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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/math/SwerveMath.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>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>