From 2dcfaac857f6a13d80d60c3548b3a80c9ffd92bf Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Fri, 26 Jan 2024 12:45:09 -0600 Subject: [PATCH] Updated to 2024.4.7 --- docs/allclasses-index.html | 2 +- docs/allpackages-index.html | 2 +- docs/constant-values.html | 2 +- docs/help-doc.html | 2 +- docs/index-files/index-1.html | 2 +- docs/index-files/index-10.html | 2 +- docs/index-files/index-11.html | 2 +- docs/index-files/index-12.html | 2 +- docs/index-files/index-13.html | 2 +- docs/index-files/index-14.html | 2 +- docs/index-files/index-15.html | 2 +- docs/index-files/index-16.html | 2 +- docs/index-files/index-17.html | 2 +- docs/index-files/index-18.html | 2 +- docs/index-files/index-19.html | 2 +- docs/index-files/index-2.html | 2 +- docs/index-files/index-20.html | 2 +- docs/index-files/index-21.html | 2 +- docs/index-files/index-22.html | 2 +- docs/index-files/index-23.html | 2 +- docs/index-files/index-24.html | 2 +- docs/index-files/index-25.html | 2 +- docs/index-files/index-3.html | 2 +- docs/index-files/index-4.html | 2 +- docs/index-files/index-5.html | 2 +- docs/index-files/index-6.html | 2 +- docs/index-files/index-7.html | 6 +- docs/index-files/index-8.html | 2 +- docs/index-files/index-9.html | 2 +- docs/index.html | 2 +- docs/member-search-index.js | 2 +- docs/overview-summary.html | 2 +- docs/overview-tree.html | 2 +- docs/swervelib/SwerveController.html | 2 +- docs/swervelib/SwerveDrive.html | 2 +- docs/swervelib/SwerveDriveTest.html | 2 +- docs/swervelib/SwerveModule.html | 112 ++++++++++-------- .../encoders/AnalogAbsoluteEncoderSwerve.html | 2 +- docs/swervelib/encoders/CANCoderSwerve.html | 2 +- .../swervelib/encoders/CanAndCoderSwerve.html | 2 +- .../encoders/PWMDutyCycleEncoderSwerve.html | 2 +- .../encoders/SparkMaxAnalogEncoderSwerve.html | 2 +- .../encoders/SparkMaxEncoderSwerve.html | 2 +- .../encoders/SwerveAbsoluteEncoder.html | 2 +- docs/swervelib/encoders/package-summary.html | 2 +- docs/swervelib/encoders/package-tree.html | 2 +- docs/swervelib/imu/ADIS16448Swerve.html | 2 +- docs/swervelib/imu/ADIS16470Swerve.html | 2 +- docs/swervelib/imu/ADXRS450Swerve.html | 2 +- docs/swervelib/imu/AnalogGyroSwerve.html | 2 +- docs/swervelib/imu/NavXSwerve.html | 2 +- docs/swervelib/imu/Pigeon2Swerve.html | 2 +- docs/swervelib/imu/PigeonSwerve.html | 2 +- docs/swervelib/imu/SwerveIMU.html | 2 +- docs/swervelib/imu/package-summary.html | 2 +- docs/swervelib/imu/package-tree.html | 2 +- docs/swervelib/math/Matter.html | 2 +- docs/swervelib/math/SwerveMath.html | 2 +- docs/swervelib/math/package-summary.html | 2 +- docs/swervelib/math/package-tree.html | 2 +- .../SparkFlexSwerve.SparkMAX_slotIdx.html | 2 +- docs/swervelib/motors/SparkFlexSwerve.html | 2 +- .../motors/SparkMaxBrushedMotorSwerve.html | 2 +- .../SparkMaxSwerve.SparkMAX_slotIdx.html | 2 +- docs/swervelib/motors/SparkMaxSwerve.html | 2 +- docs/swervelib/motors/SwerveMotor.html | 2 +- docs/swervelib/motors/TalonFXSwerve.html | 2 +- docs/swervelib/motors/TalonSRXSwerve.html | 2 +- docs/swervelib/motors/package-summary.html | 2 +- docs/swervelib/motors/package-tree.html | 2 +- docs/swervelib/package-summary.html | 2 +- docs/swervelib/package-tree.html | 2 +- docs/swervelib/parser/PIDFConfig.html | 2 +- .../parser/SwerveControllerConfiguration.html | 2 +- .../parser/SwerveDriveConfiguration.html | 2 +- .../parser/SwerveModuleConfiguration.html | 2 +- .../SwerveModulePhysicalCharacteristics.html | 2 +- docs/swervelib/parser/SwerveParser.html | 2 +- .../parser/deserializer/PIDFRange.html | 2 +- .../parser/deserializer/package-summary.html | 2 +- .../parser/deserializer/package-tree.html | 2 +- .../parser/json/ControllerPropertiesJson.html | 2 +- docs/swervelib/parser/json/DeviceJson.html | 2 +- docs/swervelib/parser/json/ModuleJson.html | 2 +- .../parser/json/MotorConfigDouble.html | 2 +- .../swervelib/parser/json/MotorConfigInt.html | 2 +- .../parser/json/PIDFPropertiesJson.html | 2 +- .../parser/json/PhysicalPropertiesJson.html | 2 +- .../parser/json/SwerveDriveJson.html | 2 +- .../parser/json/modules/BoolMotorJson.html | 2 +- .../parser/json/modules/LocationJson.html | 2 +- .../parser/json/modules/package-summary.html | 2 +- .../parser/json/modules/package-tree.html | 2 +- .../parser/json/package-summary.html | 2 +- docs/swervelib/parser/json/package-tree.html | 2 +- docs/swervelib/parser/package-summary.html | 2 +- docs/swervelib/parser/package-tree.html | 2 +- .../simulation/SwerveIMUSimulation.html | 2 +- .../simulation/SwerveModuleSimulation.html | 2 +- .../swervelib/simulation/package-summary.html | 2 +- docs/swervelib/simulation/package-tree.html | 2 +- docs/swervelib/telemetry/Alert.AlertType.html | 2 +- .../telemetry/Alert.SendableAlerts.html | 2 +- docs/swervelib/telemetry/Alert.html | 2 +- ...erveDriveTelemetry.TelemetryVerbosity.html | 2 +- .../telemetry/SwerveDriveTelemetry.html | 2 +- docs/swervelib/telemetry/package-summary.html | 2 +- docs/swervelib/telemetry/package-tree.html | 2 +- swervelib/SwerveDrive.java | 8 -- swervelib/SwerveModule.java | 58 +++++---- 110 files changed, 213 insertions(+), 183 deletions(-) diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index b98c0d1..8d98923 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,7 +1,7 @@ - + All Classes and Interfaces diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index 0cc226f..5ae0b3b 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,7 +1,7 @@ - + All Packages diff --git a/docs/constant-values.html b/docs/constant-values.html index 5458bc5..eb6b4bb 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,7 +1,7 @@ - + Constant Field Values diff --git a/docs/help-doc.html b/docs/help-doc.html index c7f6e8c..ae7cdd8 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,7 +1,7 @@ - + API Help diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index 9db7023..040f4b6 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,7 +1,7 @@ - + A-Index diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index 38e7b60..82ee84e 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,7 +1,7 @@ - + K-Index diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index 18112b9..f982a70 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,7 +1,7 @@ - + L-Index diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index e520655..b824fa5 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,7 +1,7 @@ - + M-Index diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index 9d732ef..74fefb7 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,7 +1,7 @@ - + N-Index diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index ce32ec0..3204ea7 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,7 +1,7 @@ - + O-Index diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index f34e5ac..1fdb07f 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,7 +1,7 @@ - + P-Index diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 98ccff9..86ace6e 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,7 +1,7 @@ - + Q-Index diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index 950879e..f9e2c61 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,7 +1,7 @@ - + R-Index diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index 50121ba..ab016df 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,7 +1,7 @@ - + S-Index diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index cea1e02..d528573 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,7 +1,7 @@ - + T-Index diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index 270123e..b393948 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,7 +1,7 @@ - + B-Index diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index 3b7cdda..5ef83a1 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,7 +1,7 @@ - + U-Index diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index c9bdaab..7565f6b 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,7 +1,7 @@ - + V-Index diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index 71012f7..66a4af2 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,7 +1,7 @@ - + W-Index diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index bc2c6be..a7af430 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,7 +1,7 @@ - + X-Index diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index 005f31c..a34a631 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,7 +1,7 @@ - + Y-Index diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index 11b9460..4122b1e 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,7 +1,7 @@ - + Z-Index diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index 7d67f2e..390a95f 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,7 +1,7 @@ - + C-Index diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index 7e1eef9..07515eb 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,7 +1,7 @@ - + D-Index diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index 6f5b3e7..931aea9 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,7 +1,7 @@ - + E-Index diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index 59284b5..ec40d5a 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,7 +1,7 @@ - + F-Index diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index c2d30ec..fe81a71 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,7 +1,7 @@ - + G-Index @@ -193,6 +193,10 @@ loadScripts(document, 'script');
Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.
+
getCosineCompensatedVelocity(SwerveModuleState) - Method in class swervelib.SwerveModule
+
+
Get the cosine compensated velocity to set the swerve module to.
+
getDriveBaseRadiusMeters() - Method in class swervelib.parser.SwerveDriveConfiguration
Calculate the Drive Base Radius
diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index 3557a34..b424214 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,7 +1,7 @@ - + H-Index diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index 5376714..b2e642d 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,7 +1,7 @@ - + I-Index diff --git a/docs/index.html b/docs/index.html index 6f4cc58..3880421 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,7 +1,7 @@ - + Overview diff --git a/docs/member-search-index.js b/docs/member-search-index.js index 6220c53..00dc170 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = [{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"absoluteEncoder"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoder"},{"p":"swervelib","c":"SwerveModule","l":"absoluteEncoder"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderInverted"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoderInverted"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderOffset"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"absoluteEncoderOffsetWarning"},{"p":"swervelib.telemetry","c":"Alert","l":"active"},{"p":"swervelib.telemetry","c":"Alert","l":"activeStartTime"},{"p":"swervelib","c":"SwerveController","l":"addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter)","u":"addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double, Matrix)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"ADIS16448Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"ADIS16470Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"ADXRS450Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.telemetry","c":"Alert","l":"Alert(String, Alert.AlertType)","u":"%3Cinit%3E(java.lang.String,swervelib.telemetry.Alert.AlertType)"},{"p":"swervelib.telemetry","c":"Alert","l":"Alert(String, String, Alert.AlertType)","u":"%3Cinit%3E(java.lang.String,java.lang.String,swervelib.telemetry.Alert.AlertType)"},{"p":"swervelib.telemetry","c":"Alert.SendableAlerts","l":"alerts"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"AlertType()","u":"%3Cinit%3E()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(AnalogInput)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.AnalogInput)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"AnalogGyroSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angle"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"angle"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"angle"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"angle"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"angleJoystickRadiusDeadband"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"angleJoyStickRadiusDeadband"},{"p":"swervelib","c":"SwerveController","l":"angleLimiter"},{"p":"swervelib","c":"SwerveDriveTest","l":"angleModules(SwerveDrive, Rotation2d)","u":"angleModules(swervelib.SwerveDrive,edu.wpi.first.math.geometry.Rotation2d)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotor"},{"p":"swervelib","c":"SwerveModule","l":"angleMotor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorCurrentLimit"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotorInverted"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorRampRate"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleOffset"},{"p":"swervelib","c":"SwerveModule","l":"angleOffset"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"anglePIDF"},{"p":"swervelib.math","c":"SwerveMath","l":"antiJitter(SwerveModuleState, SwerveModuleState, double)","u":"antiJitter(edu.wpi.first.math.kinematics.SwerveModuleState,edu.wpi.first.math.kinematics.SwerveModuleState,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"applyDeadband(double, boolean, double)","u":"applyDeadband(double,boolean,double)"},{"p":"swervelib","c":"SwerveDrive","l":"attainableMaxRotationalVelocityRadiansPerSecond"},{"p":"swervelib","c":"SwerveDrive","l":"attainableMaxTranslationalSpeedMetersPerSecond"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"BoolMotorJson()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"burnFlash()"},{"p":"swervelib.math","c":"SwerveMath","l":"calcMaxAccel(Rotation2d, List, double, SwerveDriveConfiguration)","u":"calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateDegreesPerSteeringRotation(double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateDegreesPerSteeringRotation(double, double)","u":"calculateDegreesPerSteeringRotation(double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAcceleration(double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAcceleration(double, double, double, double, double)","u":"calculateMaxAcceleration(double,double,double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAngularVelocity(double, double, double)","u":"calculateMaxAngularVelocity(double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMetersPerRotation(double, 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SwerveModulePhysicalCharacteristics)","u":"%3Cinit%3E(swervelib.parser.SwerveModuleConfiguration[],swervelib.imu.SwerveIMU,boolean,edu.wpi.first.math.controller.SimpleMotorFeedforward,swervelib.parser.SwerveModulePhysicalCharacteristics)"},{"p":"swervelib.parser","c":"SwerveParser","l":"swerveDriveJson"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"SwerveDriveJson()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"swerveDrivePoseEstimator"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"SwerveDriveTelemetry()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDriveTest","l":"SwerveDriveTest()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"SwerveIMU()","u":"%3Cinit%3E()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"SwerveIMUSimulation()","u":"%3Cinit%3E()"},{"p":"swervelib.math","c":"SwerveMath","l":"SwerveMath()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveModule","l":"SwerveModule(int, SwerveModuleConfiguration, SimpleMotorFeedforward)","u":"%3Cinit%3E(int,swervelib.parser.SwerveModuleConfiguration,edu.wpi.first.math.controller.SimpleMotorFeedforward)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, String, boolean)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.parser.json.MotorConfigDouble,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,java.lang.String,boolean)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String, boolean)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.parser.json.MotorConfigDouble,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String,boolean)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double)","u":"%3Cinit%3E(swervelib.parser.json.MotorConfigDouble,double,double)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double, int, int, double, double)","u":"%3Cinit%3E(swervelib.parser.json.MotorConfigDouble,double,double,int,int,double,double)"},{"p":"swervelib","c":"SwerveDrive","l":"swerveModules"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"SwerveModuleSimulation()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"SwerveMotor()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"SwerveParser","l":"SwerveParser(File)","u":"%3Cinit%3E(java.io.File)"},{"p":"swervelib","c":"SwerveModule","l":"synchronizeEncoderQueued"},{"p":"swervelib","c":"SwerveDrive","l":"synchronizeModuleEncoders()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, String, boolean)","u":"%3Cinit%3E(int,java.lang.String,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(TalonFX, 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Field2d)","u":"updateOdometry(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.kinematics.SwerveModuleState[],edu.wpi.first.math.geometry.Pose2d[],edu.wpi.first.wpilibj.smartdashboard.Field2d)"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"updateStateAndPosition(SwerveModuleState)","u":"updateStateAndPosition(edu.wpi.first.math.kinematics.SwerveModuleState)"},{"p":"swervelib","c":"SwerveModule","l":"updateTelemetry()"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"useCosineCompensator"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"useCosineCompensator"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"values()"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"values()"},{"p":"swervelib.motors","c":"SparkFlexSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"velocityPIDF"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"verbosity"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"WARNING"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"WARNING_TRACE"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"wheelLocations"},{"p":"swervelib","c":"SwerveController","l":"withinHypotDeadband(double, double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib","c":"SwerveController","l":"xLimiter"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib","c":"SwerveController","l":"yLimiter"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/overview-summary.html b/docs/overview-summary.html index 1dc6eec..ac810c2 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -1,7 +1,7 @@ - + Generated Documentation (Untitled) diff --git a/docs/overview-tree.html b/docs/overview-tree.html index 77683eb..52cab6d 100644 --- a/docs/overview-tree.html +++ b/docs/overview-tree.html @@ -1,7 +1,7 @@ - + Class Hierarchy diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html index d3995ca..0af9f8b 100644 --- a/docs/swervelib/SwerveController.html +++ b/docs/swervelib/SwerveController.html @@ -1,7 +1,7 @@ - + SwerveController diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index 0afc674..641656e 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,7 +1,7 @@ - + SwerveDrive diff --git a/docs/swervelib/SwerveDriveTest.html b/docs/swervelib/SwerveDriveTest.html index c2ffb97..d62c763 100644 --- a/docs/swervelib/SwerveDriveTest.html +++ b/docs/swervelib/SwerveDriveTest.html @@ -1,7 +1,7 @@ - + SwerveDriveTest diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index d3062a0..5ae5925 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,7 +1,7 @@ - + SwerveModule @@ -126,7 +126,7 @@ loadScripts(document, 'script');
Feedforward for drive motor during closed loop control.
-
edu.wpi.first.math.kinematics.SwerveModuleState
+
private edu.wpi.first.math.kinematics.SwerveModuleState
lastState
Last swerve module state applied.
@@ -212,81 +212,86 @@ loadScripts(document, 'script');
Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.
-
SwerveMotor
-
getDriveMotor()
+
private double
+
getCosineCompensatedVelocity(edu.wpi.first.math.kinematics.SwerveModuleState desiredState)
+
Get the cosine compensated velocity to set the swerve module to.
+
+
SwerveMotor
+
getDriveMotor()
+
Get the drive SwerveMotor for the SwerveModule.
-
edu.wpi.first.math.kinematics.SwerveModulePosition
-
getPosition()
-
+
edu.wpi.first.math.kinematics.SwerveModulePosition
+
getPosition()
+
Get the position of the swerve module.
-
double
-
getRelativePosition()
-
+
double
+
getRelativePosition()
+
Get the relative angle in degrees.
-
edu.wpi.first.math.kinematics.SwerveModuleState
-
getState()
-
+
edu.wpi.first.math.kinematics.SwerveModuleState
+
getState()
+
Get the Swerve Module state.
-
void
-
pushOffsetsToControllers()
-
+
void
+
pushOffsetsToControllers()
+
Push absolute encoder offset in the memory of the encoder or controller.
-
void
-
queueSynchronizeEncoders()
-
+
void
+
queueSynchronizeEncoders()
+
Queue synchronization of the integrated angle encoder with the absolute encoder.
-
void
-
restoreInternalOffset()
-
+
void
+
restoreInternalOffset()
+
Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value.
-
void
-
setAngle(double angle)
-
+
void
+
setAngle(double angle)
+
Set the angle for the module.
-
void
-
setAngleMotorConversionFactor(double conversionFactor)
-
+
void
+
setAngleMotorConversionFactor(double conversionFactor)
+
Set the conversion factor for the angle/azimuth motor controller.
-
void
-
setAngleMotorVoltageCompensation(double optimalVoltage)
-
+
void
+
setAngleMotorVoltageCompensation(double optimalVoltage)
+
Set the voltage compensation for the swerve module motor.
-
void
-
setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState desiredState, +
void
+
setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState desiredState, boolean isOpenLoop, boolean force)
-
+
Set the desired state of the swerve module.
-
void
-
setDriveMotorConversionFactor(double conversionFactor)
-
+
void
+
setDriveMotorConversionFactor(double conversionFactor)
+
Set the conversion factor for the drive motor controller.
-
void
-
setDriveMotorVoltageCompensation(double optimalVoltage)
-
+
void
+
setDriveMotorVoltageCompensation(double optimalVoltage)
+
Set the voltage compensation for the swerve module motor.
-
void
-
setMotorBrake(boolean brake)
-
+
void
+
setMotorBrake(boolean brake)
+
Set the brake mode.
-
void
-
updateTelemetry()
-
+
void
+
updateTelemetry()
+
Update data sent to SmartDashboard.
@@ -372,7 +377,7 @@ loadScripts(document, 'script');

  • lastState

    -
    public edu.wpi.first.math.kinematics.SwerveModuleState lastState
    +
    private edu.wpi.first.math.kinematics.SwerveModuleState lastState
    Last swerve module state applied.
    • @@ -476,6 +481,19 @@ loadScripts(document, 'script');
  • +
    +

    getCosineCompensatedVelocity

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

  • setAngle

    public void setAngle(double angle)
    diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html index 1391ed9..8ce56ba 100644 --- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html +++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html @@ -1,7 +1,7 @@ - + AnalogAbsoluteEncoderSwerve diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index 569b482..b9da8b8 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,7 +1,7 @@ - + CANCoderSwerve diff --git a/docs/swervelib/encoders/CanAndCoderSwerve.html b/docs/swervelib/encoders/CanAndCoderSwerve.html index a649dfb..5231c18 100644 --- a/docs/swervelib/encoders/CanAndCoderSwerve.html +++ b/docs/swervelib/encoders/CanAndCoderSwerve.html @@ -1,7 +1,7 @@ - + CanAndCoderSwerve diff --git a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html index 05d5514..b008686 100644 --- a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html +++ b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html @@ -1,7 +1,7 @@ - + PWMDutyCycleEncoderSwerve diff --git a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html index ff3db68..52f8987 100644 --- a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html @@ -1,7 +1,7 @@ - + SparkMaxAnalogEncoderSwerve diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index aa2d253..3e9d2a0 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,7 +1,7 @@ - + SparkMaxEncoderSwerve diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index add6930..fbbb765 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,7 +1,7 @@ - + SwerveAbsoluteEncoder diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index fd2b896..92be35d 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.encoders diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index fb539ed..a9652d1 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.encoders Class Hierarchy diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html index 24f2808..27e3dad 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,7 +1,7 @@ - + ADIS16448Swerve diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html index f26b56f..820c087 100644 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ b/docs/swervelib/imu/ADIS16470Swerve.html @@ -1,7 +1,7 @@ - + ADIS16470Swerve diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html index 1886af4..33bd6fc 100644 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ b/docs/swervelib/imu/ADXRS450Swerve.html @@ -1,7 +1,7 @@ - + ADXRS450Swerve diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html index 9927379..5bbad2f 100644 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ b/docs/swervelib/imu/AnalogGyroSwerve.html @@ -1,7 +1,7 @@ - + AnalogGyroSwerve diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index 2a12c7a..69f94b1 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,7 +1,7 @@ - + NavXSwerve diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index fcb42a6..6a631e9 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,7 +1,7 @@ - + Pigeon2Swerve diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index 3b407ff..d8da28b 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,7 +1,7 @@ - + PigeonSwerve diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index cefa8c9..224b2f7 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,7 +1,7 @@ - + SwerveIMU diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index b6d7f2c..dc9626c 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.imu diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index b2f49e1..57392f3 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.imu Class Hierarchy diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html index a2924e8..c22fa6d 100644 --- a/docs/swervelib/math/Matter.html +++ b/docs/swervelib/math/Matter.html @@ -1,7 +1,7 @@ - + Matter diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index 166d6e0..6d673c8 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,7 +1,7 @@ - + SwerveMath diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index 62c0ec7..acc6fa4 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.math diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index f77aa3e..389b279 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.math Class Hierarchy diff --git a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html index 35494b4..ce30ddd 100644 --- a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html @@ -1,7 +1,7 @@ - + SparkFlexSwerve.SparkMAX_slotIdx diff --git a/docs/swervelib/motors/SparkFlexSwerve.html b/docs/swervelib/motors/SparkFlexSwerve.html index c4afab7..451c1d6 100644 --- a/docs/swervelib/motors/SparkFlexSwerve.html +++ b/docs/swervelib/motors/SparkFlexSwerve.html @@ -1,7 +1,7 @@ - + SparkFlexSwerve diff --git a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html index b4bd969..dee3a48 100644 --- a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html +++ b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html @@ -1,7 +1,7 @@ - + SparkMaxBrushedMotorSwerve diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html index f44d812..ab16a57 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html @@ -1,7 +1,7 @@ - + SparkMaxSwerve.SparkMAX_slotIdx diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index 08985f0..b017e34 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,7 +1,7 @@ - + SparkMaxSwerve diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index 2df8d6a..076a1b8 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,7 +1,7 @@ - + SwerveMotor diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index 9a2a339..77817cf 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,7 +1,7 @@ - + TalonFXSwerve diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index 93acc8e..faf9849 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,7 +1,7 @@ - + TalonSRXSwerve diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index e6a1e89..d3820b0 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.motors diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index e4f0ada..d72d3ff 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.motors Class Hierarchy diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index e01b36b..deef40c 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,7 +1,7 @@ - + swervelib diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index 62c1173..04632bc 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,7 +1,7 @@ - + swervelib Class Hierarchy diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index 0338e53..28f4c50 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,7 +1,7 @@ - + PIDFConfig diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index 47815a3..2cf8335 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ -1,7 +1,7 @@ - + SwerveControllerConfiguration diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index 2f06c49..635f7e4 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,7 +1,7 @@ - + SwerveDriveConfiguration diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index a347307..b88bd70 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,7 +1,7 @@ - + SwerveModuleConfiguration diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index e4405f9..4dcc25b 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,7 +1,7 @@ - + SwerveModulePhysicalCharacteristics diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index c307d28..2179572 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,7 +1,7 @@ - + SwerveParser diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index d4f280d..92faa74 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,7 +1,7 @@ - + PIDFRange diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index 2d05285..572be11 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.parser.deserializer diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index 9586203..cdab97e 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser.deserializer Class Hierarchy diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index 94ed0c8..7ed360b 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,7 +1,7 @@ - + ControllerPropertiesJson diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index 4004478..bf98698 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,7 +1,7 @@ - + DeviceJson diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index 903036b..6fbb298 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,7 +1,7 @@ - + ModuleJson diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html index dfa8e4b..ef49133 100644 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ b/docs/swervelib/parser/json/MotorConfigDouble.html @@ -1,7 +1,7 @@ - + MotorConfigDouble diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html index 6dbb99c..9ceff27 100644 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ b/docs/swervelib/parser/json/MotorConfigInt.html @@ -1,7 +1,7 @@ - + MotorConfigInt diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index 093c6e7..e300aeb 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,7 +1,7 @@ - + PIDFPropertiesJson diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index ef1ea0a..faf3537 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,7 +1,7 @@ - + PhysicalPropertiesJson diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index e0945c8..9377f01 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,7 +1,7 @@ - + SwerveDriveJson diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index c8b2b9b..76f161e 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,7 +1,7 @@ - + BoolMotorJson diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index 6e90ef5..ab259be 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,7 +1,7 @@ - + LocationJson diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index 62775b5..12b5dc4 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.parser.json.modules diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html index 174eb7e..8cf0055 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser.json.modules Class Hierarchy diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html index b5d8a3a..dbd3740 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.parser.json diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index 4634f16..3c63cdd 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser.json Class Hierarchy diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index 4ef28ef..d00c58c 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.parser diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index b254574..b67911c 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser Class Hierarchy diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html index 1443571..3bc0164 100644 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ b/docs/swervelib/simulation/SwerveIMUSimulation.html @@ -1,7 +1,7 @@ - + SwerveIMUSimulation diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html index 8e15201..85b6673 100644 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ b/docs/swervelib/simulation/SwerveModuleSimulation.html @@ -1,7 +1,7 @@ - + SwerveModuleSimulation diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html index 6799fff..67a0552 100644 --- a/docs/swervelib/simulation/package-summary.html +++ b/docs/swervelib/simulation/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.simulation diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html index 9001125..961c1a1 100644 --- a/docs/swervelib/simulation/package-tree.html +++ b/docs/swervelib/simulation/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.simulation Class Hierarchy diff --git a/docs/swervelib/telemetry/Alert.AlertType.html b/docs/swervelib/telemetry/Alert.AlertType.html index 46cd34f..eae6bee 100644 --- a/docs/swervelib/telemetry/Alert.AlertType.html +++ b/docs/swervelib/telemetry/Alert.AlertType.html @@ -1,7 +1,7 @@ - + Alert.AlertType diff --git a/docs/swervelib/telemetry/Alert.SendableAlerts.html b/docs/swervelib/telemetry/Alert.SendableAlerts.html index 767b885..3bbb2c9 100644 --- a/docs/swervelib/telemetry/Alert.SendableAlerts.html +++ b/docs/swervelib/telemetry/Alert.SendableAlerts.html @@ -1,7 +1,7 @@ - + Alert.SendableAlerts diff --git a/docs/swervelib/telemetry/Alert.html b/docs/swervelib/telemetry/Alert.html index a2e330b..df02a95 100644 --- a/docs/swervelib/telemetry/Alert.html +++ b/docs/swervelib/telemetry/Alert.html @@ -1,7 +1,7 @@ - + Alert diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html index 2b5a548..4c9b953 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html @@ -1,7 +1,7 @@ - + SwerveDriveTelemetry.TelemetryVerbosity diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html index 3c43c74..ee658dd 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html @@ -1,7 +1,7 @@ - + SwerveDriveTelemetry diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html index 134fb32..c228616 100644 --- a/docs/swervelib/telemetry/package-summary.html +++ b/docs/swervelib/telemetry/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.telemetry diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html index 1a8cdc1..265cbab 100644 --- a/docs/swervelib/telemetry/package-tree.html +++ b/docs/swervelib/telemetry/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.telemetry Class Hierarchy diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java index 96e165b..0e16d8e 100644 --- a/swervelib/SwerveDrive.java +++ b/swervelib/SwerveDrive.java @@ -543,14 +543,6 @@ public class SwerveDrive for (SwerveModule module : swerveModules) { module.setDesiredState(desiredStates[module.moduleNumber], isOpenLoop, false); - - if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal()) - { - SwerveDriveTelemetry.desiredStates[module.moduleNumber * - 2] = module.lastState.angle.getDegrees(); - SwerveDriveTelemetry.desiredStates[(module.moduleNumber * 2) + - 1] = module.lastState.speedMetersPerSecond; - } } } diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java index dd709cb..fb488a9 100644 --- a/swervelib/SwerveModule.java +++ b/swervelib/SwerveModule.java @@ -56,7 +56,7 @@ public class SwerveModule /** * Last swerve module state applied. */ - public SwerveModuleState lastState; + private SwerveModuleState lastState; /** * Angle offset from the absolute encoder. */ @@ -197,6 +197,9 @@ public class SwerveModule public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop, boolean force) { desiredState = SwerveModuleState.optimize(desiredState, Rotation2d.fromDegrees(getAbsolutePosition())); + // Cosine compensation. + double velocity = configuration.useCosineCompensator ? getCosineCompensatedVelocity(desiredState) + : desiredState.speedMetersPerSecond; if (isOpenLoop) { @@ -204,32 +207,13 @@ public class SwerveModule driveMotor.set(percentOutput); } else { - double cosineScalar = 1.0; - if (configuration.useCosineCompensator) - { - // Taken from the CTRE SwerveModule class. - // https://api.ctr-electronics.com/phoenix6/release/java/src-html/com/ctre/phoenix6/mechanisms/swerve/SwerveModule.html#line.46 - /* From FRC 900's whitepaper, we add a cosine compensator to the applied drive velocity */ - /* To reduce the "skew" that occurs when changing direction */ - double steerMotorError = desiredState.angle.getDegrees() - getAbsolutePosition(); - /* If error is close to 0 rotations, we're already there, so apply full power */ - /* If the error is close to 0.25 rotations, then we're 90 degrees, so movement doesn't help us at all */ - cosineScalar = Math.cos(Units.degreesToRadians(steerMotorError)); - /* Make sure we don't invert our drive, even though we shouldn't ever target over 90 degrees anyway */ - if (cosineScalar < 0.0) - { - cosineScalar = 0.0; - } - } - - double velocity = desiredState.speedMetersPerSecond * (cosineScalar); driveMotor.setReference(velocity, feedforward.calculate(velocity)); } // If we are forcing the angle if (!force) { - // Prevents module rotation if speed is less than 1% + // Prevents module rotation if speed is less than 1% SwerveMath.antiJitter(desiredState, lastState, Math.min(maxSpeed, 4)); } @@ -253,6 +237,12 @@ public class SwerveModule simModule.updateStateAndPosition(desiredState); } + if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal()) + { + SwerveDriveTelemetry.desiredStates[moduleNumber * 2] = desiredState.angle.getDegrees(); + SwerveDriveTelemetry.desiredStates[(moduleNumber * 2) + 1] = velocity; + } + if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH) { SmartDashboard.putNumber("Module[" + configuration.name + "] Speed Setpoint", desiredState.speedMetersPerSecond); @@ -260,6 +250,32 @@ public class SwerveModule } } + /** + * Get the cosine compensated velocity to set the swerve module to. + * + * @param desiredState Desired {@link SwerveModuleState} to use. + * @return Cosine compensated velocity in meters/second. + */ + private double getCosineCompensatedVelocity(SwerveModuleState desiredState) + { + double cosineScalar = 1.0; + // Taken from the CTRE SwerveModule class. + // https://api.ctr-electronics.com/phoenix6/release/java/src-html/com/ctre/phoenix6/mechanisms/swerve/SwerveModule.html#line.46 + /* From FRC 900's whitepaper, we add a cosine compensator to the applied drive velocity */ + /* To reduce the "skew" that occurs when changing direction */ + double steerMotorError = desiredState.angle.getDegrees() - getAbsolutePosition(); + /* If error is close to 0 rotations, we're already there, so apply full power */ + /* If the error is close to 0.25 rotations, then we're 90 degrees, so movement doesn't help us at all */ + cosineScalar = Math.cos(Units.degreesToRadians(steerMotorError)); + /* Make sure we don't invert our drive, even though we shouldn't ever target over 90 degrees anyway */ + if (cosineScalar < 0.0) + { + cosineScalar = 0.0; + } + + return desiredState.speedMetersPerSecond * (cosineScalar); + } + /** * Set the angle for the module. *