From 3677d0be869256f9343fa7b754f347de47734af0 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Thu, 18 Jan 2024 12:09:37 -0600 Subject: [PATCH] Added Tuner X reccommendation if compatible config is used. Added QOL improvment functions --- docs/allclasses-index.html | 8 +- docs/allpackages-index.html | 4 +- docs/constant-values.html | 4 +- docs/help-doc.html | 4 +- docs/index-files/index-1.html | 20 +- docs/index-files/index-10.html | 4 +- docs/index-files/index-11.html | 4 +- docs/index-files/index-12.html | 4 +- docs/index-files/index-13.html | 4 +- docs/index-files/index-14.html | 4 +- docs/index-files/index-15.html | 4 +- docs/index-files/index-16.html | 4 +- docs/index-files/index-17.html | 4 +- docs/index-files/index-18.html | 4 +- docs/index-files/index-19.html | 16 +- docs/index-files/index-2.html | 4 +- docs/index-files/index-20.html | 4 +- docs/index-files/index-21.html | 4 +- docs/index-files/index-22.html | 4 +- docs/index-files/index-23.html | 4 +- docs/index-files/index-24.html | 4 +- docs/index-files/index-25.html | 4 +- docs/index-files/index-3.html | 12 +- docs/index-files/index-4.html | 4 +- docs/index-files/index-5.html | 4 +- docs/index-files/index-6.html | 4 +- docs/index-files/index-7.html | 28 +- docs/index-files/index-8.html | 4 +- docs/index-files/index-9.html | 4 +- docs/index.html | 4 +- docs/member-search-index.js | 2 +- docs/overview-summary.html | 4 +- docs/overview-tree.html | 4 +- docs/swervelib/SwerveController.html | 4 +- docs/swervelib/SwerveDrive.html | 330 +++++++++++------- docs/swervelib/SwerveModule.html | 132 ++++--- .../encoders/AnalogAbsoluteEncoderSwerve.html | 4 +- docs/swervelib/encoders/CANCoderSwerve.html | 4 +- .../swervelib/encoders/CanAndCoderSwerve.html | 4 +- .../encoders/PWMDutyCycleEncoderSwerve.html | 4 +- .../encoders/SparkMaxAnalogEncoderSwerve.html | 4 +- .../encoders/SparkMaxEncoderSwerve.html | 4 +- .../encoders/SwerveAbsoluteEncoder.html | 4 +- docs/swervelib/encoders/package-summary.html | 4 +- docs/swervelib/encoders/package-tree.html | 4 +- docs/swervelib/imu/ADIS16448Swerve.html | 4 +- docs/swervelib/imu/ADIS16470Swerve.html | 4 +- docs/swervelib/imu/ADXRS450Swerve.html | 4 +- docs/swervelib/imu/AnalogGyroSwerve.html | 4 +- docs/swervelib/imu/NavXSwerve.html | 4 +- docs/swervelib/imu/Pigeon2Swerve.html | 4 +- docs/swervelib/imu/PigeonSwerve.html | 4 +- docs/swervelib/imu/SwerveIMU.html | 4 +- docs/swervelib/imu/package-summary.html | 4 +- docs/swervelib/imu/package-tree.html | 4 +- docs/swervelib/math/Matter.html | 4 +- docs/swervelib/math/SwerveMath.html | 4 +- docs/swervelib/math/package-summary.html | 4 +- docs/swervelib/math/package-tree.html | 4 +- .../SparkFlexSwerve.SparkMAX_slotIdx.html | 4 +- docs/swervelib/motors/SparkFlexSwerve.html | 4 +- .../motors/SparkMaxBrushedMotorSwerve.html | 4 +- .../SparkMaxSwerve.SparkMAX_slotIdx.html | 4 +- docs/swervelib/motors/SparkMaxSwerve.html | 4 +- docs/swervelib/motors/SwerveMotor.html | 4 +- docs/swervelib/motors/TalonFXSwerve.html | 38 +- docs/swervelib/motors/TalonSRXSwerve.html | 4 +- docs/swervelib/motors/package-summary.html | 4 +- docs/swervelib/motors/package-tree.html | 4 +- docs/swervelib/package-summary.html | 4 +- docs/swervelib/package-tree.html | 4 +- docs/swervelib/parser/PIDFConfig.html | 4 +- .../parser/SwerveControllerConfiguration.html | 4 +- .../parser/SwerveDriveConfiguration.html | 8 +- .../parser/SwerveModuleConfiguration.html | 4 +- .../SwerveModulePhysicalCharacteristics.html | 4 +- docs/swervelib/parser/SwerveParser.html | 4 +- .../parser/deserializer/PIDFRange.html | 4 +- .../parser/deserializer/package-summary.html | 4 +- .../parser/deserializer/package-tree.html | 4 +- .../parser/json/ControllerPropertiesJson.html | 4 +- docs/swervelib/parser/json/DeviceJson.html | 4 +- docs/swervelib/parser/json/ModuleJson.html | 4 +- .../parser/json/MotorConfigDouble.html | 4 +- .../swervelib/parser/json/MotorConfigInt.html | 4 +- .../parser/json/PIDFPropertiesJson.html | 4 +- .../parser/json/PhysicalPropertiesJson.html | 4 +- .../parser/json/SwerveDriveJson.html | 4 +- .../parser/json/modules/BoolMotorJson.html | 4 +- .../parser/json/modules/LocationJson.html | 4 +- .../parser/json/modules/package-summary.html | 4 +- .../parser/json/modules/package-tree.html | 4 +- .../parser/json/package-summary.html | 4 +- docs/swervelib/parser/json/package-tree.html | 4 +- docs/swervelib/parser/package-summary.html | 4 +- docs/swervelib/parser/package-tree.html | 4 +- .../simulation/SwerveIMUSimulation.html | 4 +- .../simulation/SwerveModuleSimulation.html | 4 +- .../swervelib/simulation/package-summary.html | 4 +- docs/swervelib/simulation/package-tree.html | 4 +- docs/swervelib/telemetry/Alert.AlertType.html | 4 +- .../telemetry/Alert.SendableAlerts.html | 21 +- docs/swervelib/telemetry/Alert.html | 41 ++- ...erveDriveTelemetry.TelemetryVerbosity.html | 4 +- .../telemetry/SwerveDriveTelemetry.html | 4 +- docs/swervelib/telemetry/package-summary.html | 8 +- docs/swervelib/telemetry/package-tree.html | 4 +- swervelib/SwerveDrive.java | 58 +++ swervelib/SwerveModule.java | 10 + swervelib/telemetry/Alert.java | 31 +- 110 files changed, 704 insertions(+), 435 deletions(-) diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index 8e7c319..7373c73 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,11 +1,11 @@ - + All Classes and Interfaces - + @@ -81,7 +81,9 @@ loadScripts(document, 'script');
Represents an alert's level of urgency.
Alert.SendableAlerts
-
 
+
+
Sendable alert for advantage scope.
+
AnalogAbsoluteEncoderSwerve
Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index 3e58ad0..f7bf7a7 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,11 +1,11 @@ - + All Packages - + diff --git a/docs/constant-values.html b/docs/constant-values.html index 59ee76d..8e84ed1 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,11 +1,11 @@ - + Constant Field Values - + diff --git a/docs/help-doc.html b/docs/help-doc.html index 19bcc06..bd5def1 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,11 +1,11 @@ - + API Help - + diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index 2fc10b1..ff9d27b 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,11 +1,11 @@ - + A-Index - + @@ -98,9 +98,13 @@ loadScripts(document, 'script');
An Alert for if the absolute encoder's offset is set in the json instead of the hardware client.
active - Variable in class swervelib.telemetry.Alert
-
 
+
+
Activation state of alert.
+
activeStartTime - Variable in class swervelib.telemetry.Alert
-
 
+
+
When the alert was raised.
+
addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter) - Method in class swervelib.SwerveController
Add slew rate limiters to all controls.
@@ -156,9 +160,13 @@ loadScripts(document, 'script');
Represents an alert's level of urgency.
Alert.SendableAlerts - Class in swervelib.telemetry
-
 
+
+
Sendable alert for advantage scope.
+
alerts - Variable in class swervelib.telemetry.Alert.SendableAlerts
-
 
+
+
Alert list for sendable.
+
AlertType() - Constructor for enum class swervelib.telemetry.Alert.AlertType
 
AnalogAbsoluteEncoderSwerve - Class in swervelib.encoders
diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index be66596..bd52a76 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,11 +1,11 @@ - + K-Index - + diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index be3a0a4..2dec2bd 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,11 +1,11 @@ - + L-Index - + diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index 197e949..82f99f9 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,11 +1,11 @@ - + M-Index - + diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index 0510eed..0b55285 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,11 +1,11 @@ - + N-Index - + diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index fa5719a..3197ff2 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,11 +1,11 @@ - + O-Index - + diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index 1336b37..e683683 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,11 +1,11 @@ - + P-Index - + diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 987ca30..cebaf12 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,11 +1,11 @@ - + Q-Index - + diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index 75d6679..067be36 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,11 +1,11 @@ - + R-Index - + diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index f9a6278..bad0628 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,11 +1,11 @@ - + S-Index - + diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index c94af05..d9dcac3 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,11 +1,11 @@ - + T-Index - + @@ -84,7 +84,9 @@ loadScripts(document, 'script');
TelemetryVerbosity() - Constructor for enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
 
text - Variable in class swervelib.telemetry.Alert
-
 
+
+
Text of the alert.
+
thetaController - Variable in class swervelib.SwerveController
PID Controller for the robot heading.
@@ -97,12 +99,18 @@ loadScripts(document, 'script');
Main timer to simulate the passage of time.
+
tunerXRecommendation - Variable in class swervelib.SwerveDrive
+
+
Alert to recommend Tuner X if the configuration is compatible.
+
type - Variable in class swervelib.parser.json.DeviceJson
The device type, e.g.
type - Variable in class swervelib.telemetry.Alert
-
 
+
+
Type of the Alert to raise.
+
A B C D E F G H I K L M N O P Q R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values
diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index c2fe0ac..402a43b 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,11 +1,11 @@ - + B-Index - + diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index 1220a90..c2070b1 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,11 +1,11 @@ - + U-Index - + diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index eb23b7c..3a6147d 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,11 +1,11 @@ - + V-Index - + diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index 29198c1..225a1a4 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,11 +1,11 @@ - + W-Index - + diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index 0a5876c..082b7ac 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,11 +1,11 @@ - + X-Index - + diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index bfc19f0..07d7269 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,11 +1,11 @@ - + Y-Index - + diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index c7509a1..00f0403 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,11 +1,11 @@ - + Z-Index - + diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index 090b63e..0147485 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,11 +1,11 @@ - + C-Index - + @@ -122,6 +122,10 @@ loadScripts(document, 'script');
Check directory structure.
+
checkIfTunerXCompatible() - Method in class swervelib.SwerveDrive
+
+
Check all components to ensure that Tuner X Swerve Generator is recommended instead.
+
clearStickyFaults() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
Clear sticky faults on the encoder.
@@ -385,6 +389,10 @@ loadScripts(document, 'script');
ControllerPropertiesJson() - Constructor for class swervelib.parser.json.ControllerPropertiesJson
 
+
conversionFactor - Variable in class swervelib.motors.TalonFXSwerve
+
+
Conversion factor for the motor.
+
conversionFactor - Variable in class swervelib.parser.json.ModuleJson
Conversion factor for the module, if different from the one in swervedrive.json
diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index e9aa6bb..c01a279 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,11 +1,11 @@ - + D-Index - + diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index 3debb2e..2a075a5 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,11 +1,11 @@ - + E-Index - + diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index 15dc5b3..1d6f94a 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,11 +1,11 @@ - + F-Index - + diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index 3e95db1..91cc96e 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,11 +1,11 @@ - + G-Index - + @@ -81,6 +81,10 @@ loadScripts(document, 'script');
Get the instantiated absolute encoder Object.
+
getAbsoluteEncoder() - Method in class swervelib.SwerveModule
+
+
Get the SwerveAbsoluteEncoder for the SwerveModule.
+
getAbsoluteEncoderReadIssue() - Method in class swervelib.SwerveModule
Get if the last Absolute Encoder had a read issue, such as it does not exist.
@@ -167,7 +171,7 @@ loadScripts(document, 'script');
getDriveBaseRadiusMeters() - Method in class swervelib.parser.SwerveDriveConfiguration
-
Assume the first module is the furthest.
+
Calculate the Drive Base Radius
getDriveMotor() - Method in class swervelib.SwerveModule
@@ -221,6 +225,16 @@ loadScripts(document, 'script');
Get the angle in radians based off of the heading joysticks.
+
getMaximumAngularVelocity() - Method in class swervelib.SwerveDrive
+
+
Get the maximum angular velocity, either SwerveDrive.attainableMaxRotationalVelocityRadiansPerSecond or + SwerveControllerConfiguration.maxAngularVelocity.
+
+
getMaximumVelocity() - Method in class swervelib.SwerveDrive
+
+
Get the maximum velocity from SwerveDrive.attainableMaxTranslationalSpeedMetersPerSecond or + SwerveDrive.maxSpeedMPS whichever is higher.
+
getModuleConfigurationByName(String, SwerveDriveConfiguration) - Static method in class swervelib.parser.SwerveParser
Get the swerve module by the json name.
@@ -402,7 +416,9 @@ loadScripts(document, 'script');
Gets the current module states (azimuth and velocity)
getStrings(Alert.AlertType) - Method in class swervelib.telemetry.Alert.SendableAlerts
-
 
+
+
Get alerts based off of type.
+
getSwerveController() - Method in class swervelib.SwerveDrive
Helper function to get the SwerveDrive.swerveController for the SwerveDrive which can be used to @@ -490,7 +506,9 @@ loadScripts(document, 'script');
Gets the current yaw angle of the robot, as reported by the imu.
groups - Static variable in class swervelib.telemetry.Alert
-
 
+
+
Group of the alert.
+
gyro - Variable in class swervelib.imu.AnalogGyroSwerve
Gyroscope object.
diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index a9a30f7..ee8a1c0 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,11 +1,11 @@ - + H-Index - + diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index fef12cf..e6e98ee 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,11 +1,11 @@ - + I-Index - + diff --git a/docs/index.html b/docs/index.html index 698f3ab..46c6231 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,11 +1,11 @@ - + Overview - + diff --git a/docs/member-search-index.js b/docs/member-search-index.js index 0ba951b..ebcd5a1 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.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, 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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 a346c95..9d9c488 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -1,11 +1,11 @@ - + Generated Documentation (Untitled) - + diff --git a/docs/overview-tree.html b/docs/overview-tree.html index 6982ca1..927201a 100644 --- a/docs/overview-tree.html +++ b/docs/overview-tree.html @@ -1,11 +1,11 @@ - + Class Hierarchy - + diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html index 190b14c..3dea753 100644 --- a/docs/swervelib/SwerveController.html +++ b/docs/swervelib/SwerveController.html @@ -1,11 +1,11 @@ - + SwerveController - + diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index fa6df6c..91210e9 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,11 +1,11 @@ - + SwerveDrive - + @@ -197,9 +197,14 @@ loadScripts(document, 'script');
Swerve modules.
-
edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
-
visionMeasurementStdDevs
+
private final Alert
+
tunerXRecommendation
+
Alert to recommend Tuner X if the configuration is compatible.
+
+
edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
+
visionMeasurementStdDevs
+
The standard deviation of the vision measurement, for best accuracy calculate the standard deviation at 2 or more points and fit a line to it and modify this using addVisionMeasurement(Pose2d, double, Matrix) with the calculated optimal standard deviation.
@@ -250,248 +255,265 @@ loadScripts(document, 'script');
Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
-
void
-
drive(edu.wpi.first.math.geometry.Translation2d translation, +
private void
+
checkIfTunerXCompatible()
+
+
Check all components to ensure that Tuner X Swerve Generator is recommended instead.
+
+
void
+
drive(edu.wpi.first.math.geometry.Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop)
-
+
The primary method for controlling the drivebase.
-
void
-
drive(edu.wpi.first.math.geometry.Translation2d translation, +
void
+
drive(edu.wpi.first.math.geometry.Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop, edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
-
+
The primary method for controlling the drivebase.
-
void
-
drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
-
+
void
+
drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
+
Secondary method for controlling the drivebase.
-
void
-
drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, +
void
+
drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, boolean isOpenLoop, edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
-
+
The primary method for controlling the drivebase.
-
void
-
drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, +
void
+
drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
-
+
Secondary method for controlling the drivebase.
-
void
-
driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
-
-
Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
-
void
-
driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, - edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
+
driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
-
Optional<edu.wpi.first.math.geometry.Translation3d>
-
getAccel()
+
void
+
driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, + edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
+
Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
+
+
Optional<edu.wpi.first.math.geometry.Translation3d>
+
getAccel()
+
Gets current acceleration of the robot in m/s/s.
-
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getFieldVelocity()
-
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
getFieldVelocity()
+
Gets the current field-relative velocity (x, y and omega) of the robot
-
edu.wpi.first.math.geometry.Rotation3d
-
getGyroRotation3d()
-
+
edu.wpi.first.math.geometry.Rotation3d
+
getGyroRotation3d()
+
Gets the current gyro Rotation3d of the robot, as reported by the imu.
-
edu.wpi.first.math.kinematics.SwerveModulePosition[]
-
getModulePositions()
+
double
+
getMaximumAngularVelocity()
+
+
Get the maximum angular velocity, either attainableMaxRotationalVelocityRadiansPerSecond or + SwerveControllerConfiguration.maxAngularVelocity.
+
+
double
+
getMaximumVelocity()
+
Get the maximum velocity from attainableMaxTranslationalSpeedMetersPerSecond or + maxSpeedMPS whichever is higher.
+
+
edu.wpi.first.math.kinematics.SwerveModulePosition[]
+
getModulePositions()
+
Gets the current module positions (azimuth and wheel position (meters)).
-
SwerveModule[]
-
getModules()
-
+
SwerveModule[]
+
getModules()
+
Get the SwerveModules associated with the SwerveDrive.
-
edu.wpi.first.math.geometry.Rotation2d
-
getPitch()
-
+
edu.wpi.first.math.geometry.Rotation2d
+
getPitch()
+
Gets the current pitch angle of the robot, as reported by the imu.
-
edu.wpi.first.math.geometry.Pose2d
-
getPose()
-
+
edu.wpi.first.math.geometry.Pose2d
+
getPose()
+
Gets the current pose (position and rotation) of the robot, as reported by odometry.
-
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getRobotVelocity()
-
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
getRobotVelocity()
+
Gets the current robot-relative velocity (x, y and omega) of the robot
-
edu.wpi.first.math.geometry.Rotation2d
-
getRoll()
-
+
edu.wpi.first.math.geometry.Rotation2d
+
getRoll()
+
Gets the current roll angle of the robot, as reported by the imu.
-
edu.wpi.first.math.kinematics.SwerveModuleState[]
-
getStates()
-
+
edu.wpi.first.math.kinematics.SwerveModuleState[]
+
getStates()
+
Gets the current module states (azimuth and velocity)
-
SwerveController
-
getSwerveController()
-
+
SwerveController
+
getSwerveController()
+
Helper function to get the swerveController for the SwerveDrive which can be used to generate ChassisSpeeds for the robot to orient it correctly given axis or angles, and apply SlewRateLimiter to given inputs.
-
edu.wpi.first.math.geometry.Pose2d[]
-
getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
-
+
edu.wpi.first.math.geometry.Pose2d[]
+
getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
+
Get the swerve module poses and on the field relative to the robot.
-
edu.wpi.first.math.geometry.Rotation2d
-
getYaw()
-
+
edu.wpi.first.math.geometry.Rotation2d
+
getYaw()
+
Gets the current yaw angle of the robot, as reported by the imu.
-
void
-
lockPose()
-
+
void
+
lockPose()
+
Point all modules toward the robot center, thus making the robot very difficult to move.
-
void
-
postTrajectory(edu.wpi.first.math.trajectory.Trajectory trajectory)
-
+
void
+
postTrajectory(edu.wpi.first.math.trajectory.Trajectory trajectory)
+
Post the trajectory to the field
-
void
-
pushOffsetsToControllers()
-
+
void
+
pushOffsetsToControllers()
+
Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.
-
void
-
replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
-
+
void
+
replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
+
Setup the swerve module feedforward.
-
void
-
resetDriveEncoders()
-
+
void
+
resetDriveEncoders()
+
Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in autonomous.
-
void
-
resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
-
+
void
+
resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
+
Resets odometry to the given pose.
-
void
-
restoreInternalOffset()
-
+
void
+
restoreInternalOffset()
+
Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0
-
void
-
setAngleMotorConversionFactor(double conversionFactor)
-
+
void
+
setAngleMotorConversionFactor(double conversionFactor)
+
Set the conversion factor for the angle/azimuth motor controller.
-
void
-
setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
-
+
void
+
setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
+
Set chassis speeds with closed-loop velocity control.
-
void
-
setDriveMotorConversionFactor(double conversionFactor)
-
+
void
+
setDriveMotorConversionFactor(double conversionFactor)
+
Set the conversion factor for the drive motor controller.
-
void
-
setGyro(edu.wpi.first.math.geometry.Rotation3d gyro)
-
+
void
+
setGyro(edu.wpi.first.math.geometry.Rotation3d gyro)
+
Set the expected gyroscope angle using a Rotation3d object.
-
void
-
setGyroOffset(edu.wpi.first.math.geometry.Rotation3d offset)
-
+
void
+
setGyroOffset(edu.wpi.first.math.geometry.Rotation3d offset)
+
Set the gyro scope offset to a desired known rotation.
-
void
-
setHeadingCorrection(boolean state)
-
+
void
+
setHeadingCorrection(boolean state)
+
Set the heading correction capabilities of YAGSL.
-
void
-
setMaximumSpeed(double maximumSpeed)
-
+
void
+
setMaximumSpeed(double maximumSpeed)
+
Set the maximum speed of the drive motors, modified maxSpeedMPS which is used for the setRawModuleStates(SwerveModuleState[], boolean) function and SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
-
void
-
setMaximumSpeed(double maximumSpeed, +
void
+
setMaximumSpeed(double maximumSpeed, boolean updateModuleFeedforward, double optimalVoltage)
-
+
Set the maximum speed of the drive motors, modified maxSpeedMPS which is used for the setRawModuleStates(SwerveModuleState[], boolean) function and SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
-
void
-
setMaximumSpeeds(double attainableMaxModuleSpeedMetersPerSecond, +
void
+
setMaximumSpeeds(double attainableMaxModuleSpeedMetersPerSecond, double attainableMaxTranslationalSpeedMetersPerSecond, double attainableMaxRotationalVelocityRadiansPerSecond)
-
+
Set the maximum speeds for desaturation.
-
void
-
setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, +
void
+
setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, boolean isOpenLoop)
-
+
Set the module states (azimuth and velocity) directly.
-
void
-
setMotorIdleMode(boolean brake)
-
+
void
+
setMotorIdleMode(boolean brake)
+
Sets the drive motors to brake/coast mode.
-
void
-
setOdometryPeriod(double period)
-
+
void
+
setOdometryPeriod(double period)
+
Set the odometry update period in seconds.
-
private void
-
setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, +
private void
+
setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, boolean isOpenLoop)
-
+
Set the module states (azimuth and velocity) directly.
-
void
-
stopOdometryThread()
-
+
void
+
stopOdometryThread()
+
Stop the odometry thread in favor of manually updating odometry.
-
void
-
synchronizeModuleEncoders()
-
+
void
+
synchronizeModuleEncoders()
+
Synchronize angle motor integrated encoders with data from absolute encoders.
-
void
-
updateOdometry()
-
+
void
+
updateOdometry()
+
Update odometry should be run every loop.
-
void
-
zeroGyro()
-
+
void
+
zeroGyro()
+
Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
@@ -678,6 +700,13 @@ loadScripts(document, 'script');
Maximum speed of the robot in meters per second.
+
  • +
    +

    tunerXRecommendation

    +
    private final Alert tunerXRecommendation
    +
    Alert to recommend Tuner X if the configuration is compatible.
    +
    +
    • @@ -716,6 +745,13 @@ loadScripts(document, 'script');

    Method Details

    • +
      +

      checkIfTunerXCompatible

      +
      private void checkIfTunerXCompatible()
      +
      Check all components to ensure that Tuner X Swerve Generator is recommended instead.
      +
      +
      • +

    • setOdometryPeriod

      public void setOdometryPeriod(double period)
      @@ -904,6 +940,30 @@ loadScripts(document, 'script');
    • +
      +

      getMaximumVelocity

      +
      public double getMaximumVelocity()
      +
      Get the maximum velocity from attainableMaxTranslationalSpeedMetersPerSecond or + maxSpeedMPS whichever is higher.
      +
      +
      Returns:
      +
      Maximum speed in meters/second.
      +
      +
      +
      • +
    • +
      +

      getMaximumAngularVelocity

      +
      public double getMaximumAngularVelocity()
      +
      Get the maximum angular velocity, either attainableMaxRotationalVelocityRadiansPerSecond or + SwerveControllerConfiguration.maxAngularVelocity.
      +
      +
      Returns:
      +
      Maximum angular velocity in radians per second.
      +
      +
      +
      • +

    • setRawModuleStates

      private void setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index ccf3a14..e4b0a8b 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,11 +1,11 @@ - + SwerveModule - + @@ -187,101 +187,106 @@ loadScripts(document, 'script');
      Modifier and Type
      Method
      Description
      -
      boolean
      -
      getAbsoluteEncoderReadIssue()
      +
      SwerveAbsoluteEncoder
      +
      getAbsoluteEncoder()
      +
      Get the SwerveAbsoluteEncoder for the SwerveModule.
      +
      +
      boolean
      +
      getAbsoluteEncoderReadIssue()
      +
      Get if the last Absolute Encoder had a read issue, such as it does not exist.
      -
      double
      -
      getAbsolutePosition()
      -
      +
      double
      +
      getAbsolutePosition()
      +
      Get the absolute position.
      -
      SwerveMotor
      -
      getAngleMotor()
      -
      +
      SwerveMotor
      +
      getAngleMotor()
      +
      Get the angle SwerveMotor for the SwerveModule.
      -
      SwerveModuleConfiguration
      -
      getConfiguration()
      -
      +
      SwerveModuleConfiguration
      +
      getConfiguration()
      +
      Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.
      -
      SwerveMotor
      -
      getDriveMotor()
      -
      +
      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.
      @@ -583,6 +588,17 @@ loadScripts(document, 'script');
    • +
      +

      getAbsoluteEncoder

      +
      public SwerveAbsoluteEncoder getAbsoluteEncoder()
      +
      Get the SwerveAbsoluteEncoder for the SwerveModule.
      +
      +
      Returns:
      +
      SwerveAbsoluteEncoder for the swerve module.
      +
      +
      +
      • +

    • getConfiguration

      public SwerveModuleConfiguration getConfiguration()
      diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html index e4f854a..e1a9423 100644 --- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html +++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html @@ -1,11 +1,11 @@ - + AnalogAbsoluteEncoderSwerve - + diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index eadf8cd..21b1f4f 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,11 +1,11 @@ - + CANCoderSwerve - + diff --git a/docs/swervelib/encoders/CanAndCoderSwerve.html b/docs/swervelib/encoders/CanAndCoderSwerve.html index 7226cea..611e65f 100644 --- a/docs/swervelib/encoders/CanAndCoderSwerve.html +++ b/docs/swervelib/encoders/CanAndCoderSwerve.html @@ -1,11 +1,11 @@ - + CanAndCoderSwerve - + diff --git a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html index b66e922..b245b47 100644 --- a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html +++ b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html @@ -1,11 +1,11 @@ - + PWMDutyCycleEncoderSwerve - + diff --git a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html index afd0650..33e61d6 100644 --- a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxAnalogEncoderSwerve - + diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index 417be30..a038f5f 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxEncoderSwerve - + diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index dd5ebca..cb27828 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,11 +1,11 @@ - + SwerveAbsoluteEncoder - + diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index e5c3a18..e847a9c 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.encoders - + diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index 964026a..0b72088 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.encoders Class Hierarchy - + diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html index 2d1f31b..9d856e5 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,11 +1,11 @@ - + ADIS16448Swerve - + diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html index 6f60d23..53f94da 100644 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ b/docs/swervelib/imu/ADIS16470Swerve.html @@ -1,11 +1,11 @@ - + ADIS16470Swerve - + diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html index 48fe70b..cd880d1 100644 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ b/docs/swervelib/imu/ADXRS450Swerve.html @@ -1,11 +1,11 @@ - + ADXRS450Swerve - + diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html index a262ccc..35c928e 100644 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ b/docs/swervelib/imu/AnalogGyroSwerve.html @@ -1,11 +1,11 @@ - + AnalogGyroSwerve - + diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index def3394..51a67ea 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,11 +1,11 @@ - + NavXSwerve - + diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index 75aa273..c755240 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,11 +1,11 @@ - + Pigeon2Swerve - + diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index ee191bf..e0015dc 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,11 +1,11 @@ - + PigeonSwerve - + diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index e601106..09ed4fb 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,11 +1,11 @@ - + SwerveIMU - + diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index a7c3bcd..b70a81f 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.imu - + diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index 5722446..42f6473 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.imu Class Hierarchy - + diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html index 27d5fa1..bdc9818 100644 --- a/docs/swervelib/math/Matter.html +++ b/docs/swervelib/math/Matter.html @@ -1,11 +1,11 @@ - + Matter - + diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index 718e199..5ff2bcf 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,11 +1,11 @@ - + SwerveMath - + diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index b53c127..ed2028f 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.math - + diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index 135f69f..4298f0f 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.math Class Hierarchy - + diff --git a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html index 5140720..b23c48f 100644 --- a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html @@ -1,11 +1,11 @@ - + SparkFlexSwerve.SparkMAX_slotIdx - + diff --git a/docs/swervelib/motors/SparkFlexSwerve.html b/docs/swervelib/motors/SparkFlexSwerve.html index 0ea86f6..399de6c 100644 --- a/docs/swervelib/motors/SparkFlexSwerve.html +++ b/docs/swervelib/motors/SparkFlexSwerve.html @@ -1,11 +1,11 @@ - + SparkFlexSwerve - + diff --git a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html index 56611b5..6c6a3b5 100644 --- a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html +++ b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxBrushedMotorSwerve - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html index 7143786..8ef3ff1 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve.SparkMAX_slotIdx - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index a6e8b3b..875c25a 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve - + diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index bdbcddb..b05c1d8 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,11 +1,11 @@ - + SwerveMotor - + diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index 90e93bc..36ebba4 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,11 +1,11 @@ - + TalonFXSwerve - + @@ -103,24 +103,29 @@ loadScripts(document, 'script');
      Current TalonFX configuration.
      -
      private final boolean
      -
      factoryDefaultOccurred
      +
      private double
      +
      conversionFactor
      +
      Conversion factor for the motor.
      +
      +
      private final boolean
      +
      factoryDefaultOccurred
      +
      Factory default already occurred.
      -
      private final com.ctre.phoenix6.controls.MotionMagicVoltage
      -
      m_angleVoltageSetter
      -
      +
      private final com.ctre.phoenix6.controls.MotionMagicVoltage
      +
      m_angleVoltageSetter
      +
      Motion magic angle voltage setter.
      -
      private final com.ctre.phoenix6.controls.VelocityVoltage
      -
      m_velocityVoltageSetter
      -
      +
      private final com.ctre.phoenix6.controls.VelocityVoltage
      +
      m_velocityVoltageSetter
      +
      Velocity voltage setter for controlling drive motor.
      -
      (package private) com.ctre.phoenix6.hardware.TalonFX
      -
      motor
      -
      +
      (package private) com.ctre.phoenix6.hardware.TalonFX
      +
      motor
      +
      TalonFX motor controller.
      @@ -354,6 +359,13 @@ loadScripts(document, 'script');
    • +
      +

      conversionFactor

      +
      private double conversionFactor
      +
      Conversion factor for the motor.
      +
      +
      • +

    • motor

      com.ctre.phoenix6.hardware.TalonFX motor
      diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index 1f9bce1..15a0153 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,11 +1,11 @@ - + TalonSRXSwerve - + diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index a19e0bb..f1dcebe 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.motors - + diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index be3ac35..bc17137 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.motors Class Hierarchy - + diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index 8391586..8886d87 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,11 +1,11 @@ - + swervelib - + diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index 7d10c5c..76287be 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,11 +1,11 @@ - + swervelib Class Hierarchy - + diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index cb63ce7..e2d8f0c 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,11 +1,11 @@ - + PIDFConfig - + diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index e6a6ec4..0feed05 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ -1,11 +1,11 @@ - + SwerveControllerConfiguration - + diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index c9f24d6..ba0498d 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,11 +1,11 @@ - + SwerveDriveConfiguration - + @@ -163,7 +163,7 @@ loadScripts(document, 'script');
      double
      getDriveBaseRadiusMeters()
      -
      Assume the first module is the furthest.
      +
      Calculate the Drive Base Radius
    @@ -279,7 +279,7 @@ loadScripts(document, 'script');

    getDriveBaseRadiusMeters

    public double getDriveBaseRadiusMeters()
    -
    Assume the first module is the furthest. Usually front-left.
    +
    Calculate the Drive Base Radius
    Returns:
    Drive base radius from center of robot to the farthest wheel in meters.
    diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index 1e77243..5b96858 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,11 +1,11 @@ - + SwerveModuleConfiguration - + diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index b272e44..913dc87 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,11 +1,11 @@ - + SwerveModulePhysicalCharacteristics - + diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index fd2d538..f4295c0 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,11 +1,11 @@ - + SwerveParser - + diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index d6c629e..784c2fa 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,11 +1,11 @@ - + PIDFRange - + diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index 70c2bed..19e670f 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer - + diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index 284fed0..3202a45 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer Class Hierarchy - + diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index c833d89..ca2d3ac 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,11 +1,11 @@ - + ControllerPropertiesJson - + diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index b39d9de..89b4633 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,11 +1,11 @@ - + DeviceJson - + diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index fede32e..130e49f 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,11 +1,11 @@ - + ModuleJson - + diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html index 5cc7fe6..89718fe 100644 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ b/docs/swervelib/parser/json/MotorConfigDouble.html @@ -1,11 +1,11 @@ - + MotorConfigDouble - + diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html index b294108..e77594b 100644 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ b/docs/swervelib/parser/json/MotorConfigInt.html @@ -1,11 +1,11 @@ - + MotorConfigInt - + diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index 3c1e8d4..3cd60e5 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,11 +1,11 @@ - + PIDFPropertiesJson - + diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index 0216fa7..1d51528 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,11 +1,11 @@ - + PhysicalPropertiesJson - + diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index 1dbb187..c0b83cf 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,11 +1,11 @@ - + SwerveDriveJson - + diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index 8d2882f..334ca7c 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,11 +1,11 @@ - + BoolMotorJson - + diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index 0aa9390..c3ad072 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,11 +1,11 @@ - + LocationJson - + diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index adfe9e6..01d4398 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,11 +1,11 @@ - + 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 85125c7..1cd0c08 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,11 +1,11 @@ - + 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 e01d91a..205992a 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json - + diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index 51a4eda..6d6e168 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json Class Hierarchy - + diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index aed9151..ae7b217 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser - + diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index 6837783..fcb4815 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser Class Hierarchy - + diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html index 54b4163..bff9495 100644 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ b/docs/swervelib/simulation/SwerveIMUSimulation.html @@ -1,11 +1,11 @@ - + SwerveIMUSimulation - + diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html index 0a81674..1ae8eaf 100644 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ b/docs/swervelib/simulation/SwerveModuleSimulation.html @@ -1,11 +1,11 @@ - + SwerveModuleSimulation - + diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html index 5327ce5..79d3f46 100644 --- a/docs/swervelib/simulation/package-summary.html +++ b/docs/swervelib/simulation/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.simulation - + diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html index 9f5f0fd..c1fd4e2 100644 --- a/docs/swervelib/simulation/package-tree.html +++ b/docs/swervelib/simulation/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.simulation Class Hierarchy - + diff --git a/docs/swervelib/telemetry/Alert.AlertType.html b/docs/swervelib/telemetry/Alert.AlertType.html index 5fac1bf..00541fa 100644 --- a/docs/swervelib/telemetry/Alert.AlertType.html +++ b/docs/swervelib/telemetry/Alert.AlertType.html @@ -1,11 +1,11 @@ - + Alert.AlertType - + diff --git a/docs/swervelib/telemetry/Alert.SendableAlerts.html b/docs/swervelib/telemetry/Alert.SendableAlerts.html index 7fbcb24..572b8cc 100644 --- a/docs/swervelib/telemetry/Alert.SendableAlerts.html +++ b/docs/swervelib/telemetry/Alert.SendableAlerts.html @@ -1,11 +1,11 @@ - + Alert.SendableAlerts - + @@ -87,6 +87,7 @@ loadScripts(document, 'script');
    private static class Alert.SendableAlerts extends Object implements edu.wpi.first.util.sendable.Sendable
    +
    Sendable alert for advantage scope.
      @@ -101,7 +102,9 @@ implements edu.wpi.first.util.sendable.Sendable
    Description
    final List<Alert>
    alerts
    -
     
    +
    +
    Alert list for sendable.
    +
    @@ -133,7 +136,9 @@ implements edu.wpi.first.util.sendable.Sendable
    Description
    String[]
    getStrings(Alert.AlertType type)
    -
     
    +
    +
    Get alerts based off of type.
    +
    void
    initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)
     
    @@ -158,6 +163,7 @@ implements edu.wpi.first.util.sendable.Sendable

    alerts

    public final List<Alert> alerts
    +
    Alert list for sendable.
    @@ -186,6 +192,13 @@ implements edu.wpi.first.util.sendable.Sendable

    getStrings

    public String[] getStrings(Alert.AlertType type)
    +
    Get alerts based off of type.
    +
    +
    Parameters:
    +
    type - Type of alert to fetch.
    +
    Returns:
    +
    Active alert strings.
    +
  • diff --git a/docs/swervelib/telemetry/Alert.html b/docs/swervelib/telemetry/Alert.html index f7fbf24..a6831ae 100644 --- a/docs/swervelib/telemetry/Alert.html +++ b/docs/swervelib/telemetry/Alert.html @@ -1,11 +1,11 @@ - + Alert - + @@ -98,7 +98,9 @@ loadScripts(document, 'script');
    • private static class 
    Alert.SendableAlerts
    -
     
    +
    +
    Sendable alert for advantage scope.
    +
    @@ -113,19 +115,29 @@ loadScripts(document, 'script');
    Description
    private boolean
    active
    -
     
    +
    +
    Activation state of alert.
    +
    private double
    activeStartTime
    -
     
    +
    +
    When the alert was raised.
    +
    private static Map<String,Alert.SendableAlerts>
    groups
    -
     
    +
    +
    Group of the alert.
    +
    private String
    text
    -
     
    +
    +
    Text of the alert.
    +
    private final Alert.AlertType
    type
    -
     
    +
    +
    Type of the Alert to raise.
    +
    @@ -193,30 +205,35 @@ loadScripts(document, 'script');

    groups

    private static Map<String,Alert.SendableAlerts> groups
    +
    Group of the alert.

  • type

    private final Alert.AlertType type
    +
    Type of the Alert to raise.

  • active

    private boolean active
    +
    Activation state of alert.

  • activeStartTime

    private double activeStartTime
    +
    When the alert was raised.

  • text

    private String text
    +
    Text of the alert.
    • @@ -271,6 +288,10 @@ loadScripts(document, 'script');
    public void set(boolean active)
    Sets whether the alert should currently be displayed. When activated, the alert text will also be sent to the console.
    +
    +
    Parameters:
    +
    active - Set the alert as active and report it to the driver station.
    +
  • @@ -278,6 +299,10 @@ loadScripts(document, 'script');

    setText

    public void setText(String text)
    Updates current alert text.
    +
    +
    Parameters:
    +
    text - The text for the alert.
    +
    • diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html index 98bfb17..26005bb 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry.TelemetryVerbosity - + diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html index 91f0b78..97954ff 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry - + diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html index e2d2e11..b01ae51 100644 --- a/docs/swervelib/telemetry/package-summary.html +++ b/docs/swervelib/telemetry/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.telemetry - + @@ -98,7 +98,9 @@ loadScripts(document, 'script');
    Represents an alert's level of urgency.
    Alert.SendableAlerts
    -
     
    +
    +
    Sendable alert for advantage scope.
    +
    SwerveDriveTelemetry
    Telemetry to describe the SwerveDrive following frc-web-components.
    diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html index c253900..2e86300 100644 --- a/docs/swervelib/telemetry/package-tree.html +++ b/docs/swervelib/telemetry/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.telemetry Class Hierarchy - + diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java index aeef17b..5e6874d 100644 --- a/swervelib/SwerveDrive.java +++ b/swervelib/SwerveDrive.java @@ -28,11 +28,16 @@ import java.util.List; import java.util.Optional; import java.util.concurrent.locks.Lock; import java.util.concurrent.locks.ReentrantLock; +import swervelib.encoders.CANCoderSwerve; +import swervelib.imu.Pigeon2Swerve; import swervelib.imu.SwerveIMU; import swervelib.math.SwerveMath; +import swervelib.motors.TalonFXSwerve; import swervelib.parser.SwerveControllerConfiguration; import swervelib.parser.SwerveDriveConfiguration; import swervelib.simulation.SwerveIMUSimulation; +import swervelib.telemetry.Alert; +import swervelib.telemetry.Alert.AlertType; import swervelib.telemetry.SwerveDriveTelemetry; import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity; @@ -139,6 +144,13 @@ public class SwerveDrive * Maximum speed of the robot in meters per second. */ private double maxSpeedMPS; + /** + * Alert to recommend Tuner X if the configuration is compatible. + */ + private final Alert tunerXRecommendation = new Alert("Swerve Drive", + "Your Swerve Drive is compatible with Tuner X swerve generator, please consider using that instead of YAGSL. More information here!\n" + + "https://pro.docs.ctr-electronics.com/en/latest/docs/tuner/tuner-swerve/index.html", + AlertType.WARNING); /** * Creates a new swerve drivebase subsystem. Robot is controlled via the {@link SwerveDrive#drive} method, or via the @@ -224,6 +236,29 @@ public class SwerveDrive odometryThread.startPeriodic(SwerveDriveTelemetry.isSimulation ? 0.01 : 0.02); } + /** + * Check all components to ensure that Tuner X Swerve Generator is recommended instead. + */ + private void checkIfTunerXCompatible() + { + boolean compatible = imu instanceof Pigeon2Swerve; + for (SwerveModule module : swerveModules) + { + compatible = compatible && module.getDriveMotor() instanceof TalonFXSwerve && + module.getAngleMotor() instanceof TalonFXSwerve && + module.getAbsoluteEncoder() instanceof CANCoderSwerve; + if (!compatible) + { + break; + } + } + if (compatible) + { + tunerXRecommendation.set(true); + } + + } + /** * Set the odometry update period in seconds. * @@ -465,6 +500,29 @@ public class SwerveDrive setMaximumSpeed(attainableMaxModuleSpeedMetersPerSecond); this.attainableMaxTranslationalSpeedMetersPerSecond = attainableMaxTranslationalSpeedMetersPerSecond; this.attainableMaxRotationalVelocityRadiansPerSecond = attainableMaxRotationalVelocityRadiansPerSecond; + this.swerveController.config.maxAngularVelocity = attainableMaxRotationalVelocityRadiansPerSecond; + } + + /** + * Get the maximum velocity from {@link SwerveDrive#attainableMaxTranslationalSpeedMetersPerSecond} or + * {@link SwerveDrive#maxSpeedMPS} whichever is higher. + * + * @return Maximum speed in meters/second. + */ + public double getMaximumVelocity() + { + return Math.max(this.attainableMaxTranslationalSpeedMetersPerSecond, maxSpeedMPS); + } + + /** + * Get the maximum angular velocity, either {@link SwerveDrive#attainableMaxRotationalVelocityRadiansPerSecond} or + * {@link SwerveControllerConfiguration#maxAngularVelocity}. + * + * @return Maximum angular velocity in radians per second. + */ + public double getMaximumAngularVelocity() + { + return Math.max(this.attainableMaxRotationalVelocityRadiansPerSecond, swerveController.config.maxAngularVelocity); } /** diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java index fe3989a..8e7d94d 100644 --- a/swervelib/SwerveModule.java +++ b/swervelib/SwerveModule.java @@ -394,6 +394,16 @@ public class SwerveModule return driveMotor; } + /** + * Get the {@link SwerveAbsoluteEncoder} for the {@link SwerveModule}. + * + * @return {@link SwerveAbsoluteEncoder} for the swerve module. + */ + public SwerveAbsoluteEncoder getAbsoluteEncoder() + { + return absoluteEncoder; + } + /** * Fetch the {@link SwerveModuleConfiguration} for the {@link SwerveModule} with the parsed configurations. * diff --git a/swervelib/telemetry/Alert.java b/swervelib/telemetry/Alert.java index 1718c82..c92fc76 100644 --- a/swervelib/telemetry/Alert.java +++ b/swervelib/telemetry/Alert.java @@ -46,11 +46,25 @@ import java.util.function.Predicate; public class Alert { + /** + * Group of the alert. + */ private static Map groups = new HashMap(); - + /** + * Type of the Alert to raise. + */ private final AlertType type; + /** + * Activation state of alert. + */ private boolean active = false; + /** + * When the alert was raised. + */ private double activeStartTime = 0.0; + /** + * Text of the alert. + */ private String text; /** @@ -89,6 +103,8 @@ public class Alert /** * Sets whether the alert should currently be displayed. When activated, the alert text will also be sent to the * console. + * + * @param active Set the alert as active and report it to the driver station. */ public void set(boolean active) { @@ -119,6 +135,8 @@ public class Alert /** * Updates current alert text. + * + * @param text The text for the alert. */ public void setText(String text) { @@ -182,11 +200,22 @@ public class Alert INFO } + /** + * Sendable alert for advantage scope. + */ private static class SendableAlerts implements Sendable { + /** + * Alert list for sendable. + */ public final List alerts = new ArrayList<>(); + /** + * Get alerts based off of type. + * @param type Type of alert to fetch. + * @return Active alert strings. + */ public String[] getStrings(AlertType type) { Predicate activeFilter = (Alert x) -> x.type == type && x.active;