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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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docs/swervelib/SwerveDrive.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>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>