -
        Time delta since last update
        -
        -
        private double
        -
        fakePos
        -
        -
        Fake motor position.
        -
        -
        private double
        -
        fakeSpeed
        -
        -
        The fake speed of the previous state, used to calculate fakePos.
        -
        -
        private double
        -
        lastTime
        -
        -
        Last time queried.
        -
        -
        private edu.wpi.first.math.kinematics.SwerveModuleState
        -
        state
        -
        -
        Current simulated swerve module state.
        -
        -
        private final edu.wpi.first.wpilibj.Timer
        -
        timer
        -
        -
        Main timer to simulate the passage of time.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SwerveModuleSimulation()
        -
        -
        Create simulation class and initialize module at 0.
        -
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        edu.wpi.first.math.kinematics.SwerveModulePosition
        -
        getPosition()
        -
        -
        Get the simulated swerve module position.
        -
        -
        edu.wpi.first.math.kinematics.SwerveModuleState
        -
        getState()
        -
        -
        Get the SwerveModuleState of the simulated module.
        -
        -
        void
        -
        updateStateAndPosition(edu.wpi.first.math.kinematics.SwerveModuleState desiredState)
        -
        -
        Update the position and state of the module.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          timer

          -
          private final edu.wpi.first.wpilibj.Timer timer
          -
          Main timer to simulate the passage of time.
          -
          -
          • -
        • -
          -

          dt

          -
          private double dt
          -
          Time delta since last update
          -
          -
          • -
        • -
          -

          fakePos

          -
          private double fakePos
          -
          Fake motor position.
          -
          -
          • -
        • -
          -

          fakeSpeed

          -
          private double fakeSpeed
          -
          The fake speed of the previous state, used to calculate fakePos.
          -
          -
          • -
        • -
          -

          lastTime

          -
          private double lastTime
          -
          Last time queried.
          -
          -
          • -
        • -
          -

          state

          -
          private edu.wpi.first.math.kinematics.SwerveModuleState state
          -
          Current simulated swerve module state.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveModuleSimulation

          -
          public SwerveModuleSimulation()
          -
          Create simulation class and initialize module at 0.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          updateStateAndPosition

          -
          public void updateStateAndPosition(edu.wpi.first.math.kinematics.SwerveModuleState desiredState)
          -
          Update the position and state of the module. Called from SwerveModule.setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState, boolean, boolean) function - when simulated.
          -
          -
          Parameters:
          -
          desiredState - State the swerve module is set to.
          -
          -
          -
          • -
        • -
          -

          getPosition

          -
          public edu.wpi.first.math.kinematics.SwerveModulePosition getPosition()
          -
          Get the simulated swerve module position.
          -
          -
          Returns:
          -
          SwerveModulePosition of the simulated module.
          -
          -
          -
          • -
        • -
          -

          getState

          -
          public edu.wpi.first.math.kinematics.SwerveModuleState getState()
          -
          Get the SwerveModuleState of the simulated module.
          -
          -
          Returns:
          -
          SwerveModuleState of the simulated module.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html deleted file mode 100644 index 6dba491..0000000 --- a/docs/swervelib/simulation/package-summary.html +++ /dev/null @@ -1,104 +0,0 @@ - - - - -swervelib.simulation - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Package swervelib.simulation

      -
      -
      -
      package swervelib.simulation
      -
      -
      Classes used to simulate the swerve drive.
      -
      -
      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html deleted file mode 100644 index 8084942..0000000 --- a/docs/swervelib/simulation/package-tree.html +++ /dev/null @@ -1,72 +0,0 @@ - - - - -swervelib.simulation Class Hierarchy - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Hierarchy For Package swervelib.simulation

      -Package Hierarchies: - -
      -
      -

      Class Hierarchy

      - -
      -
      -
      -
      - - diff --git a/docs/swervelib/telemetry/Alert.AlertType.html b/docs/swervelib/telemetry/Alert.AlertType.html deleted file mode 100644 index 629d94e..0000000 --- a/docs/swervelib/telemetry/Alert.AlertType.html +++ /dev/null @@ -1,298 +0,0 @@ - - - - -Alert.AlertType - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.telemetry
      -

      Enum Class Alert.AlertType

      -
      -
      java.lang.Object -
      java.lang.Enum<Alert.AlertType> -
      swervelib.telemetry.Alert.AlertType
      -
      -
      -
      -
      -
      All Implemented Interfaces:
      -
      Serializable, Comparable<Alert.AlertType>, Constable
      -
      -
      -
      Enclosing class:
      -
      Alert
      -
      -
      -
      public static enum Alert.AlertType -extends Enum<Alert.AlertType>
      -
      Represents an alert's level of urgency.
      -
      -
      -
        - -
      • -
        -

        Nested Class Summary

        -
        -

        Nested classes/interfaces inherited from class java.lang.Enum

        -Enum.EnumDesc<E extends Enum<E>>
        -
        -
        • - -
      • -
        -

        Enum Constant Summary

        -
        Enum Constants
        -
        -
        Enum Constant
        -
        Description
        -
        ERROR
        -
        -
        High priority alert - displayed first on the dashboard with a red "X" symbol.
        -
        -
        ERROR_TRACE
        -
        -
        High priority alert - displayed first on the dashboard with a red "X" symbol.
        -
        -
        INFO
        -
        -
        Low priority alert - displayed last on the dashboard with a green "i" symbol.
        -
        -
        WARNING
        -
        -
        Medium priority alert - displayed second on the dashboard with a yellow "!" symbol.
        -
        -
        WARNING_TRACE
        -
        -
        Medium priority alert - displayed second on the dashboard with a yellow "!" symbol.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Modifier
        -
        Constructor
        -
        Description
        -
        private
        -
        AlertType()
        -
         
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        static Alert.AlertType
        -
        valueOf(String name)
        -
        -
        Returns the enum constant of this class with the specified name.
        -
        -
        static Alert.AlertType[]
        -
        values()
        -
        -
        Returns an array containing the constants of this enum class, in -the order they are declared.
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Enum

        -clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
        -
        -

        Methods inherited from class java.lang.Object

        -getClass, notify, notifyAll, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Enum Constant Details

        -
          -
        • -
          -

          ERROR

          -
          public static final Alert.AlertType ERROR
          -
          High priority alert - displayed first on the dashboard with a red "X" symbol. Use this type for problems which - will seriously affect the robot's functionality and thus require immediate attention.
          -
          -
          • -
        • -
          -

          ERROR_TRACE

          -
          public static final Alert.AlertType ERROR_TRACE
          -
          High priority alert - displayed first on the dashboard with a red "X" symbol. Use this type for problems which - will seriously affect the robot's functionality and thus require immediate attention. Trace printed to driver - station console.
          -
          -
          • -
        • -
          -

          WARNING

          -
          public static final Alert.AlertType WARNING
          -
          Medium priority alert - displayed second on the dashboard with a yellow "!" symbol. Use this type for problems - which could affect the robot's functionality but do not necessarily require immediate attention.
          -
          -
          • -
        • -
          -

          WARNING_TRACE

          -
          public static final Alert.AlertType WARNING_TRACE
          -
          Medium priority alert - displayed second on the dashboard with a yellow "!" symbol. Use this type for problems - which could affect the robot's functionality but do not necessarily require immediate attention. Trace printed to - driver station console.
          -
          -
          • -
        • -
          -

          INFO

          -
          public static final Alert.AlertType INFO
          -
          Low priority alert - displayed last on the dashboard with a green "i" symbol. Use this type for problems which - are unlikely to affect the robot's functionality, or any other alerts which do not fall under "ERROR" or - "WARNING".
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          AlertType

          -
          private AlertType()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          values

          -
          public static Alert.AlertType[] values()
          -
          Returns an array containing the constants of this enum class, in -the order they are declared.
          -
          -
          Returns:
          -
          an array containing the constants of this enum class, in the order they are declared
          -
          -
          -
          • -
        • -
          -

          valueOf

          -
          public static Alert.AlertType valueOf(String name)
          -
          Returns the enum constant of this class with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this class. (Extraneous whitespace characters are -not permitted.)
          -
          -
          Parameters:
          -
          name - the name of the enum constant to be returned.
          -
          Returns:
          -
          the enum constant with the specified name
          -
          Throws:
          -
          IllegalArgumentException - if this enum class has no constant with the specified name
          -
          NullPointerException - if the argument is null
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/telemetry/Alert.SendableAlerts.html b/docs/swervelib/telemetry/Alert.SendableAlerts.html deleted file mode 100644 index ae095cf..0000000 --- a/docs/swervelib/telemetry/Alert.SendableAlerts.html +++ /dev/null @@ -1,224 +0,0 @@ - - - - -Alert.SendableAlerts - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.telemetry
      -

      Class Alert.SendableAlerts

      -
      -
      java.lang.Object -
      swervelib.telemetry.Alert.SendableAlerts
      -
      -
      -
      -
      All Implemented Interfaces:
      -
      edu.wpi.first.util.sendable.Sendable
      -
      -
      -
      Enclosing class:
      -
      Alert
      -
      -
      -
      private static class Alert.SendableAlerts -extends Object -implements edu.wpi.first.util.sendable.Sendable
      -
      Sendable alert for advantage scope.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          alerts

          -
          public final List<Alert> alerts
          -
          Alert list for sendable.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SendableAlerts

          -
          private SendableAlerts()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          getStrings

          -
          public String[] getStrings(Alert.AlertType type)
          -
          Get alerts based off of type.
          -
          -
          Parameters:
          -
          type - Type of alert to fetch.
          -
          Returns:
          -
          Active alert strings.
          -
          -
          -
          • -
        • -
          -

          initSendable

          -
          public void initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)
          -
          -
          Specified by:
          -
          initSendable in interface edu.wpi.first.util.sendable.Sendable
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/telemetry/Alert.html b/docs/swervelib/telemetry/Alert.html deleted file mode 100644 index 5062e6d..0000000 --- a/docs/swervelib/telemetry/Alert.html +++ /dev/null @@ -1,334 +0,0 @@ - - - - -Alert - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.telemetry
      -

      Class Alert

      -
      -
      java.lang.Object -
      swervelib.telemetry.Alert
      -
      -
      -
      -
      public class Alert -extends Object
      -
      Class for managing persistent alerts to be sent over NetworkTables.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          groups

          -
          private static Map<String,Alert.SendableAlerts> groups
          -
          Group of the alert.
          -
          -
          • -
        • -
          -

          type

          -
          private final Alert.AlertType type
          -
          Type of the Alert to raise.
          -
          -
          • -
        • -
          -

          active

          -
          private boolean active
          -
          Activation state of alert.
          -
          -
          • -
        • -
          -

          activeStartTime

          -
          private double activeStartTime
          -
          When the alert was raised.
          -
          -
          • -
        • -
          -

          text

          -
          private String text
          -
          Text of the alert.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          Alert

          -
          public Alert(String text, - Alert.AlertType type)
          -
          Creates a new Alert in the default group - "Alerts". If this is the first to be instantiated, the appropriate - entries will be added to NetworkTables.
          -
          -
          Parameters:
          -
          text - Text to be displayed when the alert is active.
          -
          type - Alert level specifying urgency.
          -
          -
          -
          • -
        • -
          -

          Alert

          -
          public Alert(String group, - String text, - Alert.AlertType type)
          -
          Creates a new Alert. If this is the first to be instantiated in its group, the appropriate entries will be added to - NetworkTables.
          -
          -
          Parameters:
          -
          group - Group identifier, also used as NetworkTables title
          -
          text - Text to be displayed when the alert is active.
          -
          type - Alert level specifying urgency.
          -
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          set

          -
          public void set(boolean active)
          -
          Sets whether the alert should currently be displayed. When activated, the alert text will also be sent to the - console.
          -
          -
          Parameters:
          -
          active - Set the alert as active and report it to the driver station.
          -
          -
          -
          • -
        • -
          -

          setText

          -
          public void setText(String text)
          -
          Updates current alert text.
          -
          -
          Parameters:
          -
          text - The text for the alert.
          -
          -
          -
          • -
        • -
          -

          printAlert

          -
          private void printAlert(String text)
          -
          Print the alert message.
          -
          -
          Parameters:
          -
          text - Text to print.
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/telemetry/SwerveDriveData.SwerveDriveDataStruct.html b/docs/swervelib/telemetry/SwerveDriveData.SwerveDriveDataStruct.html deleted file mode 100644 index 9948e99..0000000 --- a/docs/swervelib/telemetry/SwerveDriveData.SwerveDriveDataStruct.html +++ /dev/null @@ -1,275 +0,0 @@ - - - - -SwerveDriveData.SwerveDriveDataStruct - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.telemetry
      -

      Class SwerveDriveData.SwerveDriveDataStruct

      -
      -
      java.lang.Object -
      swervelib.telemetry.SwerveDriveData.SwerveDriveDataStruct
      -
      -
      -
      -
      All Implemented Interfaces:
      -
      edu.wpi.first.util.struct.Struct<SwerveDriveData>
      -
      -
      -
      Enclosing class:
      -
      SwerveDriveData
      -
      -
      -
      public static class SwerveDriveData.SwerveDriveDataStruct -extends Object -implements edu.wpi.first.util.struct.Struct<SwerveDriveData>
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveDriveDataStruct

          -
          public SwerveDriveDataStruct()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          getTypeClass

          -
          public Class<SwerveDriveData> getTypeClass()
          -
          -
          Specified by:
          -
          getTypeClass in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
          -
          -
          -
          • -
        • -
          -

          getTypeString

          -
          public String getTypeString()
          -
          -
          Specified by:
          -
          getTypeString in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
          -
          -
          -
          • -
        • -
          -

          getSize

          -
          public int getSize()
          -
          -
          Specified by:
          -
          getSize in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
          -
          -
          -
          • -
        • -
          -

          getSchema

          -
          public String getSchema()
          -
          -
          Specified by:
          -
          getSchema in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
          -
          -
          -
          • -
        • -
          -

          getNested

          -
          public edu.wpi.first.util.struct.Struct<?>[] getNested()
          -
          -
          Specified by:
          -
          getNested in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
          -
          -
          -
          • -
        • -
          -

          unpack

          -
          public SwerveDriveData unpack(ByteBuffer byteBuffer)
          -
          -
          Specified by:
          -
          unpack in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
          -
          -
          -
          • -
        • -
          -

          pack

          -
          public void pack(ByteBuffer byteBuffer, - SwerveDriveData swerveDriveData)
          -
          -
          Specified by:
          -
          pack in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
          -
          -
          -
          • -
        • -
          -

          unpackInto

          -
          public void unpackInto(SwerveDriveData out, - ByteBuffer bb)
          -
          -
          Specified by:
          -
          unpackInto in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/telemetry/SwerveDriveData.html b/docs/swervelib/telemetry/SwerveDriveData.html deleted file mode 100644 index ce1f252..0000000 --- a/docs/swervelib/telemetry/SwerveDriveData.html +++ /dev/null @@ -1,221 +0,0 @@ - - - - -SwerveDriveData - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.telemetry
      -

      Class SwerveDriveData

      -
      -
      java.lang.Object -
      swervelib.telemetry.SwerveDriveData
      -
      -
      -
      -
      All Implemented Interfaces:
      -
      edu.wpi.first.util.struct.StructSerializable, edu.wpi.first.util.WPISerializable
      -
      -
      -
      public class SwerveDriveData -extends Object -implements edu.wpi.first.util.struct.StructSerializable
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          measuredVelocity

          -
          public edu.wpi.first.math.kinematics.ChassisSpeeds measuredVelocity
          -
          -
          • -
        • -
          -

          desiredVelocity

          -
          public edu.wpi.first.math.kinematics.ChassisSpeeds desiredVelocity
          -
          -
          • -
        • -
          -

          maxVelocity

          -
          public edu.wpi.first.math.kinematics.ChassisSpeeds maxVelocity
          -
          -
          • -
        • -
          -

          rawRotation

          -
          public edu.wpi.first.math.geometry.Rotation2d rawRotation
          -
          -
          • -
        • -
          -

          rotation

          -
          public edu.wpi.first.math.geometry.Rotation2d rotation
          -
          -
          • -
        • -
          -

          struct

          -
          public static SwerveDriveData.SwerveDriveDataStruct struct
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveDriveData

          -
          public SwerveDriveData()
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html deleted file mode 100644 index 319cd35..0000000 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html +++ /dev/null @@ -1,301 +0,0 @@ - - - - -SwerveDriveTelemetry.TelemetryVerbosity - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.telemetry
      -

      Enum Class SwerveDriveTelemetry.TelemetryVerbosity

      -
      -
      java.lang.Object -
      java.lang.Enum<SwerveDriveTelemetry.TelemetryVerbosity> -
      swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
      -
      -
      -
      -
      -
      All Implemented Interfaces:
      -
      Serializable, Comparable<SwerveDriveTelemetry.TelemetryVerbosity>, Constable
      -
      -
      -
      Enclosing class:
      -
      SwerveDriveTelemetry
      -
      -
      -
      public static enum SwerveDriveTelemetry.TelemetryVerbosity -extends Enum<SwerveDriveTelemetry.TelemetryVerbosity>
      -
      Verbosity of telemetry data sent back.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Enum Constant Details

        - -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          TelemetryVerbosity

          -
          private TelemetryVerbosity()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          values

          -
          public static SwerveDriveTelemetry.TelemetryVerbosity[] values()
          -
          Returns an array containing the constants of this enum class, in -the order they are declared.
          -
          -
          Returns:
          -
          an array containing the constants of this enum class, in the order they are declared
          -
          -
          -
          • -
        • -
          -

          valueOf

          -
          public static SwerveDriveTelemetry.TelemetryVerbosity valueOf(String name)
          -
          Returns the enum constant of this class with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this class. (Extraneous whitespace characters are -not permitted.)
          -
          -
          Parameters:
          -
          name - the name of the enum constant to be returned.
          -
          Returns:
          -
          the enum constant with the specified name
          -
          Throws:
          -
          IllegalArgumentException - if this enum class has no constant with the specified name
          -
          NullPointerException - if the argument is null
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html deleted file mode 100644 index 4daf31d..0000000 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html +++ /dev/null @@ -1,418 +0,0 @@ - - - - -SwerveDriveTelemetry - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.telemetry
      -

      Class SwerveDriveTelemetry

      -
      -
      java.lang.Object -
      swervelib.telemetry.SwerveDriveTelemetry
      -
      -
      -
      -
      public class SwerveDriveTelemetry -extends Object
      -
      Telemetry to describe the SwerveDrive following frc-web-components. (Which follows AdvantageKit)
      -
      -
      -
        - -
      • -
        -

        Nested Class Summary

        -
        Nested Classes
        -
        -
        Modifier and Type
        -
        Class
        -
        Description
        -
        static enum 
        -
        SwerveDriveTelemetry.TelemetryVerbosity
        -
        -
        Verbosity of telemetry data sent back.
        -
        -
        -
        -
        • - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        static final Alert
        -
        canIdWarning
        -
        -
        An Alert for if the CAN ID is greater than 40.
        -
        -
        static double[]
        -
        desiredChassisSpeeds
        -
        -
        Describes the desired forward, sideways and angular velocity of the robot.
        -
        -
        static double[]
        -
        desiredStates
        -
        -
        An array of rotation and velocity values describing the desired state of each swerve module
        -
        -
        static String
        -
        forwardDirection
        -
        -
        The direction the robot should be facing when the "Robot Rotation" is zero or blank.
        -
        -
        static final Alert
        -
        i2cLockupWarning
        -
        -
        An Alert for if there is an I2C lockup issue on the roboRIO.
        -
        -
        static boolean
        -
        isSimulation
        -
        -
        State of simulation of the Robot, used to optimize retrieval.
        -
        -
        static double
        -
        maxAngularVelocity
        -
        -
        The maximum achievable angular velocity of the robot.
        -
        -
        static double
        -
        maxSpeed
        -
        -
        The maximum achievable speed of the modules, used to adjust the size of the vectors.
        -
        -
        static double[]
        -
        measuredChassisSpeeds
        -
        -
        The maximum achievable angular velocity of the robot.
        -
        -
        static double[]
        -
        measuredStates
        -
        -
        An array of rotation and velocity values describing the measured state of each swerve module
        -
        -
        static int
        -
        moduleCount
        -
        -
        The number of swerve modules
        -
        -
        static double
        -
        robotRotation
        -
        -
        The robot's current rotation based on odometry or gyro readings
        -
        -
        static String
        -
        rotationUnit
        -
        -
        The units of the module rotations and robot rotation
        -
        -
        static final Alert
        -
        serialCommsIssueWarning
        -
        -
        NavX serial comm issue.
        -
        -
        static double
        -
        sizeFrontBack
        -
        -
        The distance between the front and back modules.
        -
        -
        static double
        -
        sizeLeftRight
        -
        -
        The distance between the left and right modules.
        -
        -
        static SwerveDriveTelemetry.TelemetryVerbosity
        -
        verbosity
        -
        -
        The current telemetry verbosity level.
        -
        -
        static double[]
        -
        wheelLocations
        -
        -
        The Locations of the swerve drive wheels.
        -
        -
        -
        -
        • - -
      • -
        -

        Constructor Summary

        -
        Constructors
        -
        -
        Constructor
        -
        Description
        -
        SwerveDriveTelemetry()
        -
         
        -
        -
        -
        • - -
      • -
        -

        Method Summary

        -
        -
        -
        -
        -
        Modifier and Type
        -
        Method
        -
        Description
        -
        static void
        -
        updateData()
        -
        -
        Upload data to smartdashboard
        -
        -
        -
        -
        -
        -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        -
        -
        • -
      -
      -
      -
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          canIdWarning

          -
          public static final Alert canIdWarning
          -
          An Alert for if the CAN ID is greater than 40.
          -
          -
          • -
        • -
          -

          i2cLockupWarning

          -
          public static final Alert i2cLockupWarning
          -
          An Alert for if there is an I2C lockup issue on the roboRIO.
          -
          -
          • -
        • -
          -

          serialCommsIssueWarning

          -
          public static final Alert serialCommsIssueWarning
          -
          NavX serial comm issue.
          -
          -
          • -
        • -
          -

          verbosity

          -
          public static SwerveDriveTelemetry.TelemetryVerbosity verbosity
          -
          The current telemetry verbosity level.
          -
          -
          • -
        • -
          -

          isSimulation

          -
          public static boolean isSimulation
          -
          State of simulation of the Robot, used to optimize retrieval.
          -
          -
          • -
        • -
          -

          moduleCount

          -
          public static int moduleCount
          -
          The number of swerve modules
          -
          -
          • -
        • -
          -

          wheelLocations

          -
          public static double[] wheelLocations
          -
          The Locations of the swerve drive wheels.
          -
          -
          • -
        • -
          -

          measuredStates

          -
          public static double[] measuredStates
          -
          An array of rotation and velocity values describing the measured state of each swerve module
          -
          -
          • -
        • -
          -

          desiredStates

          -
          public static double[] desiredStates
          -
          An array of rotation and velocity values describing the desired state of each swerve module
          -
          -
          • -
        • -
          -

          robotRotation

          -
          public static double robotRotation
          -
          The robot's current rotation based on odometry or gyro readings
          -
          -
          • -
        • -
          -

          maxSpeed

          -
          public static double maxSpeed
          -
          The maximum achievable speed of the modules, used to adjust the size of the vectors.
          -
          -
          • -
        • -
          -

          rotationUnit

          -
          public static String rotationUnit
          -
          The units of the module rotations and robot rotation
          -
          -
          • -
        • -
          -

          sizeLeftRight

          -
          public static double sizeLeftRight
          -
          The distance between the left and right modules.
          -
          -
          • -
        • -
          -

          sizeFrontBack

          -
          public static double sizeFrontBack
          -
          The distance between the front and back modules.
          -
          -
          • -
        • -
          -

          forwardDirection

          -
          public static String forwardDirection
          -
          The direction the robot should be facing when the "Robot Rotation" is zero or blank. This option is often useful to - align with odometry data or match videos. 'up', 'right', 'down' or 'left'
          -
          -
          • -
        • -
          -

          maxAngularVelocity

          -
          public static double maxAngularVelocity
          -
          The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the - chassis speeds properties.
          -
          -
          • -
        • -
          -

          measuredChassisSpeeds

          -
          public static double[] measuredChassisSpeeds
          -
          The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the - chassis speeds properties.
          -
          -
          • -
        • -
          -

          desiredChassisSpeeds

          -
          public static double[] desiredChassisSpeeds
          -
          Describes the desired forward, sideways and angular velocity of the robot.
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveDriveTelemetry

          -
          public SwerveDriveTelemetry()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          updateData

          -
          public static void updateData()
          -
          Upload data to smartdashboard
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/telemetry/SwerveModuleData.html b/docs/swervelib/telemetry/SwerveModuleData.html deleted file mode 100644 index 179fad6..0000000 --- a/docs/swervelib/telemetry/SwerveModuleData.html +++ /dev/null @@ -1,132 +0,0 @@ - - - - -SwerveModuleData - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.telemetry
      -

      Class SwerveModuleData

      -
      -
      java.lang.Object -
      swervelib.telemetry.SwerveModuleData
      -
      -
      -
      -
      All Implemented Interfaces:
      -
      edu.wpi.first.util.struct.StructSerializable, edu.wpi.first.util.WPISerializable
      -
      -
      -
      public class SwerveModuleData -extends Object -implements edu.wpi.first.util.struct.StructSerializable
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          SwerveModuleData

          -
          public SwerveModuleData()
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html deleted file mode 100644 index 8a6ef8a..0000000 --- a/docs/swervelib/telemetry/package-summary.html +++ /dev/null @@ -1,122 +0,0 @@ - - - - -swervelib.telemetry - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Package swervelib.telemetry

      -
      -
      -
      package swervelib.telemetry
      -
      -
      Telemetry package for sending data to NT4 or SmartDashboard.
      -
      -
      -
        -
      • - -
        • -
      • -
        -
        -
        -
        -
        Class
        -
        Description
        -
        Alert
        -
        -
        Class for managing persistent alerts to be sent over NetworkTables.
        -
        -
        Alert.AlertType
        -
        -
        Represents an alert's level of urgency.
        -
        -
        Alert.SendableAlerts
        -
        -
        Sendable alert for advantage scope.
        -
        -
        SwerveDriveTelemetry
        -
        -
        Telemetry to describe the SwerveDrive following frc-web-components.
        -
        -
        SwerveDriveTelemetry.TelemetryVerbosity
        -
        -
        Verbosity of telemetry data sent back.
        -
        -
        -
        -
        -
        • -
      -
      -
      -
      -
      - - diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html deleted file mode 100644 index 5ed7896..0000000 --- a/docs/swervelib/telemetry/package-tree.html +++ /dev/null @@ -1,88 +0,0 @@ - - - - -swervelib.telemetry Class Hierarchy - - - - - - - - - - - - - - - -
      - -
      -
      -
      -

      Hierarchy For Package swervelib.telemetry

      -Package Hierarchies: - -
      -
      -

      Class Hierarchy

      - -
      -
      -

      Enum Class Hierarchy

      - -
      -
      -
      -
      - - diff --git a/docs/tag-search-index.js b/docs/tag-search-index.js deleted file mode 100644 index f2a440c..0000000 --- a/docs/tag-search-index.js +++ /dev/null @@ -1 +0,0 @@ -tagSearchIndex = [{"l":"Constant Field Values","h":"","u":"constant-values.html"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/testdir.html b/docs/testdir.html deleted file mode 100644 index eb09dd7..0000000 --- a/docs/testdir.html +++ /dev/null @@ -1,3 +0,0 @@ - diff --git a/docs/type-search-index.js b/docs/type-search-index.js deleted file mode 100644 index 0a0e4d3..0000000 --- a/docs/type-search-index.js +++ /dev/null @@ -1 +0,0 @@ -typeSearchIndex = [{"p":"swervelib.imu","l":"ADIS16448Swerve"},{"p":"swervelib.imu","l":"ADIS16470Swerve"},{"p":"swervelib.imu","l":"ADXRS450Swerve"},{"p":"swervelib.telemetry","l":"Alert"},{"p":"swervelib.telemetry","l":"Alert.AlertType"},{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"swervelib.encoders","l":"AnalogAbsoluteEncoderSwerve"},{"p":"swervelib.imu","l":"AnalogGyroSwerve"},{"p":"swervelib.parser.json.modules","l":"AngleConversionFactorsJson"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.parser","l":"Cache"},{"p":"swervelib.imu","l":"CanandgyroSwerve"},{"p":"swervelib.encoders","l":"CanAndMagSwerve"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.parser.json.modules","l":"ConversionFactorsJson"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"DriveConversionFactorsJson"},{"p":"swervelib.math","l":"IMULinearMovingAverageFilter"},{"p":"swervelib.imu","l":"IMUVelocity"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.math","l":"Matter"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.encoders","l":"PWMDutyCycleEncoderSwerve"},{"p":"swervelib.telemetry","l":"Alert.SendableAlerts"},{"p":"swervelib.motors","l":"SparkFlexSwerve"},{"p":"swervelib.motors","l":"SparkFlexSwerve.SparkMAX_slotIdx"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.encoders","l":"SparkMaxAnalogEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxBrushedMotorSwerve"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry"},{"p":"swervelib","l":"SwerveDriveTest"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.simulation","l":"SwerveIMUSimulation"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.simulation","l":"SwerveModuleSimulation"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.motors","l":"TalonSRXSwerve"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry.TelemetryVerbosity"}];updateSearchResults(); \ No newline at end of file