Get the swerve module poses and on the field relative to the robot.
diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html
index 6b27d40..75bd3b8 100644
--- a/docs/index-files/index-8.html
+++ b/docs/index-files/index-8.html
@@ -1,11 +1,11 @@
-
+
H-Index
I-Index
Overview
Generated Documentation (Untitled)
Class Hierarchy
SwerveController
SwerveDrive
SwerveDrive
-Creates a new swerve drivebase subsystem. Robot is controlled via the
drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean) method, or via the
-
setModuleStates(swervelib.math.SwerveModuleState2[], boolean) method. The
drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean) method incorporates kinematics— it takes
+
Creates a new swerve drivebase subsystem. Robot is controlled via the
drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean) method, or via the
+
setModuleStates(swervelib.math.SwerveModuleState2[], boolean) method. The
drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean) method incorporates kinematics-- it takes
a translation and rotation, as well as parameters for field-centric and closed-loop velocity control.
setModuleStates(swervelib.math.SwerveModuleState2[], boolean) takes a list of SwerveModuleStates and directly passes them to the modules.
This subsystem also handles odometry.
@@ -404,20 +404,20 @@ loadScripts(document, 'script');
double rotation,
boolean fieldRelative,
boolean isOpenLoop)
The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, and calculates and
- commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
- velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.
+The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, and calculates and
+ commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
+ velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.
Parameters:
translation - Translation2d that is the commanded linear velocity of the robot, in meters per
second. In robot-relative mode, positive x is torwards the bow (front) and positive y is
- torwards port (left). In field-relative mode, positive x is away from the alliance wall
- (field North) and positive y is torwards the left wall when looking through the driver station
- glass (field West).rotation - Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
+ torwards port (left). In field-relative mode, positive x is away from the alliance wall (field
+ North) and positive y is torwards the left wall when looking through the driver station glass
+ (field West).rotation - Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
relativity.fieldRelative - Drive mode. True for field-relative, false for robot-relative.isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.fieldRelative - Drive mode. True for field-relative, false for robot-relative.isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
@@ -426,11 +426,11 @@ loadScripts(document, 'script');
setModuleStates
-Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.
+Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.
Parameters:
desiredStates - A list of SwerveModuleStates to send to the modules.isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
@@ -483,7 +483,7 @@ loadScripts(document, 'script');
resetOdometry
public void resetOdometry (edu.wpi.first.math.geometry.Pose2d pose)
Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this
- method. However, if either gyro angle or module position is reset, this must be called in order for odometry to
+ method. However, if either gyro angle or module position is reset, this must be called in order for odometry to
keep working.
Parameters:
@@ -535,7 +535,7 @@ loadScripts(document, 'script');
getYaw
public edu.wpi.first.math.geometry.Rotation2d getYaw ()
-Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.
+Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.
Returns:
The yaw as a Rotation2d angle
diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html
index ae720cc..6e3b1fb 100644
--- a/docs/swervelib/SwerveModule.html
+++ b/docs/swervelib/SwerveModule.html
@@ -1,11 +1,11 @@
-
+
SwerveModule
CANCoderSwerve
CANCoder with WPILib sendable and support.
+
@@ -260,7 +263,7 @@ loadScripts(document, 'script');
getAbsolutePosition
public double getAbsolutePosition ()
-Get the absolute position of the encoder.
+
Specified by:
getAbsolutePosition SwerveAbsoluteEncoder SparkMaxEncoderSwerve
The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
+
diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html
index fd1befc..21ec261 100644
--- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html
+++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html
@@ -1,11 +1,11 @@
-
+
SwerveAbsoluteEncoder
+
+
+
+Field Summary
+Fields
+
+
+
+
+
boolean
+
+
+
Last angle reading was faulty.
+
+
+
@@ -147,6 +164,21 @@ loadScripts(document, 'script');
+
+
+
+Field Details
+
+
+
+readingError
+public boolean readingError
+Last angle reading was faulty.
+
+
+
+
+
diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html
index e470360..26aa5eb 100644
--- a/docs/swervelib/encoders/package-summary.html
+++ b/docs/swervelib/encoders/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.encoders
swervelib.encoders Class Hierarchy
ADIS16448Swerve
ADIS16470Swerve
ADXRS450Swerve
AnalogGyroSwerve
NavXSwerve
Pigeon2Swerve
PigeonSwerve
SwerveIMU
swervelib.imu
swervelib.imu Class Hierarchy
SwerveKinematics2
SwerveMath
Calculate the meters per rotation for the integrated encoder.
-static edu.wpi.first.math.geometry.Translation2d
-limitVelocity (edu.wpi.first.math.geometry.Translation2d commandedVelocity,
+
+
+
+
Get the fruthest module from center based on the module locations.
+
static edu.wpi.first.math.geometry.Translation2d
+limitVelocity (edu.wpi.first.math.geometry.Translation2d commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity,
edu.wpi.first.math.geometry.Pose2d robotPose,
double loopTime,
@@ -172,13 +179,13 @@ loadScripts(document, 'script');
double robotMass,
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
SwerveDriveConfiguration config)
+
-
static double
-
-
+
static double
+
+
Normalize an angle to be within 0 to 360.
@@ -219,7 +226,7 @@ loadScripts(document, 'script');
double motorFreeSpeedRPM,
double angleGearRatio)
Calculate the angle kV which will be multiplied by the radians per second for the feedforward. Volt * seconds /
- degree <=> (maxVolts) / (maxSpeed)
+ degree == (maxVolts) / (maxSpeed)
Parameters:
optimalVoltage - Optimal voltage to use when calculating the angle kV.calculateDegreesPerSteeringRotation
public static double calculateDegreesPerSteeringRotation (double angleGearRatio,
double pulsePerRotation)
-Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts
+
Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts
motor rotations to linear wheel distance and steering converts motor rotations to module azimuth.
Parameters:
@@ -354,7 +361,7 @@ loadScripts(document, 'script');
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
SwerveDriveConfiguration config) Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from
- NetworkTables and is passed the direction in question.Requires modules to be named:
+ NetworkTables and is passed the direction in question.
Parameters:
angle - The direction in which to calculate max acceleration, as a Rotation2d. Note that this
@@ -380,9 +387,8 @@ loadScripts(document, 'script');
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
SwerveDriveConfiguration config)
+ calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)
Parameters:
commandedVelocity - The desired velocitychassisCenterOfGravity - Chassis center of gravity.config - The swerve drive configuration.Returns:
-The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable
+The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable
velocity.
+
+
+getSwerveModule
+
+Get the fruthest module from center based on the module locations.
+
+Parameters:
+modules - Swerve module list.front - True = furthest front, False = furthest back.left - True = furthest left, False = furthest right.Returns:
+Module location which is the furthest from center and abides by parameters.
+
+
+
diff --git a/docs/swervelib/math/SwerveModuleState2.html b/docs/swervelib/math/SwerveModuleState2.html
index 98d4eca..1e01e5f 100644
--- a/docs/swervelib/math/SwerveModuleState2.html
+++ b/docs/swervelib/math/SwerveModuleState2.html
@@ -1,11 +1,11 @@
-
+
SwerveModuleState2
swervelib.math
swervelib.math Class Hierarchy
SparkMaxSwerve.SparkMAX_slotIdx
SparkMaxSwerve
SwerveMotor
TalonFXSwerve
Factory default already occurred.
-(package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonFX
-
+private double
+
+
Feedforward scalar value for the angle motor.
+
(package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonFX
+
+
TalonFX motor controller.
-private double
-
-
+
private double
+
+
The position conversion factor to convert raw sensor units to Meters Per 100ms, or Ticks to Degrees.
Clear the sticky faults on the motor controller.
void
-
+
+
Set the CAN status frames.
+
void
+
+
Configure the integrated encoder for the swerve module.
-void
-
-
+
void
+
+
Configure the PIDF values for the closed loop controller.
-
void
-
configurePIDWrapping (double minInput,
+void
+
-
+
Configure the PID wrapping for the position closed loop controller.
-
double
-
-
+
double
+
+
Convert the setpoint into native sensor units.
-
void
-
-
+
void
+
+
Configure the factory defaults.
-
-
-
+
+
+
Get the motor object from the module.
-
double
-
-
+
double
+
+
Get the position of the integrated encoder.
-
double
-
-
+
double
+
+
-
double
-
-
+
double
+
+
Get the velocity of the integrated encoder.
-
boolean
-
-
+
boolean
+
+
Queries whether the absolute encoder is directly attached to the motor controller.
-
private double
-
placeInAppropriate0To360Scope (double scopeReference,
+private double
+
-
+
Put an angle within the the 360 deg scope of a reference.
-
void
-
set (double percentOutput)
-
+
void
+
set (double percentOutput)
+
Set the percentage output.
-
-
-
+
+
+
Set the absolute encoder to be a compatible absolute encoder.
-
void
-
-
+
void
+
+
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.
-
void
-
-
+
void
+
+
Set the motor to be inverted.
-
void
-
-
+
void
+
+
Set the maximum rate the open/closed loop output can change by.
-
void
-
-
+
void
+
+
-
void
-
-
+
void
+
+
Set the integrated encoder position.
-
void
-
setReference (double setpoint,
+void
+
-
+
Set the closed loop PID controller reference point.
-
void
-
-
+
void
+
+
Set the voltage compensation for the swerve module motor.
@@ -356,6 +366,13 @@ loadScripts(document, 'script');
If the TalonFX configuration has changed.
+
+
+fscalar
+private double fscalar
+Feedforward scalar value for the angle motor.
+
+
@@ -459,15 +476,28 @@ loadScripts(document, 'script');
Specified by:
configureIntegratedEncoder SwerveMotor Parameters:
-
positionConversionFactor - The conversion factor to apply for position.
positionConversionFactor - The conversion factor to apply for position.
+
360 / (angleGearRatio * encoderTicksPerRotation)
-
-
(Math.PI * wheelDiameter) / (driveGearRatio * encoderTicksPerRotation)
-
-
+
+
+
+
+
diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html
index c2bc38f..caa634c 100644
--- a/docs/swervelib/motors/TalonSRXSwerve.html
+++ b/docs/swervelib/motors/TalonSRXSwerve.html
@@ -1,11 +1,11 @@
-
+
TalonSRXSwerve
-
+
@@ -298,13 +298,6 @@ loadScripts(document, 'script');
-
-motor
-com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor
-TalonSRX motor controller.
-
-
-
absoluteEncoder
private final boolean absoluteEncoder
@@ -320,6 +313,13 @@ loadScripts(document, 'script');
+
+motor
+com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor
+TalonSRX motor controller.
+
+
+
positionConversionFactor
private double positionConversionFactor
diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html
index 52e5a4d..99434f0 100644
--- a/docs/swervelib/motors/package-summary.html
+++ b/docs/swervelib/motors/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.motors
swervelib.motors Class Hierarchy
swervelib
swervelib Class Hierarchy
PIDFConfig
Feedforward value for PID.
double
-
+
+
Feedforward scalar for PID applied dynamically.
+
double
+
+
-double
-
-
+
double
+
+
Integral zone of the PID.
-
-
-
+
+
+
-
double
-
-
+
double
+
+
Proportional Gain for PID.
@@ -227,6 +232,13 @@ loadScripts(document, 'script');
+
+fscalar
+public double fscalar
+Feedforward scalar for PID applied dynamically.
+
+
+
iz
public double iz
diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html
index 7f135f8..04f4b75 100644
--- a/docs/swervelib/parser/SwerveControllerConfiguration.html
+++ b/docs/swervelib/parser/SwerveControllerConfiguration.html
@@ -1,11 +1,11 @@
-
+
SwerveControllerConfiguration
SwerveDriveConfiguration
SwerveModuleConfiguration
SwerveModulePhysicalCharacteristics
SwerveParser
PIDFRange
swervelib.parser.deserializer
swervelib.parser.deserializer Class Hierarchy
ControllerPropertiesJson
DeviceJson
ModuleJson
MotorConfigDouble
MotorConfigInt
PIDFPropertiesJson
PhysicalPropertiesJson
SwerveDriveJson
BoolMotorJson
LocationJson
swervelib.parser.json.modules
swervelib.parser.json.modules Class Hierarchy
swervelib.parser.json
swervelib.parser.json Class Hierarchy
swervelib.parser
swervelib.parser Class Hierarchy
SwerveIMUSimulation
SwerveModuleSimulation
PhysicsSim.SimProfile
PhysicsSim
getInstance
Gets the robot simulator instance.
+
+Returns:
+PhysicsSim
diff --git a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html
index 571f474..734df83 100644
--- a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html
+++ b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html
@@ -1,11 +1,11 @@
-
+
TalonFXSimProfile
run
public void run ()
Runs the simulation profile.
-
- 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.
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.
Overrides:
run PhysicsSim.SimProfile TalonSRXSimProfile
run
public void run ()
Runs the simulation profile.
-
- 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.
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.
Overrides:
run PhysicsSim.SimProfile VictorSPXSimProfile
run
public void run ()
Runs the simulation profile.
-
- 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.
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.
Overrides:
run PhysicsSim.SimProfile swervelib.simulation.ctre
swervelib.simulation.ctre Class Hierarchy
swervelib.simulation
swervelib.simulation Class Hierarchy