Updated javadocs to reflect changes

2026-06-28 07:01:39 +00:00 · 2023-01-31 10:52:13 -06:00
parent c3d6df94d0
commit 2ebc3aa409
86 changed files with 5761 additions and 173 deletions
--- a/docs/frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html
+++ b/docs/frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html
@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
+<!-- Generated by javadoc (11.0.13) on Tue Jan 31 10:51:37 CST 2023 -->
 <title>SwerveDrive</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-01-29">
+<meta name="dc.created" content="2023-01-31">
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@@ -27,7 +27,7 @@
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@@ -54,6 +54,7 @@ loadScripts(document, 'script');</script>
 <li><a href="../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/SwerveDrive.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../index-files/index-1.html">Index</a></li>
@@ -213,7 +214,9 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
 <tr class="rowColor">
 <td class="colFirst"><code>private double</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_angle">m_angle</a></span></code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Robot desired angle in degrees.</div>
+</td>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;</code></td>
@@ -284,7 +287,7 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
 </td>
 </tr>
 <tr class="altColor">
-<td class="colFirst"><code>private com.ctre.phoenix.sensors.WPI_Pigeon2</code></td>
+<td class="colFirst"><code>com.ctre.phoenix.sensors.WPI_Pigeon2</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_pigeonIMU">m_pigeonIMU</a></span></code></th>
 <td class="colLast">
 <div class="block">Pigeon 2.0 centered on the robot.</div>
@@ -293,7 +296,9 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
 <tr class="rowColor">
 <td class="colFirst"><code>private edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_prevChassisSpeed">m_prevChassisSpeed</a></span></code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Previous chassis speeds for state-space modeling.</div>
+</td>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>private <a href="kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></code></td>
@@ -303,7 +308,7 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
 </td>
 </tr>
 <tr class="rowColor">
-<td class="colFirst"><code>private edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></td>
+<td class="colFirst"><code>edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_swervePoseEstimator">m_swervePoseEstimator</a></span></code></th>
 <td class="colLast">
 <div class="block">Swerve drive pose estimator for attempting to figure out our current position.</div>
@@ -312,7 +317,9 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
 <tr class="altColor">
 <td class="colFirst"><code>private double</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_timerPrev">m_timerPrev</a></span></code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Previous timer value for state-space modeling.</div>
+</td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><code>private edu.wpi.first.math.filter.SlewRateLimiter</code></td>
@@ -510,19 +517,26 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
 </tr>
 <tr id="i14" class="altColor">
 <td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(edu.wpi.first.math.kinematics.ChassisSpeeds)">set</a></span>&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;node)</code></th>
+<td class="colLast">
+<div class="block">Set the swerve drive module states.</div>
+</td>
+</tr>
+<tr id="i15" class="rowColor">
+<td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setGyroInverted(boolean)">setGyroInverted</a></span>&#8203;(boolean&nbsp;isInverted)</code></th>
 <td class="colLast">
 <div class="block">Invert the gyroscope reading.</div>
 </td>
 </tr>
-<tr id="i15" class="rowColor">
+<tr id="i16" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setModuleStates(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D)">setModuleStates</a></span>&#8203;(<a href="kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]&nbsp;states)</code></th>
 <td class="colLast">
 <div class="block">Set the swerve module states given an array of states.</div>
 </td>
 </tr>
-<tr id="i16" class="altColor">
+<tr id="i17" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDF(double,double,double,double,double,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">setPIDF</a></span>&#8203;(double&nbsp;p,
       double&nbsp;i,
@@ -534,56 +548,56 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
 <div class="block">Set the PIDF coefficients for the closed loop PID onboard the motor controller.</div>
 </td>
 </tr>
-<tr id="i17" class="rowColor">
+<tr id="i18" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation()">setVoltageCompensation</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Enable voltage compensation to the current battery voltage on all modules.</div>
 </td>
 </tr>
-<tr id="i18" class="altColor">
+<tr id="i19" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setX()">setX</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Sets the wheels into an X formation to prevent movement.</div>
 </td>
 </tr>
-<tr id="i19" class="rowColor">
+<tr id="i20" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stopMotor()">stopMotor</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Stop all running and turning motors.</div>
 </td>
 </tr>
-<tr id="i20" class="altColor">
+<tr id="i21" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#subscribe()">subscribe</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Update swerve module parameters based on data in the dashboard.</div>
 </td>
 </tr>
-<tr id="i21" class="rowColor">
+<tr id="i22" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#synchronizeEncoders()">synchronizeEncoders</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Synchronize internal steering encoders with the absolute encoder.</div>
 </td>
 </tr>
-<tr id="i22" class="altColor">
+<tr id="i23" class="rowColor">
 <td class="colFirst"><code>edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#update()">update</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Update the swerve drive odometry.</div>
 </td>
 </tr>
-<tr id="i23" class="rowColor">
+<tr id="i24" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#zeroGyro()">zeroGyro</a></span>()</code></th>
 <td class="colLast">
 <div class="block">Set the current rotation of the gyroscope (pigeonIMU 2) to 0.</div>
 </td>
 </tr>
-<tr id="i24" class="altColor">
+<tr id="i25" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#zeroModules()">zeroModules</a></span>()</code></th>
 <td class="colLast">
@@ -708,23 +722,13 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
 <div class="block">Maximum speed in meters per second.</div>
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+<pre>public final&nbsp;edu.wpi.first.math.estimator.SwerveDrivePoseEstimator m_swervePoseEstimator</pre>
 <div class="block">Swerve drive pose estimator for attempting to figure out our current position.</div>
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+<pre>public final&nbsp;com.ctre.phoenix.sensors.WPI_Pigeon2 m_pigeonIMU</pre>
 <div class="block">Pigeon 2.0 centered on the robot.</div>
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+<a id="m_swerveKinematics">
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+<div class="block">Swerve drive kinematics.</div>
+</li>
+</ul>
 <a id="m_field">
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 <h4>m_angle</h4>
 <pre>private&nbsp;double m_angle</pre>
+<div class="block">Robot desired angle in degrees.</div>
 </li>
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 <h4>m_prevChassisSpeed</h4>
 <pre>private&nbsp;edu.wpi.first.math.kinematics.ChassisSpeeds m_prevChassisSpeed</pre>
+<div class="block">Previous chassis speeds for state-space modeling.</div>
 </li>
 </ul>
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 <h4>m_timerPrev</h4>
 <pre>private&nbsp;double m_timerPrev</pre>
+<div class="block">Previous timer value for state-space modeling.</div>
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@@ -884,16 +901,6 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
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@@ -932,6 +939,16 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
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+<a id="setVoltageCompensation()">
+<!--   -->
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+<h4>setVoltageCompensation</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;setVoltageCompensation()</pre>
+<div class="block">Enable voltage compensation to the current battery voltage on all modules.</div>
+</li>
+</ul>
 <a id="zeroModules()">
 <!--   -->
 </a>
@@ -1006,6 +1023,20 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
 </dl>
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+<h4>set</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;set&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;node)</pre>
+<div class="block">Set the swerve drive module states.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>node</code> - Chassis speeds to set the swerve module too.</dd>
+</dl>
+</li>
+</ul>
 <a id="setModuleStates(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2[])">
 <!--   -->
 </a>
@@ -1328,6 +1359,7 @@ implements edu.wpi.first.util.sendable.Sendable, java.lang.AutoCloseable</pre>
 <li><a href="../../../../../index.html">Overview</a></li>
 <li><a href="package-summary.html">Package</a></li>
 <li class="navBarCell1Rev">Class</li>
+<li><a href="class-use/SwerveDrive.html">Use</a></li>
 <li><a href="package-tree.html">Tree</a></li>
 <li><a href="../../../../../deprecated-list.html">Deprecated</a></li>
 <li><a href="../../../../../index-files/index-1.html">Index</a></li>