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Added fscalar to JSON configuration

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thenetworkgrinch
2023-02-20 22:04:54 -06:00
parent 78fb79768e
commit 24e0a2d43c
103 changed files with 466 additions and 327 deletions
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@@ -61,6 +61,10 @@ loadScripts(document, 'script');</script>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/simulation/ctre/PhysicsSim.html#random(double,double)" class="member-name-link">random(double, double)</a> - Static method in class swervelib.simulation.ctre.<a href="../swervelib/simulation/ctre/PhysicsSim.html" title="class in swervelib.simulation.ctre">PhysicsSim</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/encoders/SwerveAbsoluteEncoder.html#readingError" class="member-name-link">readingError</a> - Variable in class swervelib.encoders.<a href="../swervelib/encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></dt>
<dd>
<div class="block">Last angle reading was faulty.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward(SimpleMotorFeedforward)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Setup the swerve module feedforward.</div>

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<dd>
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
</dd>
<dt><a href="../swervelib/motors/TalonFXSwerve.html#configureCANStatusFrames(int)" class="member-name-link">configureCANStatusFrames(int)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Set the CAN status frames.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxSwerve.html#configureCANStatusFrames(int,int,int,int,int)" class="member-name-link">configureCANStatusFrames(int, int, int, int, int)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dt>
<dd>
<div class="block">Set the CAN status frames.</div>

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@@ -145,6 +145,14 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Field object.</div>
</dd>
<dt><a href="../swervelib/motors/TalonFXSwerve.html#fscalar" class="member-name-link">fscalar</a> - Variable in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Feedforward scalar value for the angle motor.</div>
</dd>
<dt><a href="../swervelib/parser/PIDFConfig.html#fscalar" class="member-name-link">fscalar</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></dt>
<dd>
<div class="block">Feedforward scalar for PID applied dynamically.</div>
</dd>
</dl>
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<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>G-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="index: G">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -237,6 +237,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Gets the current module states (azimuth and velocity)</div>
</dd>
<dt><a href="../swervelib/math/SwerveMath.html#getSwerveModule(swervelib.SwerveModule%5B%5D,boolean,boolean)" class="member-name-link">getSwerveModule(SwerveModule[], boolean, boolean)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
<dd>
<div class="block">Get the fruthest module from center based on the module locations.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses(Pose2d)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Get the swerve module poses and on the field relative to the robot.</div>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>H-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="index: H">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>I-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="index: I">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>Overview</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="package index">
<meta name="generator" content="javadoc/PackageIndexWriter">
<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>Generated Documentation (Untitled)</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="index redirect">
<meta name="generator" content="javadoc/IndexRedirectWriter">
<link rel="canonical" href="index.html">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="class tree">
<meta name="generator" content="javadoc/TreeWriter">
<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>SwerveController</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib, class: SwerveController">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

34
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>SwerveDrive</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -376,8 +376,8 @@ loadScripts(document, 'script');</script>
<h3>SwerveDrive</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveDrive</span><wbr><span class="parameters">(<a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config,
<a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a>&nbsp;controllerConfig)</span></div>
<div class="block">Creates a new swerve drivebase subsystem. Robot is controlled via the <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)</code></a> method, or via the
<a href="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setModuleStates(swervelib.math.SwerveModuleState2[], boolean)</code></a> method. The <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)</code></a> method incorporates kinematics— it takes
<div class="block">Creates a new swerve drivebase subsystem. Robot is controlled via the <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)</code></a> method, or via the
<a href="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setModuleStates(swervelib.math.SwerveModuleState2[], boolean)</code></a> method. The <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)</code></a> method incorporates kinematics-- it takes
a translation and rotation, as well as parameters for field-centric and closed-loop velocity control.
<a href="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setModuleStates(swervelib.math.SwerveModuleState2[], boolean)</code></a> takes a list of SwerveModuleStates and directly passes them to the modules.
This subsystem also handles odometry.</div>
@@ -404,20 +404,20 @@ loadScripts(document, 'script');</script>
double&nbsp;rotation,
boolean&nbsp;fieldRelative,
boolean&nbsp;isOpenLoop)</span></div>
<div class="block">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.</div>
<div class="block">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.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>translation</code> - <code>Translation2d</code> 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).</dd>
<dd><code>rotation</code> - Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
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).</dd>
<dd><code>rotation</code> - Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
relativity.</dd>
<dd><code>fieldRelative</code> - Drive mode. True for field-relative, false for robot-relative.</dd>
<dd><code>isOpenLoop</code> - Whether to use closed-loop velocity control. Set to true to disable closed-loop.</dd>
<dd><code>fieldRelative</code> - Drive mode. True for field-relative, false for robot-relative.</dd>
<dd><code>isOpenLoop</code> - Whether to use closed-loop velocity control. Set to true to disable closed-loop.</dd>
</dl>
</section>
</li>
@@ -426,11 +426,11 @@ loadScripts(document, 'script');</script>
<h3>setModuleStates</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setModuleStates</span><wbr><span class="parameters">(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
boolean&nbsp;isOpenLoop)</span></div>
<div class="block">Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.</div>
<div class="block">Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>desiredStates</code> - A list of SwerveModuleStates to send to the modules.</dd>
<dd><code>isOpenLoop</code> - Whether to use closed-loop velocity control. Set to true to disable closed-loop.</dd>
<dd><code>isOpenLoop</code> - Whether to use closed-loop velocity control. Set to true to disable closed-loop.</dd>
</dl>
</section>
</li>
@@ -483,7 +483,7 @@ loadScripts(document, 'script');</script>
<h3>resetOdometry</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">resetOdometry</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</span></div>
<div class="block">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
method. However, if either gyro angle or module position is reset, this must be called in order for odometry to
keep working.</div>
<dl class="notes">
<dt>Parameters:</dt>
@@ -535,7 +535,7 @@ loadScripts(document, 'script');</script>
<section class="detail" id="getYaw()">
<h3>getYaw</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">getYaw</span>()</div>
<div class="block">Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.</div>
<div class="block">Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>The yaw as a <code>Rotation2d</code> angle</dd>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>SwerveModule</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib, class: SwerveModule">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

9
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>CANCoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.encoders, class: CANCoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -99,6 +99,9 @@ loadScripts(document, 'script');</script>
<div class="block">CANCoder with WPILib sendable and support.</div>
</div>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-swervelib.encoders.SwerveAbsoluteEncoder">Fields inherited from class&nbsp;swervelib.encoders.<a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></h3>
<code><a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
@@ -260,7 +263,7 @@ loadScripts(document, 'script');</script>
<section class="detail" id="getAbsolutePosition()">
<h3>getAbsolutePosition</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getAbsolutePosition</span>()</div>
<div class="block">Get the absolute position of the encoder.</div>
<div class="block">Get the absolute position of the encoder. Sets <a href="SwerveAbsoluteEncoder.html#readingError"><code>SwerveAbsoluteEncoder.readingError</code></a> on erroneous readings.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>

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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>SparkMaxEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.encoders, class: SparkMaxEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -99,6 +99,9 @@ loadScripts(document, 'script');</script>
<div class="block">The <code>AbsoluteEncoder</code> representing the duty cycle encoder attached to the SparkMax.</div>
</div>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-swervelib.encoders.SwerveAbsoluteEncoder">Fields inherited from class&nbsp;swervelib.encoders.<a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></h3>
<code><a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->

40
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>SwerveAbsoluteEncoder</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.encoders, class: SwerveAbsoluteEncoder">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -45,13 +45,13 @@ loadScripts(document, 'script');</script>
<ul class="sub-nav-list">
<li>Summary:&nbsp;</li>
<li>Nested&nbsp;|&nbsp;</li>
<li>Field&nbsp;|&nbsp;</li>
<li><a href="#field-summary">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method-summary">Method</a></li>
</ul>
<ul class="sub-nav-list">
<li>Detail:&nbsp;</li>
<li>Field&nbsp;|&nbsp;</li>
<li><a href="#field-detail">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method-detail">Method</a></li>
</ul>
@@ -86,6 +86,23 @@ loadScripts(document, 'script');</script>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>boolean</code></div>
<div class="col-second even-row-color"><code><a href="#readingError" class="member-name-link">readingError</a></code></div>
<div class="col-last even-row-color">
<div class="block">Last angle reading was faulty.</div>
</div>
</div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
@@ -147,6 +164,21 @@ loadScripts(document, 'script');</script>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="readingError">
<h3>readingError</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">readingError</span></div>
<div class="block">Last angle reading was faulty.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>swervelib.encoders</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
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<title>swervelib.encoders Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="tree: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageTreeWriter">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
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<title>ADIS16448Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16448Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>ADIS16470Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16470Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>ADXRS450Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>AnalogGyroSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="description" content="declaration: package: swervelib.imu, class: AnalogGyroSwerve">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>NavXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
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<meta name="description" content="declaration: package: swervelib.imu, class: NavXSwerve">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>Pigeon2Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.imu, class: Pigeon2Swerve">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>PigeonSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
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<meta name="description" content="declaration: package: swervelib.imu, class: PigeonSwerve">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>SwerveIMU</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
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<meta name="description" content="declaration: package: swervelib.imu, class: SwerveIMU">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>swervelib.imu</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
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<html lang="en">
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<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>swervelib.imu Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="generator" content="javadoc/PackageTreeWriter">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>SwerveKinematics2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveKinematics2">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>SwerveMath</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveMath">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -163,8 +163,15 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the meters per rotation for the integrated encoder.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">limitVelocity</a><wbr>(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="../parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getSwerveModule(swervelib.SwerveModule%5B%5D,boolean,boolean)" class="member-name-link">getSwerveModule</a><wbr>(<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]&nbsp;modules,
boolean&nbsp;front,
boolean&nbsp;left)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Get the fruthest module from center based on the module locations.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">limitVelocity</a><wbr>(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;fieldVelocity,
edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose,
double&nbsp;loopTime,
@@ -172,13 +179,13 @@ loadScripts(document, 'script');</script>
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by
<a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#normalizeAngle(double)" class="member-name-link">normalizeAngle</a><wbr>(double&nbsp;angle)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#normalizeAngle(double)" class="member-name-link">normalizeAngle</a><wbr>(double&nbsp;angle)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Normalize an angle to be within 0 to 360.</div>
</div>
</div>
@@ -219,7 +226,7 @@ loadScripts(document, 'script');</script>
double&nbsp;motorFreeSpeedRPM,
double&nbsp;angleGearRatio)</span></div>
<div class="block">Calculate the angle kV which will be multiplied by the radians per second for the feedforward. Volt * seconds /
degree &lt;=> (maxVolts) / (maxSpeed)</div>
degree == (maxVolts) / (maxSpeed)</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>optimalVoltage</code> - Optimal voltage to use when calculating the angle kV.</dd>
@@ -283,7 +290,7 @@ loadScripts(document, 'script');</script>
<h3>calculateDegreesPerSteeringRotation</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calculateDegreesPerSteeringRotation</span><wbr><span class="parameters">(double&nbsp;angleGearRatio,
double&nbsp;pulsePerRotation)</span></div>
<div class="block">Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts
<div class="block">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.</div>
<dl class="notes">
<dt>Parameters:</dt>
@@ -354,7 +361,7 @@ loadScripts(document, 'script');</script>
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</span></div>
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from
NetworkTables and is passed the direction in question.<br/><b>Requires modules to be named: <br/>"frontright.json", "frontleft.json", "backright.json", "backleft.json"</b></div>
NetworkTables and is passed the direction in question.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>angle</code> - The direction in which to calculate max acceleration, as a Rotation2d. Note that this
@@ -380,9 +387,8 @@ loadScripts(document, 'script');</script>
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</span></div>
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by
<a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>. Note that
this takes and returns field-relative velocities. <br/><b>Requires modules to be named:<br/> "frontright.json",
"frontleft.json", "backright.json", "backleft.json"</b></div>
<a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>. Note that
this takes and returns field-relative velocities.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>commandedVelocity</code> - The desired velocity</dd>
@@ -395,11 +401,28 @@ loadScripts(document, 'script');</script>
<dd><code>chassisCenterOfGravity</code> - Chassis center of gravity.</dd>
<dd><code>config</code> - The swerve drive configuration.</dd>
<dt>Returns:</dt>
<dd>The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable
<dd>The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable
velocity.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getSwerveModule(swervelib.SwerveModule[],boolean,boolean)">
<h3>getSwerveModule</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="../parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></span>&nbsp;<span class="element-name">getSwerveModule</span><wbr><span class="parameters">(<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]&nbsp;modules,
boolean&nbsp;front,
boolean&nbsp;left)</span></div>
<div class="block">Get the fruthest module from center based on the module locations.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>modules</code> - Swerve module list.</dd>
<dd><code>front</code> - True = furthest front, False = furthest back.</dd>
<dd><code>left</code> - True = furthest left, False = furthest right.</dd>
<dt>Returns:</dt>
<dd>Module location which is the furthest from center and abides by parameters.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>

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<title>SwerveModuleState2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveModuleState2">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
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<title>swervelib.math</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.math">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
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<title>swervelib.math Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
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<meta name="description" content="tree: package: swervelib.math">
<meta name="generator" content="javadoc/PackageTreeWriter">
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<head>
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<title>SparkMaxSwerve.SparkMAX_slotIdx</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxSwerve, enum: SparkMAX_slotIdx">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>SparkMaxSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>SwerveMotor</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.motors, class: SwerveMotor">
<meta name="generator" content="javadoc/ClassWriterImpl">
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170
docs/swervelib/motors/TalonFXSwerve.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>TalonFXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.motors, class: TalonFXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -113,14 +113,19 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Factory default already occurred.</div>
</div>
<div class="col-first even-row-color"><code>(package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonFX</code></div>
<div class="col-second even-row-color"><code><a href="#motor" class="member-name-link">motor</a></code></div>
<div class="col-first even-row-color"><code>private double</code></div>
<div class="col-second even-row-color"><code><a href="#fscalar" class="member-name-link">fscalar</a></code></div>
<div class="col-last even-row-color">
<div class="block">Feedforward scalar value for the angle motor.</div>
</div>
<div class="col-first odd-row-color"><code>(package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonFX</code></div>
<div class="col-second odd-row-color"><code><a href="#motor" class="member-name-link">motor</a></code></div>
<div class="col-last odd-row-color">
<div class="block">TalonFX motor controller.</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#positionConversionFactor" class="member-name-link">positionConversionFactor</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private double</code></div>
<div class="col-second even-row-color"><code><a href="#positionConversionFactor" class="member-name-link">positionConversionFactor</a></code></div>
<div class="col-last even-row-color">
<div class="block">The position conversion factor to convert raw sensor units to Meters Per 100ms, or Ticks to Degrees.</div>
</div>
</div>
@@ -178,107 +183,112 @@ loadScripts(document, 'script');</script>
<div class="block">Clear the sticky faults on the motor controller.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureIntegratedEncoder(double)" class="member-name-link">configureIntegratedEncoder</a><wbr>(double&nbsp;positionConversionFactor)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureCANStatusFrames(int)" class="member-name-link">configureCANStatusFrames</a><wbr>(int&nbsp;CANStatus1)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the CAN status frames.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureIntegratedEncoder(double)" class="member-name-link">configureIntegratedEncoder</a><wbr>(double&nbsp;positionConversionFactor)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the integrated encoder for the swerve module.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configurePIDF(swervelib.parser.PIDFConfig)" class="member-name-link">configurePIDF</a><wbr>(<a href="../parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configurePIDF(swervelib.parser.PIDFConfig)" class="member-name-link">configurePIDF</a><wbr>(<a href="../parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the PIDF values for the closed loop controller.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configurePIDWrapping(double,double)" class="member-name-link">configurePIDWrapping</a><wbr>(double&nbsp;minInput,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configurePIDWrapping(double,double)" class="member-name-link">configurePIDWrapping</a><wbr>(double&nbsp;minInput,
double&nbsp;maxInput)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#convertToNativeSensorUnits(double)" class="member-name-link">convertToNativeSensorUnits</a><wbr>(double&nbsp;setpoint)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#convertToNativeSensorUnits(double)" class="member-name-link">convertToNativeSensorUnits</a><wbr>(double&nbsp;setpoint)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Convert the setpoint into native sensor units.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefaults()" class="member-name-link">factoryDefaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefaults()" class="member-name-link">factoryDefaults</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the factory defaults.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMotor()" class="member-name-link">getMotor</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMotor()" class="member-name-link">getMotor</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the motor object from the module.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPosition()" class="member-name-link">getPosition</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPosition()" class="member-name-link">getPosition</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the position of the integrated encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRawPosition()" class="member-name-link">getRawPosition</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRawPosition()" class="member-name-link">getRawPosition</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the raw position.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getVelocity()" class="member-name-link">getVelocity</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getVelocity()" class="member-name-link">getVelocity</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the velocity of the integrated encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAttachedAbsoluteEncoder()" class="member-name-link">isAttachedAbsoluteEncoder</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAttachedAbsoluteEncoder()" class="member-name-link">isAttachedAbsoluteEncoder</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double&nbsp;scopeReference,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double&nbsp;scopeReference,
double&nbsp;newAngle)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Put an angle within the the 360 deg scope of a reference.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the percentage output.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the motor to be inverted.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the idle mode.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the integrated encoder position.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the closed loop PID controller reference point.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</div>
</div>
@@ -356,6 +366,13 @@ loadScripts(document, 'script');</script>
<div class="block">If the TalonFX configuration has changed.</div>
</section>
</li>
<li>
<section class="detail" id="fscalar">
<h3>fscalar</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">fscalar</span></div>
<div class="block">Feedforward scalar value for the angle motor.</div>
</section>
</li>
</ul>
</section>
</li>
@@ -459,15 +476,28 @@ loadScripts(document, 'script');</script>
<dt>Specified by:</dt>
<dd><code><a href="SwerveMotor.html#configureIntegratedEncoder(double)">configureIntegratedEncoder</a></code>&nbsp;in class&nbsp;<code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></dd>
<dt>Parameters:</dt>
<dd><code>positionConversionFactor</code> - The conversion factor to apply for position. <p><br/> Degrees: <br/>
<dd><code>positionConversionFactor</code> - The conversion factor to apply for position.
<p><br>
Degrees: <br>
<code>
360 / (angleGearRatio * encoderTicksPerRotation)
</code><br/></p>
<p><br/>Meters:<br/>
</code><br>
<p><br>
Meters:<br>
<code>
(Math.PI * wheelDiameter) / (driveGearRatio * encoderTicksPerRotation)
</code>
</p></dd>
</code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="configureCANStatusFrames(int)">
<h3>configureCANStatusFrames</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configureCANStatusFrames</span><wbr><span class="parameters">(int&nbsp;CANStatus1)</span></div>
<div class="block">Set the CAN status frames.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>CANStatus1</code> - Applied Motor Output, Fault Information, Limit Switch Information</dd>
</dl>
</section>
</li>

18
docs/swervelib/motors/TalonSRXSwerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>TalonSRXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.motors, class: TalonSRXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -298,13 +298,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="motor">
<h3>motor</h3>
<div class="member-signature"><span class="return-type">com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX</span>&nbsp;<span class="element-name">motor</span></div>
<div class="block">TalonSRX motor controller.</div>
</section>
</li>
<li>
<section class="detail" id="absoluteEncoder">
<h3>absoluteEncoder</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">absoluteEncoder</span></div>
@@ -320,6 +313,13 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="motor">
<h3>motor</h3>
<div class="member-signature"><span class="return-type">com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX</span>&nbsp;<span class="element-name">motor</span></div>
<div class="block">TalonSRX motor controller.</div>
</section>
</li>
<li>
<section class="detail" id="positionConversionFactor">
<h3>positionConversionFactor</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">positionConversionFactor</span></div>

4
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
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<title>swervelib.motors</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.motors">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
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<title>swervelib.motors Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="tree: package: swervelib.motors">
<meta name="generator" content="javadoc/PackageTreeWriter">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>swervelib</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>swervelib Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="tree: package: swervelib">
<meta name="generator" content="javadoc/PackageTreeWriter">
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36
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<title>PIDFConfig</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser, class: PIDFConfig">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -102,23 +102,28 @@ loadScripts(document, 'script');</script>
<div class="block">Feedforward value for PID.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#i" class="member-name-link">i</a></code></div>
<div class="col-second even-row-color"><code><a href="#fscalar" class="member-name-link">fscalar</a></code></div>
<div class="col-last even-row-color">
<div class="block">Feedforward scalar for PID applied dynamically.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#i" class="member-name-link">i</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Integral Gain for PID.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#iz" class="member-name-link">iz</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#iz" class="member-name-link">iz</a></code></div>
<div class="col-last even-row-color">
<div class="block">Integral zone of the PID.</div>
</div>
<div class="col-first even-row-color"><code><a href="deserializer/PIDFRange.html" title="class in swervelib.parser.deserializer">PIDFRange</a></code></div>
<div class="col-second even-row-color"><code><a href="#output" class="member-name-link">output</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code><a href="deserializer/PIDFRange.html" title="class in swervelib.parser.deserializer">PIDFRange</a></code></div>
<div class="col-second odd-row-color"><code><a href="#output" class="member-name-link">output</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The PIDF output range.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#p" class="member-name-link">p</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#p" class="member-name-link">p</a></code></div>
<div class="col-last even-row-color">
<div class="block">Proportional Gain for PID.</div>
</div>
</div>
@@ -227,6 +232,13 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="fscalar">
<h3>fscalar</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">fscalar</span></div>
<div class="block">Feedforward scalar for PID applied dynamically.</div>
</section>
</li>
<li>
<section class="detail" id="iz">
<h3>iz</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">iz</span></div>

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<title>SwerveControllerConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveControllerConfiguration">
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<title>SwerveDriveConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveDriveConfiguration">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>SwerveModuleConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveModuleConfiguration">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>SwerveModulePhysicalCharacteristics</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveModulePhysicalCharacteristics">
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<title>SwerveParser</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveParser">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>PIDFRange</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser.deserializer, class: PIDFRange">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
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<!-- Generated by javadoc (17) on Thu Feb 16 22:12:26 CST 2023 -->
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<title>swervelib.parser.deserializer</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser.deserializer">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<title>swervelib.parser.deserializer Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="tree: package: swervelib.parser.deserializer">
<meta name="generator" content="javadoc/PackageTreeWriter">
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<title>ControllerPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser.json, class: ControllerPropertiesJson">
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<title>DeviceJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser.json, class: DeviceJson">
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<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser.json, class: ModuleJson">
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<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser.json, class: MotorConfigDouble">
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<title>MotorConfigInt</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser.json, class: MotorConfigInt">
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<title>PIDFPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser.json, class: PIDFPropertiesJson">
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<title>PhysicalPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser.json, class: PhysicalPropertiesJson">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser.json, class: SwerveDriveJson">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.parser.json.modules, class: BoolMotorJson">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
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<meta name="description" content="declaration: package: swervelib.parser.json.modules, class: LocationJson">
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<title>swervelib.parser.json.modules</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
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<meta name="description" content="declaration: package: swervelib.parser.json.modules">
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<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="tree: package: swervelib.parser.json.modules">
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<title>swervelib.parser.json</title>
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<meta name="description" content="declaration: package: swervelib.parser.json">
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<title>swervelib.parser.json Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>swervelib.parser Class Hierarchy</title>
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<title>SwerveIMUSimulation</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
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<meta name="description" content="declaration: package: swervelib.simulation, class: SwerveIMUSimulation">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>SwerveModuleSimulation</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
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<title>PhysicsSim.SimProfile</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.simulation.ctre, class: PhysicsSim, class: SimProfile">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>PhysicsSim</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.simulation.ctre, class: PhysicsSim">
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@@ -249,6 +249,10 @@ loadScripts(document, 'script');</script>
<h3>getInstance</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="PhysicsSim.html" title="class in swervelib.simulation.ctre">PhysicsSim</a></span>&nbsp;<span class="element-name">getInstance</span>()</div>
<div class="block">Gets the robot simulator instance.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><a href="PhysicsSim.html" title="class in swervelib.simulation.ctre"><code>PhysicsSim</code></a> instance.</dd>
</dl>
</section>
</li>
<li>

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<title>TalonFXSimProfile</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.simulation.ctre, class: TalonFXSimProfile">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
@@ -236,9 +236,10 @@ loadScripts(document, 'script');</script>
<h3>run</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">run</span>()</div>
<div class="block">Runs the simulation profile.
<p>
This uses very rudimentary physics simulation and exists to allow users to test features of our products in
simulation using our examples out of the box. Users may modify this to utilize more accurate physics simulation.</div>
<p>This uses very rudimentary physics simulation and exists to allow users to test features of
our products in simulation using our examples out of the box. Users may modify this to utilize more accurate
physics simulation.</div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code><a href="PhysicsSim.SimProfile.html#run()">run</a></code>&nbsp;in class&nbsp;<code><a href="PhysicsSim.SimProfile.html" title="class in swervelib.simulation.ctre">PhysicsSim.SimProfile</a></code></dd>

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<title>TalonSRXSimProfile</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.simulation.ctre, class: TalonSRXSimProfile">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
@@ -236,9 +236,10 @@ loadScripts(document, 'script');</script>
<h3>run</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">run</span>()</div>
<div class="block">Runs the simulation profile.
<p>
This uses very rudimentary physics simulation and exists to allow users to test features of our products in
simulation using our examples out of the box. Users may modify this to utilize more accurate physics simulation.</div>
<p>This uses very rudimentary physics simulation and exists to allow users to test features of
our products in simulation using our examples out of the box. Users may modify this to utilize more accurate
physics simulation.</div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code><a href="PhysicsSim.SimProfile.html#run()">run</a></code>&nbsp;in class&nbsp;<code><a href="PhysicsSim.SimProfile.html" title="class in swervelib.simulation.ctre">PhysicsSim.SimProfile</a></code></dd>

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<title>VictorSPXSimProfile</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.simulation.ctre, class: VictorSPXSimProfile">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
@@ -188,9 +188,10 @@ loadScripts(document, 'script');</script>
<h3>run</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">run</span>()</div>
<div class="block">Runs the simulation profile.
<p>
This uses very rudimentary physics simulation and exists to allow users to test features of our products in
simulation using our examples out of the box. Users may modify this to utilize more accurate physics simulation.</div>
<p>This uses very rudimentary physics simulation and exists to allow users to test features of
our products in simulation using our examples out of the box. Users may modify this to utilize more accurate
physics simulation.</div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code><a href="PhysicsSim.SimProfile.html#run()">run</a></code>&nbsp;in class&nbsp;<code><a href="PhysicsSim.SimProfile.html" title="class in swervelib.simulation.ctre">PhysicsSim.SimProfile</a></code></dd>

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<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.simulation.ctre">
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<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
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<meta name="description" content="tree: package: swervelib.simulation.ctre">
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<title>swervelib.simulation</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-16">
<meta name="dc.created" content="2023-02-20">
<meta name="description" content="declaration: package: swervelib.simulation">
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