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thenetworkgrinch
2024-01-26 12:45:09 -06:00
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<dd>
<div class="block">Fetch the <a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser"><code>SwerveModuleConfiguration</code></a> for the <a href="../swervelib/SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a> with the parsed configurations.</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#getCosineCompensatedVelocity(edu.wpi.first.math.kinematics.SwerveModuleState)" class="member-name-link">getCosineCompensatedVelocity(SwerveModuleState)</a> - Method in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Get the cosine compensated velocity to set the swerve module to.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveDriveConfiguration.html#getDriveBaseRadiusMeters()" class="member-name-link">getDriveBaseRadiusMeters()</a> - Method in class swervelib.parser.<a href="../swervelib/parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></dt>
<dd>
<div class="block">Calculate the Drive Base Radius</div>

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<title>SwerveDrive</title>
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<title>SwerveDriveTest</title>
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<title>SwerveModule</title>
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@@ -126,7 +126,7 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Feedforward for drive motor during closed loop control.</div>
</div>
<div class="col-first odd-row-color"><code>edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-second odd-row-color"><code><a href="#lastState" class="member-name-link">lastState</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Last swerve module state applied.</div>
@@ -212,81 +212,86 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the <a href="parser/SwerveModuleConfiguration.html" title="class in swervelib.parser"><code>SwerveModuleConfiguration</code></a> for the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a> with the parsed configurations.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="motors/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="#getDriveMotor()" class="member-name-link">getDriveMotor</a>()</code></div>
<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="#getCosineCompensatedVelocity(edu.wpi.first.math.kinematics.SwerveModuleState)" class="member-name-link">getCosineCompensatedVelocity</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;desiredState)</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 cosine compensated velocity to set the swerve module to.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="motors/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="#getDriveMotor()" class="member-name-link">getDriveMotor</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 drive <a href="motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a> for the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition</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>edu.wpi.first.math.kinematics.SwerveModulePosition</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 swerve module.</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="#getRelativePosition()" class="member-name-link">getRelativePosition</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="#getRelativePosition()" class="member-name-link">getRelativePosition</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 relative angle in degrees.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getState()" class="member-name-link">getState</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>edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getState()" class="member-name-link">getState</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 Swerve Module state.</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="#pushOffsetsToControllers()" class="member-name-link">pushOffsetsToControllers</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>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#pushOffsetsToControllers()" class="member-name-link">pushOffsetsToControllers</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Push absolute encoder offset in the memory of the encoder or 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="#queueSynchronizeEncoders()" class="member-name-link">queueSynchronizeEncoders</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="#queueSynchronizeEncoders()" class="member-name-link">queueSynchronizeEncoders</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Queue synchronization of the integrated angle encoder with the 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="#restoreInternalOffset()" class="member-name-link">restoreInternalOffset</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>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#restoreInternalOffset()" class="member-name-link">restoreInternalOffset</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value.</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="#setAngle(double)" class="member-name-link">setAngle</a><wbr>(double&nbsp;angle)</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="#setAngle(double)" class="member-name-link">setAngle</a><wbr>(double&nbsp;angle)</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 angle for the 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="#setAngleMotorConversionFactor(double)" class="member-name-link">setAngleMotorConversionFactor</a><wbr>(double&nbsp;conversionFactor)</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="#setAngleMotorConversionFactor(double)" class="member-name-link">setAngleMotorConversionFactor</a><wbr>(double&nbsp;conversionFactor)</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 conversion factor for the angle/azimuth 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="#setAngleMotorVoltageCompensation(double)" class="member-name-link">setAngleMotorVoltageCompensation</a><wbr>(double&nbsp;optimalVoltage)</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="#setAngleMotorVoltageCompensation(double)" class="member-name-link">setAngleMotorVoltageCompensation</a><wbr>(double&nbsp;optimalVoltage)</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 voltage compensation for the swerve module motor.</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="#setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState,boolean,boolean)" class="member-name-link">setDesiredState</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;desiredState,
<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="#setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState,boolean,boolean)" class="member-name-link">setDesiredState</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;desiredState,
boolean&nbsp;isOpenLoop,
boolean&nbsp;force)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the desired state of the swerve module.</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="#setDriveMotorConversionFactor(double)" class="member-name-link">setDriveMotorConversionFactor</a><wbr>(double&nbsp;conversionFactor)</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="#setDriveMotorConversionFactor(double)" class="member-name-link">setDriveMotorConversionFactor</a><wbr>(double&nbsp;conversionFactor)</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 conversion factor for the drive motor controller.</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="#setDriveMotorVoltageCompensation(double)" class="member-name-link">setDriveMotorVoltageCompensation</a><wbr>(double&nbsp;optimalVoltage)</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="#setDriveMotorVoltageCompensation(double)" class="member-name-link">setDriveMotorVoltageCompensation</a><wbr>(double&nbsp;optimalVoltage)</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 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;brake)</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;brake)</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 brake 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="#updateTelemetry()" class="member-name-link">updateTelemetry</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>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateTelemetry()" class="member-name-link">updateTelemetry</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Update data sent to <code>SmartDashboard</code>.</div>
</div>
</div>
@@ -372,7 +377,7 @@ loadScripts(document, 'script');</script>
<li>
<section class="detail" id="lastState">
<h3>lastState</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState</span>&nbsp;<span class="element-name">lastState</span></div>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState</span>&nbsp;<span class="element-name">lastState</span></div>
<div class="block">Last swerve module state applied.</div>
</section>
</li>
@@ -476,6 +481,19 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="getCosineCompensatedVelocity(edu.wpi.first.math.kinematics.SwerveModuleState)">
<h3>getCosineCompensatedVelocity</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getCosineCompensatedVelocity</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;desiredState)</span></div>
<div class="block">Get the cosine compensated velocity to set the swerve module to.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>desiredState</code> - Desired <code>SwerveModuleState</code> to use.</dd>
<dt>Returns:</dt>
<dd>Cosine compensated velocity in meters/second.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setAngle(double)">
<h3>setAngle</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setAngle</span><wbr><span class="parameters">(double&nbsp;angle)</span></div>

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<title>SwerveMotor</title>
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<title>SwerveDriveConfiguration</title>
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<title>SwerveModuleConfiguration</title>
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<title>SwerveModulePhysicalCharacteristics</title>
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<title>ControllerPropertiesJson</title>
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<title>MotorConfigDouble</title>
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<title>PIDFPropertiesJson</title>
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<title>SwerveDriveJson</title>
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