From 38c7bdba7dad2c218443a74f967f32e2021abfb4 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Wed, 9 Aug 2023 16:23:30 -0500 Subject: [PATCH] Updated javadocs --- docs/allclasses-index.html | 171 +- docs/allclasses.html | 66 - docs/allpackages-index.html | 9 +- docs/constant-values.html | 96 - docs/deprecated-list.html | 147 - docs/help-doc.html | 18 +- docs/index-all.html | 2462 ++++ docs/index-files/index-1.html | 287 - docs/index-files/index-10.html | 65 - docs/index-files/index-11.html | 107 - docs/index-files/index-12.html | 309 - docs/index-files/index-13.html | 89 - docs/index-files/index-14.html | 114 - docs/index-files/index-15.html | 187 - docs/index-files/index-16.html | 65 - docs/index-files/index-17.html | 122 - docs/index-files/index-18.html | 694 - docs/index-files/index-19.html | 143 - docs/index-files/index-2.html | 91 - docs/index-files/index-20.html | 90 - docs/index-files/index-21.html | 104 - docs/index-files/index-22.html | 85 - 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docs/legal/ASSEMBLY_EXCEPTION | 28 +- docs/legal/LICENSE | 1 - docs/legal/jquery.md | 8 +- docs/member-search-index.js | 2 +- docs/overview-summary.html | 5 +- docs/overview-tree.html | 35 +- .../images/ui-bg_glass_55_fbf9ee_1x400.png | Bin 335 -> 0 bytes .../images/ui-bg_glass_65_dadada_1x400.png | Bin 262 -> 0 bytes .../images/ui-bg_glass_75_dadada_1x400.png | Bin 262 -> 0 bytes .../images/ui-bg_glass_75_e6e6e6_1x400.png | Bin 262 -> 0 bytes .../images/ui-bg_glass_95_fef1ec_1x400.png | Bin 332 -> 0 bytes .../ui-bg_highlight-soft_75_cccccc_1x100.png | Bin 280 -> 0 bytes .../images/ui-icons_222222_256x240.png | Bin 6922 -> 0 bytes .../images/ui-icons_2e83ff_256x240.png | Bin 4549 -> 0 bytes .../images/ui-icons_454545_256x240.png | Bin 6992 -> 0 bytes .../images/ui-icons_888888_256x240.png | Bin 6999 -> 0 bytes .../images/ui-icons_cd0a0a_256x240.png | Bin 4549 -> 0 bytes docs/script-dir/jquery-3.5.1.min.js | 2 - docs/script-dir/jquery-3.6.1.min.js | 2 + docs/script-dir/jquery-ui.min.css | 7 +- docs/script-dir/jquery-ui.min.js | 4 +- docs/script-dir/jquery-ui.structure.min.css | 5 - docs/stylesheet.css | 4 + docs/swervelib/SwerveController.html | 54 +- docs/swervelib/SwerveDrive.html | 516 +- docs/swervelib/SwerveModule.html | 107 +- .../encoders/AnalogAbsoluteEncoderSwerve.html | 21 +- docs/swervelib/encoders/CANCoderSwerve.html | 12 +- .../swervelib/encoders/CanAndCoderSwerve.html | 279 + .../encoders/SparkMaxEncoderSwerve.html | 18 +- .../encoders/SwerveAbsoluteEncoder.html | 14 +- docs/swervelib/encoders/package-summary.html | 26 +- docs/swervelib/encoders/package-tree.html | 10 +- docs/swervelib/imu/ADIS16448Swerve.html | 64 +- docs/swervelib/imu/ADIS16470Swerve.html | 64 +- docs/swervelib/imu/ADXRS450Swerve.html | 64 +- docs/swervelib/imu/AnalogGyroSwerve.html | 61 +- docs/swervelib/imu/NavXSwerve.html | 61 +- docs/swervelib/imu/Pigeon2Swerve.html | 61 +- docs/swervelib/imu/PigeonSwerve.html | 61 +- docs/swervelib/imu/SwerveIMU.html | 13 +- docs/swervelib/imu/package-summary.html | 9 +- docs/swervelib/imu/package-tree.html | 9 +- docs/swervelib/math/Matter.html | 9 +- docs/swervelib/math/SwerveDriveOdometry2.html | 145 +- docs/swervelib/math/SwerveKinematics2.html | 252 +- docs/swervelib/math/SwerveMath.html | 140 +- docs/swervelib/math/SwerveModuleState2.html | 56 +- ...rvePoseEstimator2.InterpolationRecord.html | 295 - docs/swervelib/math/SwervePoseEstimator2.html | 216 +- docs/swervelib/math/package-summary.html | 23 +- docs/swervelib/math/package-tree.html | 22 +- .../motors/SparkMaxBrushedMotorSwerve.html | 54 +- .../SparkMaxSwerve.SparkMAX_slotIdx.html | 268 - docs/swervelib/motors/SparkMaxSwerve.html | 61 +- docs/swervelib/motors/SwerveMotor.html | 20 +- .../motors/TalonFXSwerve.CTRE_pidIdx.html | 450 - .../TalonFXSwerve.CTRE_remoteSensor.html | 424 - .../motors/TalonFXSwerve.CTRE_slotIdx.html | 450 - docs/swervelib/motors/TalonFXSwerve.html | 155 +- .../motors/TalonSRXSwerve.CTRE_pidIdx.html | 279 - .../TalonSRXSwerve.CTRE_remoteSensor.html | 257 - .../motors/TalonSRXSwerve.CTRE_slotIdx.html | 279 - docs/swervelib/motors/TalonSRXSwerve.html | 155 +- docs/swervelib/motors/package-summary.html | 37 +- docs/swervelib/motors/package-tree.html | 23 +- docs/swervelib/package-summary.html | 9 +- docs/swervelib/package-tree.html | 9 +- docs/swervelib/parser/PIDFConfig.html | 9 +- .../parser/SwerveControllerConfiguration.html | 13 +- .../parser/SwerveDriveConfiguration.html | 9 +- .../parser/SwerveModuleConfiguration.html | 16 +- .../SwerveModulePhysicalCharacteristics.html | 75 +- docs/swervelib/parser/SwerveParser.html | 87 +- .../parser/deserializer/PIDFRange.html | 9 +- .../parser/deserializer/package-summary.html | 9 +- .../parser/deserializer/package-tree.html | 9 +- .../parser/json/ControllerPropertiesJson.html | 9 +- docs/swervelib/parser/json/DeviceJson.html | 36 +- docs/swervelib/parser/json/ModuleJson.html | 9 +- .../parser/json/MotorConfigDouble.html | 193 - .../swervelib/parser/json/MotorConfigInt.html | 193 - .../parser/json/PIDFPropertiesJson.html | 9 +- .../parser/json/PhysicalPropertiesJson.html | 58 +- .../parser/json/SwerveDriveJson.html | 12 +- .../parser/json/modules/BoolMotorJson.html | 9 +- .../parser/json/modules/LocationJson.html | 14 +- .../parser/json/modules/package-summary.html | 9 +- .../parser/json/modules/package-tree.html | 9 +- .../parser/json/package-summary.html | 17 +- docs/swervelib/parser/json/package-tree.html | 11 +- docs/swervelib/parser/package-summary.html | 9 +- docs/swervelib/parser/package-tree.html | 9 +- .../simulation/SwerveIMUSimulation.html | 78 +- .../simulation/SwerveModuleSimulation.html | 108 +- .../ctre/PhysicsSim.SimProfile.html | 220 - .../swervelib/simulation/ctre/PhysicsSim.html | 90 +- .../simulation/ctre/TalonFXSimProfile.html | 259 - .../simulation/ctre/TalonSRXSimProfile.html | 259 - .../simulation/ctre/VictorSPXSimProfile.html | 211 - .../simulation/ctre/package-summary.html | 25 +- .../simulation/ctre/package-tree.html | 16 +- .../swervelib/simulation/package-summary.html | 9 +- docs/swervelib/simulation/package-tree.html | 9 +- ...erveDriveTelemetry.TelemetryVerbosity.html | 38 +- .../telemetry/SwerveDriveTelemetry.html | 25 +- docs/swervelib/telemetry/package-summary.html | 9 +- docs/swervelib/telemetry/package-tree.html | 9 +- docs/tag-search-index.js | 2 +- docs/type-search-index.js | 2 +- 156 files changed, 3972 insertions(+), 33744 deletions(-) delete mode 100644 docs/allclasses.html delete mode 100644 docs/constant-values.html delete mode 100644 docs/deprecated-list.html create mode 100644 docs/index-all.html delete mode 100644 docs/index-files/index-1.html delete mode 100644 docs/index-files/index-10.html delete mode 100644 docs/index-files/index-11.html delete mode 100644 docs/index-files/index-12.html delete mode 100644 docs/index-files/index-13.html delete mode 100644 docs/index-files/index-14.html delete mode 100644 docs/index-files/index-15.html 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docs/swervelib/motors/TalonFXSwerve.CTRE_slotIdx.html delete mode 100644 docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html delete mode 100644 docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html delete mode 100644 docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html delete mode 100644 docs/swervelib/parser/json/MotorConfigDouble.html delete mode 100644 docs/swervelib/parser/json/MotorConfigInt.html delete mode 100644 docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html delete mode 100644 docs/swervelib/simulation/ctre/TalonFXSimProfile.html delete mode 100644 docs/swervelib/simulation/ctre/TalonSRXSimProfile.html delete mode 100644 docs/swervelib/simulation/ctre/VictorSPXSimProfile.html diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index 081c30d..4badde3 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,18 +1,17 @@ - -All Classes and Interfaces + +All Classes and Interfaces (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -84,53 +83,45 @@ loadScripts(document, 'script');
    Inverted motor JSON parsed class.
    -
    CANCoderSwerve
    +
    CanAndCoderSwerve
    +
    HELIUM CANandcoder from ReduxRobotics absolute encoder, attached through the CAN bus.
    +
    +
    CANCoderSwerve
    +
    Swerve Absolute Encoder for CTRE CANCoders.
    -
    ControllerPropertiesJson
    -
    +
    ControllerPropertiesJson
    +
    SwerveController parsed class.
    -
    DeviceJson
    -
    +
    DeviceJson
    +
    Device JSON parsed class.
    -
    LocationJson
    -
    +
    LocationJson
    +
    Location JSON parsed class.
    -
    Matter
    -
    +
    Matter
    +
    Object with significant mass that needs to be taken into account.
    -
    ModuleJson
    -
    +
    ModuleJson
    +
    SwerveModule JSON parsed class.
    -
    MotorConfigDouble
    -
    -
    Used to store doubles for motor configuration.
    -
    -
    MotorConfigInt
    +
    NavXSwerve
    -
    Used to store ints for motor configuration.
    -
    -
    NavXSwerve
    -
    Communicates with the NavX as the IMU.
    -
    PhysicalPropertiesJson
    -
    +
    PhysicalPropertiesJson
    +
    SwerveModulePhysicalCharacteristics parsed data.
    -
    PhysicsSim
    -
    -
    Manages physics simulation for CTRE products.
    -
    -
    PhysicsSim.SimProfile
    +
    PhysicsSim
    -
    Holds information about a simulated device.
    +
    Manages physics simulation for CTRE products.
    PIDFConfig
    @@ -164,116 +155,102 @@ loadScripts(document, 'script');
    An implementation of CANSparkMax as a SwerveMotor.
    -
    SparkMaxSwerve.SparkMAX_slotIdx
    -
    -
    REV Slots for PID configuration.
    -
    -
    SwerveAbsoluteEncoder
    -
    -
    Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
    -
    -
    SwerveController
    +
    SwerveAbsoluteEncoder
    +
    Swerve abstraction class to define a standard interface with absolute encoders for swerve + modules..
    +
    +
    SwerveController
    +
    Controller class used to convert raw inputs into robot speeds.
    -
    SwerveControllerConfiguration
    -
    +
    SwerveControllerConfiguration
    +
    Swerve Controller configuration class which is used to configure SwerveController.
    -
    SwerveDrive
    -
    +
    SwerveDrive
    +
    Swerve Drive class representing and controlling the swerve drive.
    -
    SwerveDriveConfiguration
    -
    +
    SwerveDriveConfiguration
    +
    Swerve drive configurations used during SwerveDrive construction.
    -
    SwerveDriveJson
    -
    +
    SwerveDriveJson
    +
    SwerveDrive JSON parsed class.
    -
    SwerveDriveOdometry2
    -
    -
    Clone of SwerveDriveOdometry except uses gyro pitch and roll to achieve a more accurate estimation.
    -
    -
    SwerveDriveTelemetry
    +
    SwerveDriveOdometry2
    +
    Clone of SwerveDriveOdometry except uses gyro pitch and roll to achieve a more accurate + estimation.
    +
    +
    SwerveDriveTelemetry
    +
    Telemetry to describe the SwerveDrive following frc-web-components.
    -
    SwerveDriveTelemetry.TelemetryVerbosity
    -
    +
    SwerveDriveTelemetry.TelemetryVerbosity
    +
    Verbosity of telemetry data sent back.
    -
    SwerveIMU
    -
    +
    SwerveIMU
    +
    Swerve IMU abstraction to define a standard interface with a swerve drive.
    -
    SwerveIMUSimulation
    -
    +
    SwerveIMUSimulation
    +
    Simulation for SwerveDrive IMU.
    -
    SwerveKinematics2
    -
    -
    Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis - speed.
    -
    -
    SwerveMath
    +
    SwerveKinematics2
    +
    Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules + states from chassis speed.
    +
    +
    SwerveMath
    +
    Mathematical functions which pertain to swerve drive.
    -
    SwerveModule
    -
    +
    SwerveModule
    +
    The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
    -
    SwerveModuleConfiguration
    -
    +
    SwerveModuleConfiguration
    +
    Swerve Module configuration class which is used to configure SwerveModule.
    -
    SwerveModulePhysicalCharacteristics
    -
    +
    SwerveModulePhysicalCharacteristics
    +
    Configuration class which stores physical characteristics shared between every swerve module.
    -
    SwerveModuleSimulation
    -
    +
    SwerveModuleSimulation
    +
    Class to hold simulation data for SwerveModule
    -
    SwerveModuleState2
    -
    +
    SwerveModuleState2
    +
    Second order kinematics swerve module state.
    -
    SwerveMotor
    -
    +
    SwerveMotor
    +
    Swerve motor abstraction which defines a standard interface for motors within a swerve module.
    -
    SwerveParser
    -
    +
    SwerveParser
    +
    Helper class used to parse the JSON directory with specified configuration options.
    -
    SwervePoseEstimator2
    -
    -
    Clone of SwerveDrivePoseEstimator which takes into account gyroscope pitch and roll to achieve a more - accurate estimation, originally made by Team 1466.
    -
    -
    TalonFXSimProfile
    +
    SwervePoseEstimator2
    -
    Holds information about a simulated TalonFX.
    +
    Clone of SwerveDrivePoseEstimator which takes into account gyroscope pitch and roll to + achieve a more accurate estimation, originally made by Team 1466.
    TalonFXSwerve
    TalonFX Swerve Motor.
    -
    TalonSRXSimProfile
    +
    TalonSRXSwerve
    -
    Holds information about a simulated TalonSRX.
    -
    -
    TalonSRXSwerve
    -
    WPI_TalonSRX Swerve Motor.
    -
    VictorSPXSimProfile
    -
    -
    Holds information about a simulated VictorSPX.
    -
    diff --git a/docs/allclasses.html b/docs/allclasses.html deleted file mode 100644 index 56e1ff4..0000000 --- a/docs/allclasses.html +++ /dev/null @@ -1,66 +0,0 @@ - - - - - -All Classes - - - - - - - - - - - - - -

    All Classes

    -
    - -
    - - diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index 3d8e4ed..c21b37a 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,18 +1,17 @@ - -All Packages + +All Packages (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/constant-values.html b/docs/constant-values.html deleted file mode 100644 index 292302d..0000000 --- a/docs/constant-values.html +++ /dev/null @@ -1,96 +0,0 @@ - - - - -Constant Field Values - - - - - - - - - - - - - - - -
    - -
    -
    -
    -

    Constant Field Values

    -
    -

    Contents

    - -
    -
    -
    -

    swervelib.motors.*

    - -
    -
    -
    -
    - - diff --git a/docs/deprecated-list.html b/docs/deprecated-list.html deleted file mode 100644 index 3e393ff..0000000 --- a/docs/deprecated-list.html +++ /dev/null @@ -1,147 +0,0 @@ - - - - - -Deprecated List - - - - - - - - - - - - - - - -
    - -
    -
    -
    -

    Deprecated API

    -

    Contents

    -
    -
    -
    - -
    - - diff --git a/docs/help-doc.html b/docs/help-doc.html index ff3cb7d..e93c869 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,18 +1,17 @@ - -API Help + +API Help (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -68,7 +67,6 @@ loadScripts(document, 'script');
  • Class or Interface
  • Other Files
  • Tree (Class Hierarchy)
    • -
  • Constant Field Values
  • All Packages
  • All Classes and Interfaces
  • Index
    • @@ -78,7 +76,7 @@ loadScripts(document, 'script');

    Navigation

    -Starting from the Overview page, you can browse the documentation using the links in each page, and in the navigation bar at the top of each page. The Index and Search box allow you to navigate to specific declarations and summary pages, including: All Packages, All Classes and Interfaces +Starting from the Overview page, you can browse the documentation using the links in each page, and in the navigation bar at the top of each page. The Index and Search box allow you to navigate to specific declarations and summary pages, including: All Packages, All Classes and Interfaces -
    -

    Constant Field Values

    -

    The Constant Field Values page lists the static final fields and their values.

    -

    All Packages

    The All Packages page contains an alphabetic index of all packages contained in the documentation.

    @@ -170,7 +164,7 @@ The following sections describe the different kinds of pages in this collection.

    Index

    -

    The Index contains an alphabetic index of all classes, interfaces, constructors, methods, and fields in the documentation, as well as summary pages such as All Packages, All Classes and Interfaces.

    +

    The Index contains an alphabetic index of all classes, interfaces, constructors, methods, and fields in the documentation, as well as summary pages such as All Packages, All Classes and Interfaces.

    diff --git a/docs/index-all.html b/docs/index-all.html new file mode 100644 index 0000000..2314d24 --- /dev/null +++ b/docs/index-all.html @@ -0,0 +1,2462 @@ + + + + +Index (YAGSL-Lib API) + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Index

    +
    +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 +

    A

    +
    +
    absoluteEncoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Absolute encoder attached to the SparkMax (if exists)
    +
    +
    absoluteEncoder - Variable in class swervelib.motors.SparkMaxSwerve
    +
    +
    Absolute encoder attached to the SparkMax (if exists)
    +
    +
    absoluteEncoder - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    The Absolute Encoder for the swerve module.
    +
    +
    absoluteEncoderInverted - Variable in class swervelib.parser.json.ModuleJson
    +
    +
    Absolute encoder inversion state.
    +
    +
    absoluteEncoderInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    Whether the absolute encoder is inverted.
    +
    +
    absoluteEncoderOffset - Variable in class swervelib.parser.json.ModuleJson
    +
    +
    Absolute encoder offset from 0 in degrees.
    +
    +
    addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter) - Method in class swervelib.SwerveController
    +
    +
    Add slew rate limiters to all controls.
    +
    +
    addTalonFX(TalonFX, double, double) - Method in class swervelib.simulation.ctre.PhysicsSim
    +
    +
    Adds a TalonFX controller to the simulator.
    +
    +
    addTalonFX(TalonFX, double, double, boolean) - Method in class swervelib.simulation.ctre.PhysicsSim
    +
    +
    Adds a TalonFX controller to the simulator.
    +
    +
    addTalonSRX(TalonSRX, double, double) - Method in class swervelib.simulation.ctre.PhysicsSim
    +
    +
    Adds a TalonSRX controller to the simulator.
    +
    +
    addTalonSRX(TalonSRX, double, double, boolean) - Method in class swervelib.simulation.ctre.PhysicsSim
    +
    +
    Adds a TalonSRX controller to the simulator.
    +
    +
    addVictorSPX(VictorSPX) - Method in class swervelib.simulation.ctre.PhysicsSim
    +
    +
    Adds a VictorSPX controller to the simulator.
    +
    +
    addVisionMeasurement(Pose2d, double) - Method in class swervelib.math.SwervePoseEstimator2
    +
    +
    Adds a vision measurement to the Kalman Filter.
    +
    +
    addVisionMeasurement(Pose2d, double, boolean, double) - Method in class swervelib.SwerveDrive
    +
    +
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
    +
    +
    addVisionMeasurement(Pose2d, double, boolean, Matrix<N3, N1>) - Method in class swervelib.SwerveDrive
    +
    +
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
    +
    +
    addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class swervelib.math.SwervePoseEstimator2
    +
    +
    Adds a vision measurement to the Kalman Filter.
    +
    +
    ADIS16448Swerve - Class in swervelib.imu
    +
    +
    IMU Swerve class for the ADIS16448_IMU device.
    +
    +
    ADIS16448Swerve() - Constructor for class swervelib.imu.ADIS16448Swerve
    +
    +
    Construct the ADIS16448 imu and reset default configurations.
    +
    +
    ADIS16470Swerve - Class in swervelib.imu
    +
    +
    IMU Swerve class for the ADIS16470_IMU device.
    +
    +
    ADIS16470Swerve() - Constructor for class swervelib.imu.ADIS16470Swerve
    +
    +
    Construct the ADIS16470 imu and reset default configurations.
    +
    +
    ADXRS450Swerve - Class in swervelib.imu
    +
    +
    IMU Swerve class for the ADXRS450_Gyro device.
    +
    +
    ADXRS450Swerve() - Constructor for class swervelib.imu.ADXRS450Swerve
    +
    +
    Construct the ADXRS450 imu and reset default configurations.
    +
    +
    AnalogAbsoluteEncoderSwerve - Class in swervelib.encoders
    +
    +
    Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
    +
    +
    AnalogAbsoluteEncoderSwerve(int) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    +
    +
    Construct the Encoder given the analog input channel.
    +
    +
    AnalogAbsoluteEncoderSwerve(AnalogInput) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    +
    +
    Construct the Thrifty Encoder as a Swerve Absolute Encoder.
    +
    +
    AnalogGyroSwerve - Class in swervelib.imu
    +
    +
    Creates a IMU for AnalogGyro devices, only uses yaw.
    +
    +
    AnalogGyroSwerve(int) - Constructor for class swervelib.imu.AnalogGyroSwerve
    +
    +
    Analog port in which the gyroscope is connected.
    +
    +
    angle - Variable in class swervelib.parser.json.ModuleJson
    +
    +
    Angle motor device configuration.
    +
    +
    angle - Variable in class swervelib.parser.json.modules.BoolMotorJson
    +
    +
    Angle motor inversion state.
    +
    +
    angle - Variable in class swervelib.parser.json.PIDFPropertiesJson
    +
    +
    The PIDF with Integral Zone used for the angle motor.
    +
    +
    angleEncoderPulsePerRevolution - Variable in class swervelib.parser.json.ModuleJson
    +
    +
    The angle encoder pulse per revolution override.
    +
    +
    angleEncoderPulsePerRotation - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    Angle motor encoder pulse per rotation.
    +
    +
    angleGearRatio - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    Angle gear ratio.
    +
    +
    angleJoystickRadiusDeadband - Variable in class swervelib.parser.json.ControllerPropertiesJson
    +
    +
    The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
    +
    +
    angleJoyStickRadiusDeadband - Variable in class swervelib.parser.SwerveControllerConfiguration
    +
    +
    hypotenuse deadband for the robot angle control joystick.
    +
    +
    angleLimiter - Variable in class swervelib.SwerveController
    +
    +
    SlewRateLimiter for angular movement in radians/second.
    +
    +
    angleMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    The drive motor and angle motor of this swerve module.
    +
    +
    angleMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    Current limits for the Swerve Module.
    +
    +
    angleMotorEncoderPulsePerRevolution - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    The integrated encoder pulse per revolution.
    +
    +
    angleMotorFreeSpeedRPM - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    +
    +
    DEPRECATED: No longer needed, tune PhysicalPropertiesJson.moduleFeedForwardClosedLoop + instead.
    +
    +
    angleMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    State of inversion of the angle motor.
    +
    +
    angleMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    The time it takes for the motor to go from 0 to full throttle in seconds.
    +
    +
    angleOffset - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    Angle offset in degrees for the Swerve Module.
    +
    +
    anglePIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    PIDF configuration options for the angle motor closed-loop PID controller.
    +
    +
    antiJitter(SwerveModuleState2, SwerveModuleState2, double) - Static method in class swervelib.math.SwerveMath
    +
    +
    Perform anti-jitter within modules if the speed requested is too low.
    +
    +
    applyDeadband(double, boolean, double) - Static method in class swervelib.math.SwerveMath
    +
    +
    Algebraically apply a deadband using a piece wise function.
    +
    +
    attainableMaxRotationalVelocityRadiansPerSecond - Variable in class swervelib.parser.SwerveDriveConfiguration
    +
    +
    Max module speed in meters per second.
    +
    +
    attainableMaxTranslationalSpeedMetersPerSecond - Variable in class swervelib.parser.SwerveDriveConfiguration
    +
    +
    Max module speed in meters per second.
    +
    +
    +

    B

    +
    +
    BoolMotorJson - Class in swervelib.parser.json.modules
    +
    +
    Inverted motor JSON parsed class.
    +
    +
    BoolMotorJson() - Constructor for class swervelib.parser.json.modules.BoolMotorJson
    +
     
    +
    burnFlash() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Save the configurations from flash to EEPROM.
    +
    +
    burnFlash() - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Save the configurations from flash to EEPROM.
    +
    +
    burnFlash() - Method in class swervelib.motors.SwerveMotor
    +
    +
    Save the configurations from flash to EEPROM.
    +
    +
    burnFlash() - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Save the configurations from flash to EEPROM.
    +
    +
    burnFlash() - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Save the configurations from flash to EEPROM.
    +
    +
    +

    C

    +
    +
    calculateDegreesPerSteeringRotation(double, double) - Static method in class swervelib.math.SwerveMath
    +
    +
    Calculate the degrees per steering rotation for the integrated encoder.
    +
    +
    calculateMaxAcceleration(double) - Static method in class swervelib.math.SwerveMath
    +
    +
    Calculate the practical maximum acceleration of the robot using the wheel coefficient of + friction.
    +
    +
    calculateMaxAcceleration(double, double, double, double, double) - Static method in class swervelib.math.SwerveMath
    +
    +
    Calculate the maximum theoretical acceleration without friction.
    +
    +
    calculateMaxAngularVelocity(double, double, double) - Static method in class swervelib.math.SwerveMath
    +
    +
    Calculate the maximum angular velocity.
    +
    +
    calculateMetersPerRotation(double, double, double) - Static method in class swervelib.math.SwerveMath
    +
    +
    Calculate the meters per rotation for the integrated encoder.
    +
    +
    CanAndCoderSwerve - Class in swervelib.encoders
    +
    +
    HELIUM CANandcoder from ReduxRobotics absolute encoder, attached through the CAN bus.
    +
    +
    CanAndCoderSwerve(int) - Constructor for class swervelib.encoders.CanAndCoderSwerve
    +
    +
    Create the CANandcoder
    +
    +
    canbus - Variable in class swervelib.parser.json.DeviceJson
    +
    +
    The CAN bus name which the device resides on if using CAN.
    +
    +
    CANCoderSwerve - Class in swervelib.encoders
    +
    +
    Swerve Absolute Encoder for CTRE CANCoders.
    +
    +
    CANCoderSwerve(int) - Constructor for class swervelib.encoders.CANCoderSwerve
    +
    +
    Initialize the CANCoder on the standard CANBus.
    +
    +
    CANCoderSwerve(int, String) - Constructor for class swervelib.encoders.CANCoderSwerve
    +
    +
    Initialize the CANCoder on the CANivore.
    +
    +
    chassisVelocityCorrection - Variable in class swervelib.SwerveDrive
    +
    +
    Correct chassis velocity in SwerveDrive.drive(Translation2d, double, boolean, boolean) + using 254's correction.
    +
    +
    clearStickyFaults() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    +
    +
    Clear sticky faults on the encoder.
    +
    +
    clearStickyFaults() - Method in class swervelib.encoders.CanAndCoderSwerve
    +
    +
    Clear sticky faults on the encoder.
    +
    +
    clearStickyFaults() - Method in class swervelib.encoders.CANCoderSwerve
    +
    +
    Clear sticky faults on the encoder.
    +
    +
    clearStickyFaults() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
    +
    +
    Clear sticky faults on the encoder.
    +
    +
    clearStickyFaults() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
    +
    +
    Clear sticky faults on the encoder.
    +
    +
    clearStickyFaults() - Method in class swervelib.imu.ADIS16448Swerve
    +
    +
    Clear sticky faults on IMU.
    +
    +
    clearStickyFaults() - Method in class swervelib.imu.ADIS16470Swerve
    +
    +
    Clear sticky faults on IMU.
    +
    +
    clearStickyFaults() - Method in class swervelib.imu.ADXRS450Swerve
    +
    +
    Clear sticky faults on IMU.
    +
    +
    clearStickyFaults() - Method in class swervelib.imu.AnalogGyroSwerve
    +
    +
    Clear sticky faults on IMU.
    +
    +
    clearStickyFaults() - Method in class swervelib.imu.NavXSwerve
    +
    +
    Clear sticky faults on IMU.
    +
    +
    clearStickyFaults() - Method in class swervelib.imu.Pigeon2Swerve
    +
    +
    Clear sticky faults on IMU.
    +
    +
    clearStickyFaults() - Method in class swervelib.imu.PigeonSwerve
    +
    +
    Clear sticky faults on IMU.
    +
    +
    clearStickyFaults() - Method in class swervelib.imu.SwerveIMU
    +
    +
    Clear sticky faults on IMU.
    +
    +
    clearStickyFaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Clear the sticky faults on the motor controller.
    +
    +
    clearStickyFaults() - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Clear the sticky faults on the motor controller.
    +
    +
    clearStickyFaults() - Method in class swervelib.motors.SwerveMotor
    +
    +
    Clear the sticky faults on the motor controller.
    +
    +
    clearStickyFaults() - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Clear the sticky faults on the motor controller.
    +
    +
    clearStickyFaults() - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Clear the sticky faults on the motor controller.
    +
    +
    config - Variable in class swervelib.SwerveController
    +
    +
    SwerveControllerConfiguration object storing data to generate the PIDController + for controlling the robot heading, and deadband for heading joystick.
    +
    +
    configuration - Variable in class swervelib.SwerveModule
    +
    +
    Swerve module configuration options.
    +
    +
    configure(boolean) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    +
    +
    Configure the absolute encoder to read from [0, 360) per second.
    +
    +
    configure(boolean) - Method in class swervelib.encoders.CanAndCoderSwerve
    +
    +
    Configure the CANandCoder to read from [0, 360) per second.
    +
    +
    configure(boolean) - Method in class swervelib.encoders.CANCoderSwerve
    +
    +
    Configure the absolute encoder to read from [0, 360) per second.
    +
    +
    configure(boolean) - Method in class swervelib.encoders.SparkMaxEncoderSwerve
    +
    +
    Configure the absolute encoder to read from [0, 360) per second.
    +
    +
    configure(boolean) - Method in class swervelib.encoders.SwerveAbsoluteEncoder
    +
    +
    Configure the absolute encoder to read from [0, 360) per second.
    +
    +
    configureCANStatusFrames(int) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Set the CAN status frames.
    +
    +
    configureCANStatusFrames(int) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Set the CAN status frames.
    +
    +
    configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Set the CAN status frames.
    +
    +
    configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Set the CAN status frames.
    +
    +
    configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Set the CAN status frames.
    +
    +
    configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Set the CAN status frames.
    +
    +
    configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Configure the integrated encoder for the swerve module.
    +
    +
    configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Configure the integrated encoder for the swerve module.
    +
    +
    configureIntegratedEncoder(double) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Configure the integrated encoder for the swerve module.
    +
    +
    configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Configure the integrated encoder for the swerve module.
    +
    +
    configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Configure the integrated encoder for the swerve module.
    +
    +
    configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Configure the PIDF values for the closed loop controller.
    +
    +
    configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Configure the PIDF values for the closed loop controller.
    +
    +
    configurePIDF(PIDFConfig) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Configure the PIDF values for the closed loop controller.
    +
    +
    configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Configure the PIDF values for the closed loop controller.
    +
    +
    configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Configure the PIDF values for the closed loop controller.
    +
    +
    configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Configure the PID wrapping for the position closed loop controller.
    +
    +
    configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Configure the PID wrapping for the position closed loop controller.
    +
    +
    configurePIDWrapping(double, double) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Configure the PID wrapping for the position closed loop controller.
    +
    +
    configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Configure the PID wrapping for the position closed loop controller.
    +
    +
    configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Configure the PID wrapping for the position closed loop controller.
    +
    +
    controllerPropertiesJson - Static variable in class swervelib.parser.SwerveParser
    +
    +
    Parsed controllerproperties.json
    +
    +
    ControllerPropertiesJson - Class in swervelib.parser.json
    +
    +
    SwerveController parsed class.
    +
    +
    ControllerPropertiesJson() - Constructor for class swervelib.parser.json.ControllerPropertiesJson
    +
     
    +
    convertToNativeSensorUnits(double, double) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Convert the setpoint into native sensor units.
    +
    +
    convertToNativeSensorUnits(double, double) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Convert the setpoint into native sensor units.
    +
    +
    createControllerConfiguration(SwerveDriveConfiguration) - Method in class swervelib.parser.json.ControllerPropertiesJson
    +
    +
    Create the SwerveControllerConfiguration based on parsed and given data.
    +
    +
    createDriveFeedforward() - Method in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    Create the drive feedforward for swerve modules.
    +
    +
    createEncoder(SwerveMotor) - Method in class swervelib.parser.json.DeviceJson
    +
    +
    Create a SwerveAbsoluteEncoder from the current configuration.
    +
    +
    createIMU() - Method in class swervelib.parser.json.DeviceJson
    +
    +
    Create a SwerveIMU from the given configuration.
    +
    +
    createIntegratedEncoder(SwerveMotor) - Method in class swervelib.parser.json.DeviceJson
    +
    +
    Create a SwerveAbsoluteEncoder from the data port on the motor controller.
    +
    +
    createModuleConfiguration(PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, String) - Method in class swervelib.parser.json.ModuleJson
    +
    +
    Create the swerve module configuration based off of parsed data.
    +
    +
    createModules(SwerveModuleConfiguration[]) - Method in class swervelib.parser.SwerveDriveConfiguration
    +
    +
    Create modules based off of the SwerveModuleConfiguration.
    +
    +
    createMotor(boolean) - Method in class swervelib.parser.json.DeviceJson
    +
    +
    Create a SwerveMotor from the given configuration.
    +
    +
    createPhysicalProperties(double) - Method in class swervelib.parser.json.PhysicalPropertiesJson
    +
    +
    Create the physical characteristics based off the parsed data.
    +
    +
    createPIDController() - Method in class swervelib.parser.PIDFConfig
    +
    +
    Create a PIDController from the PID values.
    +
    +
    createSwerveDrive() - Method in class swervelib.parser.SwerveParser
    +
    +
    Create SwerveDrive from JSON configuration directory.
    +
    +
    currentLimit - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    +
    +
    The current limit in AMPs to apply to the motors.
    +
    +
    +

    D

    +
    +
    d - Variable in class swervelib.parser.PIDFConfig
    +
    +
    Derivative Gain for PID.
    +
    +
    desaturateWheelSpeeds(SwerveModuleState2[], double) - Static method in class swervelib.math.SwerveKinematics2
    +
    +
    Renormalizes the wheel speeds if any individual speed is above the specified maximum.
    +
    +
    desaturateWheelSpeeds(SwerveModuleState2[], ChassisSpeeds, double, double, double) - Static method in class swervelib.math.SwerveKinematics2
    +
    +
    Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well + as getting rid of joystick saturation at edges of joystick.
    +
    +
    desiredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    Describes the desired forward, sideways and angular velocity of the robot.
    +
    +
    desiredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    An array of rotation and velocity values describing the desired state of each swerve module
    +
    +
    DeviceJson - Class in swervelib.parser.json
    +
    +
    Device JSON parsed class.
    +
    +
    DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson
    +
     
    +
    disableSecondOrderKinematics() - Method in class swervelib.SwerveDrive
    +
    +
    Disable second order kinematics.
    +
    +
    drive - Variable in class swervelib.parser.json.ModuleJson
    +
    +
    Drive motor device configuration.
    +
    +
    drive - Variable in class swervelib.parser.json.modules.BoolMotorJson
    +
    +
    Drive motor inversion state.
    +
    +
    drive - Variable in class swervelib.parser.json.PIDFPropertiesJson
    +
    +
    The PIDF with Integral Zone used for the drive motor.
    +
    +
    drive(Translation2d, double, boolean, boolean) - Method in class swervelib.SwerveDrive
    +
    +
    The primary method for controlling the drivebase.
    +
    +
    drive(Translation2d, double, boolean, boolean, boolean) - Method in class swervelib.SwerveDrive
    +
    +
    The primary method for controlling the drivebase.
    +
    +
    driveEncoderPulsePerRotation - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    Drive motor encoder pulse per rotation.
    +
    +
    driveGearRatio - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    Drive gear ratio.
    +
    +
    driveMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    The drive motor and angle motor of this swerve module.
    +
    +
    driveMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    Current limits for the Swerve Module.
    +
    +
    driveMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    State of inversion of the drive motor.
    +
    +
    driveMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    The time it takes for the motor to go from 0 to full throttle in seconds.
    +
    +
    +

    E

    +
    +
    enableSecondOrderKinematics() - Method in class swervelib.SwerveDrive
    +
    +
    Enable second order kinematics for tracking purposes but completely untuned.
    +
    +
    enableSecondOrderKinematics(double) - Method in class swervelib.SwerveDrive
    +
    +
    Enable second order kinematics for simulation and modifying the feedforward.
    +
    +
    enableSecondOrderKinematics(int) - Method in class swervelib.SwerveDrive
    +
    +
    Enable second order kinematics with calculated values for the feedforward and return the value + used.
    +
    +
    encoder - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    +
    +
    Encoder as Analog Input.
    +
    +
    encoder - Variable in class swervelib.encoders.CanAndCoderSwerve
    +
    +
    The CANandcoder representing the CANandCoder on the CAN bus.
    +
    +
    encoder - Variable in class swervelib.encoders.CANCoderSwerve
    +
    +
    CANCoder with WPILib sendable and support.
    +
    +
    encoder - Variable in class swervelib.encoders.SparkMaxEncoderSwerve
    +
    +
    The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
    +
    +
    encoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Integrated encoder.
    +
    +
    encoder - Variable in class swervelib.motors.SparkMaxSwerve
    +
    +
    Integrated encoder.
    +
    +
    encoder - Variable in class swervelib.parser.json.ModuleJson
    +
    +
    Absolute encoder device configuration.
    +
    +
    encoderPulsePerRotation - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    +
    +
    Encoder pulse per rotation for non-integrated encoders.
    +
    +
    +

    F

    +
    +
    f - Variable in class swervelib.parser.PIDFConfig
    +
    +
    Feedforward value for PID.
    +
    +
    factoryDefault() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    +
    +
    Reset the encoder to factory defaults.
    +
    +
    factoryDefault() - Method in class swervelib.encoders.CanAndCoderSwerve
    +
    +
    Reset the encoder to factory defaults.
    +
    +
    factoryDefault() - Method in class swervelib.encoders.CANCoderSwerve
    +
    +
    Reset the encoder to factory defaults.
    +
    +
    factoryDefault() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
    +
    +
    Reset the encoder to factory defaults.
    +
    +
    factoryDefault() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
    +
    +
    Reset the encoder to factory defaults.
    +
    +
    factoryDefault() - Method in class swervelib.imu.ADIS16448Swerve
    +
    +
    Reset IMU to factory default.
    +
    +
    factoryDefault() - Method in class swervelib.imu.ADIS16470Swerve
    +
    +
    Reset IMU to factory default.
    +
    +
    factoryDefault() - Method in class swervelib.imu.ADXRS450Swerve
    +
    +
    Reset IMU to factory default.
    +
    +
    factoryDefault() - Method in class swervelib.imu.AnalogGyroSwerve
    +
    +
    Reset IMU to factory default.
    +
    +
    factoryDefault() - Method in class swervelib.imu.NavXSwerve
    +
    +
    Reset IMU to factory default.
    +
    +
    factoryDefault() - Method in class swervelib.imu.Pigeon2Swerve
    +
    +
    Reset IMU to factory default.
    +
    +
    factoryDefault() - Method in class swervelib.imu.PigeonSwerve
    +
    +
    Reset IMU to factory default.
    +
    +
    factoryDefault() - Method in class swervelib.imu.SwerveIMU
    +
    +
    Reset IMU to factory default.
    +
    +
    factoryDefaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Configure the factory defaults.
    +
    +
    factoryDefaults() - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Configure the factory defaults.
    +
    +
    factoryDefaults() - Method in class swervelib.motors.SwerveMotor
    +
    +
    Configure the factory defaults.
    +
    +
    factoryDefaults() - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Configure the factory defaults.
    +
    +
    factoryDefaults() - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Configure the factory defaults.
    +
    +
    feedforward - Variable in class swervelib.SwerveModule
    +
    +
    Feedforward for drive motor during closed loop control.
    +
    +
    field - Variable in class swervelib.SwerveDrive
    +
    +
    Field object.
    +
    +
    forwardDirection - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    The direction the robot should be facing when the "Robot Rotation" is zero or blank.
    +
    +
    front - Variable in class swervelib.parser.json.modules.LocationJson
    +
    +
    Location of the swerve module in inches from the center of the robot horizontally.
    +
    +
    +

    G

    +
    +
    gearRatio - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    +
    +
    Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a + single time.
    +
    +
    getAbsoluteEncoder() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    +
    +
    Get the instantiated absolute encoder Object.
    +
    +
    getAbsoluteEncoder() - Method in class swervelib.encoders.CanAndCoderSwerve
    +
    +
    Get the instantiated absolute encoder Object.
    +
    +
    getAbsoluteEncoder() - Method in class swervelib.encoders.CANCoderSwerve
    +
    +
    Get the instantiated absolute encoder Object.
    +
    +
    getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
    +
    +
    Get the instantiated absolute encoder Object.
    +
    +
    getAbsoluteEncoder() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
    +
    +
    Get the instantiated absolute encoder Object.
    +
    +
    getAbsolutePosition() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    +
    +
    Get the absolute position of the encoder.
    +
    +
    getAbsolutePosition() - Method in class swervelib.encoders.CanAndCoderSwerve
    +
    +
    Get the absolute position of the encoder.
    +
    +
    getAbsolutePosition() - Method in class swervelib.encoders.CANCoderSwerve
    +
    +
    Get the absolute position of the encoder.
    +
    +
    getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
    +
    +
    Get the absolute position of the encoder.
    +
    +
    getAbsolutePosition() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
    +
    +
    Get the absolute position of the encoder.
    +
    +
    getAbsolutePosition() - Method in class swervelib.SwerveModule
    +
    +
    Get the absolute position.
    +
    +
    getAccel() - Method in class swervelib.imu.ADIS16448Swerve
    +
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    getAccel() - Method in class swervelib.imu.ADIS16470Swerve
    +
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    getAccel() - Method in class swervelib.imu.ADXRS450Swerve
    +
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    getAccel() - Method in class swervelib.imu.AnalogGyroSwerve
    +
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    getAccel() - Method in class swervelib.imu.NavXSwerve
    +
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    getAccel() - Method in class swervelib.imu.Pigeon2Swerve
    +
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    getAccel() - Method in class swervelib.imu.PigeonSwerve
    +
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    getAccel() - Method in class swervelib.imu.SwerveIMU
    +
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    getAccel() - Method in class swervelib.simulation.SwerveIMUSimulation
    +
    +
    Fetch the acceleration [x, y, z] from the IMU in m/s/s.
    +
    +
    getAccel() - Method in class swervelib.SwerveDrive
    +
    +
    Gets current acceleration of the robot in m/s/s.
    +
    +
    getAngleMotor() - Method in class swervelib.SwerveModule
    +
    +
    Get the angle SwerveMotor for the SwerveModule.
    +
    +
    getConfiguration() - Method in class swervelib.SwerveModule
    +
    +
    Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed + configurations.
    +
    +
    getDriveMotor() - Method in class swervelib.SwerveModule
    +
    +
    Get the drive SwerveMotor for the SwerveModule.
    +
    +
    getEstimatedPosition() - Method in class swervelib.math.SwervePoseEstimator2
    +
    +
    Gets the estimated robot pose.
    +
    +
    getFieldVelocity() - Method in class swervelib.SwerveDrive
    +
    +
    Gets the current field-relative velocity (x, y and omega) of the robot
    +
    +
    getGyroRotation3d() - Method in class swervelib.simulation.SwerveIMUSimulation
    +
    +
    Gets the estimated gyro Rotation3d of the robot.
    +
    +
    getGyroRotation3d() - Method in class swervelib.SwerveDrive
    +
    +
    Gets the current gyro Rotation3d of the robot, as reported by the imu.
    +
    +
    getIMU() - Method in class swervelib.imu.ADIS16448Swerve
    +
    +
    Get the instantiated IMU object.
    +
    +
    getIMU() - Method in class swervelib.imu.ADIS16470Swerve
    +
    +
    Get the instantiated IMU object.
    +
    +
    getIMU() - Method in class swervelib.imu.ADXRS450Swerve
    +
    +
    Get the instantiated IMU object.
    +
    +
    getIMU() - Method in class swervelib.imu.AnalogGyroSwerve
    +
    +
    Get the instantiated IMU object.
    +
    +
    getIMU() - Method in class swervelib.imu.NavXSwerve
    +
    +
    Get the instantiated IMU object.
    +
    +
    getIMU() - Method in class swervelib.imu.Pigeon2Swerve
    +
    +
    Get the instantiated IMU object.
    +
    +
    getIMU() - Method in class swervelib.imu.PigeonSwerve
    +
    +
    Get the instantiated IMU object.
    +
    +
    getIMU() - Method in class swervelib.imu.SwerveIMU
    +
    +
    Get the instantiated IMU object.
    +
    +
    getInstance() - Static method in class swervelib.simulation.ctre.PhysicsSim
    +
    +
    Gets the robot simulator instance.
    +
    +
    getJoystickAngle(double, double) - Method in class swervelib.SwerveController
    +
    +
    Get the angle in radians based off of the heading joysticks.
    +
    +
    getModuleConfigurationByName(String, SwerveDriveConfiguration) - Static method in class swervelib.parser.SwerveParser
    +
    +
    Get the swerve module by the json name.
    +
    +
    getModulePositions() - Method in class swervelib.SwerveDrive
    +
    +
    Gets the current module positions (azimuth and wheel position (meters)).
    +
    +
    getModules() - Method in class swervelib.SwerveDrive
    +
    +
    Get the SwerveModules associated with the SwerveDrive.
    +
    +
    getMotor() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Get the motor object from the module.
    +
    +
    getMotor() - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Get the motor object from the module.
    +
    +
    getMotor() - Method in class swervelib.motors.SwerveMotor
    +
    +
    Get the motor object from the module.
    +
    +
    getMotor() - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Get the motor object from the module.
    +
    +
    getMotor() - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Get the motor object from the module.
    +
    +
    getPitch() - Method in class swervelib.simulation.SwerveIMUSimulation
    +
    +
    Pitch is not simulated currently, always returns 0.
    +
    +
    getPitch() - Method in class swervelib.SwerveDrive
    +
    +
    Gets the current pitch angle of the robot, as reported by the imu.
    +
    +
    getPose() - Method in class swervelib.SwerveDrive
    +
    +
    Gets the current pose (position and rotation) of the robot, as reported by odometry.
    +
    +
    getPoseMeters() - Method in class swervelib.math.SwerveDriveOdometry2
    +
    +
    Returns the position of the robot on the field.
    +
    +
    getPosition() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Get the position of the integrated encoder.
    +
    +
    getPosition() - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Get the position of the integrated encoder.
    +
    +
    getPosition() - Method in class swervelib.motors.SwerveMotor
    +
    +
    Get the position of the integrated encoder.
    +
    +
    getPosition() - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Get the position of the integrated encoder.
    +
    +
    getPosition() - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Get the position of the integrated encoder.
    +
    +
    getPosition() - Method in class swervelib.simulation.SwerveModuleSimulation
    +
    +
    Get the simulated swerve module position.
    +
    +
    getPosition() - Method in class swervelib.SwerveModule
    +
    +
    Get the position of the swerve module.
    +
    +
    getPositionEncoderConversion(boolean) - Method in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    Get the encoder conversion for position encoders.
    +
    +
    getPulsePerRotation(int) - Method in class swervelib.parser.json.DeviceJson
    +
    +
    Get the encoder pulse per rotation based off of the encoder type.
    +
    +
    getRawRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
    +
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    getRawRotation3d() - Method in class swervelib.imu.ADIS16470Swerve
    +
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    getRawRotation3d() - Method in class swervelib.imu.ADXRS450Swerve
    +
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    getRawRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve
    +
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    getRawRotation3d() - Method in class swervelib.imu.NavXSwerve
    +
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    getRawRotation3d() - Method in class swervelib.imu.Pigeon2Swerve
    +
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    getRawRotation3d() - Method in class swervelib.imu.PigeonSwerve
    +
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    getRawRotation3d() - Method in class swervelib.imu.SwerveIMU
    +
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    getRawTargetSpeeds(double, double, double) - Method in class swervelib.SwerveController
    +
    +
    Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in + radians.
    +
    +
    getRawTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController
    +
    +
    Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in + radians.
    +
    +
    getRelativePosition() - Method in class swervelib.SwerveModule
    +
    +
    Get the relative angle in degrees.
    +
    +
    getRobotVelocity() - Method in class swervelib.SwerveDrive
    +
    +
    Gets the current robot-relative velocity (x, y and omega) of the robot
    +
    +
    getRoll() - Method in class swervelib.simulation.SwerveIMUSimulation
    +
    +
    Roll is not simulated currently, always returns 0.
    +
    +
    getRoll() - Method in class swervelib.SwerveDrive
    +
    +
    Gets the current roll angle of the robot, as reported by the imu.
    +
    +
    getRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    +
    getRotation3d() - Method in class swervelib.imu.ADIS16470Swerve
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    +
    getRotation3d() - Method in class swervelib.imu.ADXRS450Swerve
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    +
    getRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    +
    getRotation3d() - Method in class swervelib.imu.NavXSwerve
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    +
    getRotation3d() - Method in class swervelib.imu.Pigeon2Swerve
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    +
    getRotation3d() - Method in class swervelib.imu.PigeonSwerve
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    +
    getRotation3d() - Method in class swervelib.imu.SwerveIMU
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    +
    getState() - Method in class swervelib.simulation.SwerveModuleSimulation
    +
    +
    Get the SwerveModuleState2 of the simulated module.
    +
    +
    getState() - Method in class swervelib.SwerveModule
    +
    +
    Get the Swerve Module state.
    +
    +
    getStates() - Method in class swervelib.SwerveDrive
    +
    +
    Gets the current module states (azimuth and velocity)
    +
    +
    getSwerveController() - Method in class swervelib.SwerveDrive
    +
    +
    Helper function to get the SwerveDrive.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.
    +
    +
    getSwerveModule(SwerveModule[], boolean, boolean) - Static method in class swervelib.math.SwerveMath
    +
    +
    Get the fruthest module from center based on the module locations.
    +
    +
    getSwerveModulePoses(Pose2d) - Method in class swervelib.SwerveDrive
    +
    +
    Get the swerve module poses and on the field relative to the robot.
    +
    +
    getTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController
    +
    +
    Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.
    +
    +
    getTargetSpeeds(double, double, double, double, double) - Method in class swervelib.SwerveController
    +
    +
    Get the chassis speeds based on controller input of 2 joysticks.
    +
    +
    getTranslation2d(ChassisSpeeds) - Static method in class swervelib.SwerveController
    +
    +
    Helper function to get the Translation2d of the chassis speeds given the ChassisSpeeds.
    +
    +
    getVelocity() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Get the velocity of the integrated encoder.
    +
    +
    getVelocity() - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Get the velocity of the integrated encoder.
    +
    +
    getVelocity() - Method in class swervelib.motors.SwerveMotor
    +
    +
    Get the velocity of the integrated encoder.
    +
    +
    getVelocity() - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Get the velocity of the integrated encoder.
    +
    +
    getVelocity() - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Get the velocity of the integrated encoder.
    +
    +
    getYaw() - Method in class swervelib.simulation.SwerveIMUSimulation
    +
    +
    Get the estimated angle of the robot.
    +
    +
    getYaw() - Method in class swervelib.SwerveDrive
    +
    +
    Gets the current yaw angle of the robot, as reported by the imu.
    +
    +
    +

    H

    +
    +
    heading - Variable in class swervelib.parser.json.ControllerPropertiesJson
    +
    +
    The PID used to control the robot heading.
    +
    +
    headingCalculate(double, double) - Method in class swervelib.SwerveController
    +
    +
    Calculate the angular velocity given the current and target heading angle in radians.
    +
    +
    headingPIDF - Variable in class swervelib.parser.SwerveControllerConfiguration
    +
    +
    PIDF for the heading of the robot.
    +
    +
    HIGH - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    +
    +
    Full swerve drive data is sent back in both human and machine readable forms.
    +
    +
    +

    I

    +
    +
    i - Variable in class swervelib.parser.PIDFConfig
    +
    +
    Integral Gain for PID.
    +
    +
    id - Variable in class swervelib.parser.json.DeviceJson
    +
    +
    The CAN ID or pin ID of the device.
    +
    +
    imu - Variable in class swervelib.parser.json.SwerveDriveJson
    +
    +
    Robot IMU used to determine heading of the robot.
    +
    +
    imu - Variable in class swervelib.parser.SwerveDriveConfiguration
    +
    +
    Swerve IMU
    +
    +
    invert() - Method in class swervelib.math.SwerveModuleState2
    +
    +
    Invert the swerve module state.
    +
    +
    inverted - Variable in class swervelib.parser.json.ModuleJson
    +
    +
    Defines which motors are inverted.
    +
    +
    invertedIMU - Variable in class swervelib.parser.json.SwerveDriveJson
    +
    +
    Invert the IMU of the robot.
    +
    +
    invertedIMU - Variable in class swervelib.parser.SwerveDriveConfiguration
    +
    +
    Invert the imu measurements.
    +
    +
    invertOdometry - Variable in class swervelib.SwerveDrive
    +
    +
    Invert odometry readings of drive motor positions, used as a patch for debugging currently.
    +
    +
    isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Queries whether the absolute encoder is directly attached to the motor controller.
    +
    +
    isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Queries whether the absolute encoder is directly attached to the motor controller.
    +
    +
    isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SwerveMotor
    +
    +
    Queries whether the absolute encoder is directly attached to the motor controller.
    +
    +
    isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Queries whether the absolute encoder is directly attached to the motor controller.
    +
    +
    isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Queries whether the absolute encoder is directly attached to the motor controller.
    +
    +
    isDriveMotor - Variable in class swervelib.motors.SwerveMotor
    +
    +
    Whether the swerve motor is a drive motor.
    +
    +
    isSimulation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    State of simulation of the Robot, used to optimize retrieval.
    +
    +
    iz - Variable in class swervelib.parser.PIDFConfig
    +
    +
    Integral zone of the PID.
    +
    +
    +

    K

    +
    +
    kinematics - Variable in class swervelib.SwerveDrive
    +
    +
    Swerve Kinematics object utilizing second order kinematics.
    +
    +
    +

    L

    +
    +
    lastAngleScalar - Variable in class swervelib.SwerveController
    +
    +
    Last angle as a scalar [-1,1] the robot was set to.
    +
    +
    lastState - Variable in class swervelib.SwerveModule
    +
    +
    Last swerve module state applied.
    +
    +
    left - Variable in class swervelib.parser.json.modules.LocationJson
    +
    +
    Location of the swerve module in inches from the center of the robot vertically.
    +
    +
    limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, List<Matter>, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath
    +
    +
    Limits a commanded velocity to prevent exceeding the maximum acceleration given by SwerveMath.calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration).
    +
    +
    location - Variable in class swervelib.parser.json.ModuleJson
    +
    +
    The location of the swerve module from the center of the robot in inches.
    +
    +
    LocationJson - Class in swervelib.parser.json.modules
    +
    +
    Location JSON parsed class.
    +
    +
    LocationJson() - Constructor for class swervelib.parser.json.modules.LocationJson
    +
     
    +
    lockPose() - Method in class swervelib.SwerveDrive
    +
    +
    Point all modules toward the robot center, thus making the robot very difficult to move.
    +
    +
    LOW - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    +
    +
    Low telemetry data, only post the robot position on the field.
    +
    +
    +

    M

    +
    +
    MACHINE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    +
    +
    Only send the machine readable data related to swerve drive.
    +
    +
    mass - Variable in class swervelib.math.Matter
    +
    +
    Mass in kg of object.
    +
    +
    massMoment() - Method in class swervelib.math.Matter
    +
    +
    Get the center mass of the object.
    +
    +
    Matter - Class in swervelib.math
    +
    +
    Object with significant mass that needs to be taken into account.
    +
    +
    Matter(Translation3d, double) - Constructor for class swervelib.math.Matter
    +
    +
    Construct an object representing some significant matter on the robot.
    +
    +
    max - Variable in class swervelib.parser.deserializer.PIDFRange
    +
    +
    Maximum value.
    +
    +
    maxAngularVelocity - Variable in class swervelib.parser.SwerveControllerConfiguration
    +
    +
    Maximum angular velocity in rad/s
    +
    +
    maxAngularVelocity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    The maximum achievable angular velocity of the robot.
    +
    +
    maxSpeed - Variable in class swervelib.parser.json.SwerveDriveJson
    +
    +
    Maximum robot speed in feet per second.
    +
    +
    maxSpeed - Variable in class swervelib.parser.SwerveControllerConfiguration
    +
    +
    Maximum robot speed in meters per second.
    +
    +
    maxSpeed - Variable in class swervelib.parser.SwerveDriveConfiguration
    +
    +
    Max module speed in meters per second.
    +
    +
    maxSpeed - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    Maximum robot speed in meters per second.
    +
    +
    maxSpeed - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    The maximum achievable speed of the modules, used to adjust the size of the vectors.
    +
    +
    measuredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    The maximum achievable angular velocity of the robot.
    +
    +
    measuredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    An array of rotation and velocity values describing the measured state of each swerve module
    +
    +
    min - Variable in class swervelib.parser.deserializer.PIDFRange
    +
    +
    Minimum value.
    +
    +
    moduleCount - Variable in class swervelib.parser.SwerveDriveConfiguration
    +
    +
    Number of modules on the robot.
    +
    +
    moduleCount - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    The number of swerve modules
    +
    +
    moduleFeedForwardClosedLoop - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    +
    +
    Angle motor kV used for second order kinematics to tune the feedforward, this variable should + be adjusted so that your drive train does not drift towards the direction you are rotating + while you translate.
    +
    +
    ModuleJson - Class in swervelib.parser.json
    +
    +
    SwerveModule JSON parsed class.
    +
    +
    ModuleJson() - Constructor for class swervelib.parser.json.ModuleJson
    +
     
    +
    moduleJsons - Static variable in class swervelib.parser.SwerveParser
    +
    +
    Array holding the module jsons given in SwerveDriveJson.
    +
    +
    moduleLocation - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    Swerve module location relative to the robot.
    +
    +
    moduleLocationsMeters - Variable in class swervelib.parser.SwerveDriveConfiguration
    +
    +
    Swerve Module locations.
    +
    +
    moduleNumber - Variable in class swervelib.SwerveModule
    +
    +
    Module number for kinematics, usually 0 to 3.
    +
    +
    modules - Variable in class swervelib.parser.json.SwerveDriveJson
    +
    +
    Module JSONs in order clockwise order starting from front left.
    +
    +
    modules - Variable in class swervelib.parser.SwerveDriveConfiguration
    +
    +
    Swerve Modules.
    +
    +
    moduleStateOptimization - Variable in class swervelib.SwerveModule
    +
    +
    Enable SwerveModuleState2 optimizations so the angle is reversed and speed is reversed + to ensure the module never turns more than 90deg.
    +
    +
    moduleSteerFFCL - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    Angle volt-meter-per-second.
    +
    +
    moduleSteerFFCL - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    Angle motor kV used for second order kinematics to tune the feedforward, this variable should + be adjusted so that your drive train does not drift towards the direction you are rotating + while you translate.
    +
    +
    motor - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    SparkMAX Instance.
    +
    +
    motor - Variable in class swervelib.motors.SparkMaxSwerve
    +
    +
    SparkMAX Instance.
    +
    +
    +

    N

    +
    +
    name - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    Name for the swerve module for telemetry.
    +
    +
    NavXSwerve - Class in swervelib.imu
    +
    +
    Communicates with the NavX as the IMU.
    +
    +
    NavXSwerve(SerialPort.Port) - Constructor for class swervelib.imu.NavXSwerve
    +
    +
    Constructor for the NavX swerve.
    +
    +
    NONE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    +
    +
    No telemetry data is sent back.
    +
    +
    normalizeAngle(double) - Static method in class swervelib.math.SwerveMath
    +
    +
    Normalize an angle to be within 0 to 360.
    +
    +
    +

    O

    +
    +
    omegaRadPerSecond - Variable in class swervelib.math.SwerveModuleState2
    +
    +
    Rad per sec
    +
    +
    optimalVoltage - Variable in class swervelib.parser.json.SwerveDriveJson
    +
    +
    Optimal voltage to compensate to and base feedforward calculations off of.
    +
    +
    optimalVoltage - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    Optimal voltage of the robot.
    +
    +
    optimize(SwerveModuleState2, Rotation2d, SwerveModuleState2, double) - Static method in class swervelib.math.SwerveModuleState2
    +
    +
    Minimize the change in heading the desired swerve module state would require by potentially + reversing the direction the wheel spins.
    +
    +
    output - Variable in class swervelib.parser.PIDFConfig
    +
    +
    The PIDF output range.
    +
    +
    +

    P

    +
    +
    p - Variable in class swervelib.parser.PIDFConfig
    +
    +
    Proportional Gain for PID.
    +
    +
    physicalCharacteristics - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    Physical characteristics of the swerve module.
    +
    +
    physicalPropertiesJson - Static variable in class swervelib.parser.SwerveParser
    +
    +
    Parsed modules/physicalproperties.json
    +
    +
    PhysicalPropertiesJson - Class in swervelib.parser.json
    +
    +
    SwerveModulePhysicalCharacteristics parsed data.
    +
    +
    PhysicalPropertiesJson() - Constructor for class swervelib.parser.json.PhysicalPropertiesJson
    +
     
    +
    PhysicsSim - Class in swervelib.simulation.ctre
    +
    +
    Manages physics simulation for CTRE products.
    +
    +
    PhysicsSim() - Constructor for class swervelib.simulation.ctre.PhysicsSim
    +
     
    +
    pid - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Closed-loop PID controller.
    +
    +
    pid - Variable in class swervelib.motors.SparkMaxSwerve
    +
    +
    Closed-loop PID controller.
    +
    +
    PIDFConfig - Class in swervelib.parser
    +
    +
    Hold the PIDF and Integral Zone values for a PID.
    +
    +
    PIDFConfig() - Constructor for class swervelib.parser.PIDFConfig
    +
    +
    Used when parsing PIDF values from JSON.
    +
    +
    PIDFConfig(double, double) - Constructor for class swervelib.parser.PIDFConfig
    +
    +
    PIDF Config constructor to contain the values.
    +
    +
    PIDFConfig(double, double, double) - Constructor for class swervelib.parser.PIDFConfig
    +
    +
    PIDF Config constructor to contain the values.
    +
    +
    PIDFConfig(double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
    +
    +
    PIDF Config constructor to contain the values.
    +
    +
    PIDFConfig(double, double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
    +
    +
    PIDF Config constructor to contain the values.
    +
    +
    pidfPropertiesJson - Static variable in class swervelib.parser.SwerveParser
    +
    +
    Parsed modules/pidfproperties.json
    +
    +
    PIDFPropertiesJson - Class in swervelib.parser.json
    +
    +
    SwerveModule PID with Feedforward for the drive motor and angle motor.
    +
    +
    PIDFPropertiesJson() - Constructor for class swervelib.parser.json.PIDFPropertiesJson
    +
     
    +
    PIDFRange - Class in swervelib.parser.deserializer
    +
    +
    Class to hold the minimum and maximum input or output of the PIDF.
    +
    +
    PIDFRange() - Constructor for class swervelib.parser.deserializer.PIDFRange
    +
     
    +
    Pigeon2Swerve - Class in swervelib.imu
    +
    +
    SwerveIMU interface for the Pigeon2
    +
    +
    Pigeon2Swerve(int) - Constructor for class swervelib.imu.Pigeon2Swerve
    +
    +
    Generate the SwerveIMU for pigeon.
    +
    +
    Pigeon2Swerve(int, String) - Constructor for class swervelib.imu.Pigeon2Swerve
    +
    +
    Generate the SwerveIMU for pigeon.
    +
    +
    PigeonSwerve - Class in swervelib.imu
    +
    +
    SwerveIMU interface for the Pigeon.
    +
    +
    PigeonSwerve(int) - Constructor for class swervelib.imu.PigeonSwerve
    +
    +
    Generate the SwerveIMU for pigeon.
    +
    +
    placeInAppropriate0To360Scope(double, double) - Static method in class swervelib.math.SwerveMath
    +
    +
    Put an angle within the 360 deg scope of a reference.
    +
    +
    PoseLog(Pose2d) - Static method in class swervelib.math.SwerveMath
    +
    +
    Logical inverse of the Pose exponential from 254.
    +
    +
    position - Variable in class swervelib.math.Matter
    +
    +
    Position in meters from robot center in 3d space.
    +
    +
    postTrajectory(Trajectory) - Method in class swervelib.SwerveDrive
    +
    +
    Post the trajectory to the field
    +
    +
    +

    Q

    +
    +
    queueSynchronizeEncoders() - Method in class swervelib.SwerveModule
    +
    +
    Queue synchronization of the integrated angle encoder with the absolute encoder.
    +
    +
    +

    R

    +
    +
    rampRate - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    +
    +
    The minimum number of seconds to take for the motor to go from 0 to full throttle.
    +
    +
    readingError - Variable in class swervelib.encoders.SwerveAbsoluteEncoder
    +
    +
    Last angle reading was faulty.
    +
    +
    replaceSwerveModuleFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveDrive
    +
    +
    Setup the swerve module feedforward.
    +
    +
    resetEncoders() - Method in class swervelib.SwerveDrive
    +
    +
    Reset the drive encoders on the robot, useful when manually resetting the robot without a + reboot, like in autonomous.
    +
    +
    resetOdometry(Pose2d) - Method in class swervelib.SwerveDrive
    +
    +
    Resets odometry to the given pose.
    +
    +
    resetPosition(Rotation2d, SwerveModulePosition[], Pose2d) - Method in class swervelib.math.SwerveDriveOdometry2
    +
    +
    Resets the robot's position on the field.
    +
    +
    resetPosition(Rotation2d, SwerveModulePosition[], Pose2d) - Method in class swervelib.math.SwervePoseEstimator2
    +
    +
    Resets the robot's position on the field.
    +
    +
    robotRotation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    The robot's current rotation based on odometry or gyro readings
    +
    +
    rotationUnit - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    The units of the module rotations and robot rotation
    +
    +
    run() - Method in class swervelib.simulation.ctre.PhysicsSim
    +
    +
    Runs the simulator: - enable the robot - simulate sensors
    +
    +
    +

    S

    +
    +
    set(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Set the percentage output.
    +
    +
    set(double) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Set the percentage output.
    +
    +
    set(double) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Set the percentage output.
    +
    +
    set(double) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Set the percentage output.
    +
    +
    set(double) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Set the percentage output.
    +
    +
    setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Set the absolute encoder to be a compatible absolute encoder.
    +
    +
    setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Set the absolute encoder to be a compatible absolute encoder.
    +
    +
    setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Set the absolute encoder to be a compatible absolute encoder.
    +
    +
    setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Set the absolute encoder to be a compatible absolute encoder.
    +
    +
    setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Set the absolute encoder to be a compatible absolute encoder.
    +
    +
    setAngle(double) - Method in class swervelib.simulation.SwerveIMUSimulation
    +
    +
    Set the heading of the robot.
    +
    +
    setAngle(double) - Method in class swervelib.SwerveModule
    +
    +
    Set the angle for the module.
    +
    +
    setChassisSpeeds(ChassisSpeeds) - Method in class swervelib.SwerveDrive
    +
    +
    Set chassis speeds with closed-loop velocity control and second order kinematics.
    +
    +
    setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation.
    +
    +
    setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation.
    +
    +
    setCurrentLimit(int) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation.
    +
    +
    setCurrentLimit(int) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation.
    +
    +
    setCurrentLimit(int) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation.
    +
    +
    setDesiredState(SwerveModuleState2, boolean, boolean) - Method in class swervelib.SwerveModule
    +
    +
    Set the desired state of the swerve module.
    +
    +
    setGyro(Rotation3d) - Method in class swervelib.SwerveDrive
    +
    +
    Set the expected gyroscope angle using a Rotation3d object.
    +
    +
    setGyroOffset(Rotation3d) - Method in class swervelib.SwerveDrive
    +
    +
    Set the gyro scope offset to a desired known rotation.
    +
    +
    setInverted(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Set the motor to be inverted.
    +
    +
    setInverted(boolean) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Set the motor to be inverted.
    +
    +
    setInverted(boolean) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Set the motor to be inverted.
    +
    +
    setInverted(boolean) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Set the motor to be inverted.
    +
    +
    setInverted(boolean) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Set the motor to be inverted.
    +
    +
    setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Set the maximum rate the open/closed loop output can change by.
    +
    +
    setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Set the maximum rate the open/closed loop output can change by.
    +
    +
    setLoopRampRate(double) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Set the maximum rate the open/closed loop output can change by.
    +
    +
    setLoopRampRate(double) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Set the maximum rate the open/closed loop output can change by.
    +
    +
    setLoopRampRate(double) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Set the maximum rate the open/closed loop output can change by.
    +
    +
    setMaximumAngularVelocity(double) - Method in class swervelib.SwerveController
    +
    +
    Set a new maximum angular velocity that is different from the auto-generated one.
    +
    +
    setMaximumSpeed(double) - Method in class swervelib.SwerveDrive
    +
    +
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and SwerveDriveConfiguration.maxSpeed which is + used for the SwerveDrive.setRawModuleStates(SwerveModuleState2[], boolean) function and + SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
    +
    +
    setMaximumSpeed(double, boolean) - Method in class swervelib.SwerveDrive
    +
    +
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and SwerveDriveConfiguration.maxSpeed which is + used for the SwerveDrive.setRawModuleStates(SwerveModuleState2[], boolean) function and + SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
    +
    +
    setMaximumSpeeds(double, double, double) - Method in class swervelib.SwerveDrive
    +
    +
    Set the maximum speeds for desaturation.
    +
    +
    setModuleStateOptimization(boolean) - Method in class swervelib.SwerveDrive
    +
    +
    Configure whether the SwerveModuleState2 will be optimized to prevent spinning more + than 90deg.
    +
    +
    setModuleStates(SwerveModuleState2[], boolean) - Method in class swervelib.SwerveDrive
    +
    +
    Set the module states (azimuth and velocity) directly.
    +
    +
    setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Set the idle mode.
    +
    +
    setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Set the idle mode.
    +
    +
    setMotorBrake(boolean) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Set the idle mode.
    +
    +
    setMotorBrake(boolean) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Set the idle mode.
    +
    +
    setMotorBrake(boolean) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Set the idle mode.
    +
    +
    setMotorBrake(boolean) - Method in class swervelib.SwerveModule
    +
    +
    Set the brake mode.
    +
    +
    setMotorIdleMode(boolean) - Method in class swervelib.SwerveDrive
    +
    +
    Sets the drive motors to brake/coast mode.
    +
    +
    setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16448Swerve
    +
    +
    Set the gyro offset.
    +
    +
    setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16470Swerve
    +
    +
    Set the gyro offset.
    +
    +
    setOffset(Rotation3d) - Method in class swervelib.imu.ADXRS450Swerve
    +
    +
    Set the gyro offset.
    +
    +
    setOffset(Rotation3d) - Method in class swervelib.imu.AnalogGyroSwerve
    +
    +
    Set the gyro offset.
    +
    +
    setOffset(Rotation3d) - Method in class swervelib.imu.NavXSwerve
    +
    +
    Set the gyro offset.
    +
    +
    setOffset(Rotation3d) - Method in class swervelib.imu.Pigeon2Swerve
    +
    +
    Set the gyro offset.
    +
    +
    setOffset(Rotation3d) - Method in class swervelib.imu.PigeonSwerve
    +
    +
    Set the gyro offset.
    +
    +
    setOffset(Rotation3d) - Method in class swervelib.imu.SwerveIMU
    +
    +
    Set the gyro offset.
    +
    +
    setPosition(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Set the integrated encoder position.
    +
    +
    setPosition(double) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Set the integrated encoder position.
    +
    +
    setPosition(double) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Set the integrated encoder position.
    +
    +
    setPosition(double) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Set the integrated encoder position.
    +
    +
    setPosition(double) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Set the integrated encoder position.
    +
    +
    setReference(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Set the closed loop PID controller reference point.
    +
    +
    setReference(double, double) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Set the closed loop PID controller reference point.
    +
    +
    setReference(double, double) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Set the closed loop PID controller reference point.
    +
    +
    setReference(double, double) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Set the closed loop PID controller reference point.
    +
    +
    setReference(double, double) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Set the closed loop PID controller reference point.
    +
    +
    setReference(double, double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Set the closed loop PID controller reference point.
    +
    +
    setReference(double, double, double) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Set the closed loop PID controller reference point.
    +
    +
    setReference(double, double, double) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Set the closed loop PID controller reference point.
    +
    +
    setReference(double, double, double) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Set the closed loop PID controller reference point.
    +
    +
    setReference(double, double, double) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Set the closed loop PID controller reference point.
    +
    +
    setVisionMeasurementStdDevs(Matrix<N3, N1>) - Method in class swervelib.math.SwervePoseEstimator2
    +
    +
    Sets the pose estimator's trust of global measurements.
    +
    +
    setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Set the voltage compensation for the swerve module motor.
    +
    +
    setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxSwerve
    +
    +
    Set the voltage compensation for the swerve module motor.
    +
    +
    setVoltageCompensation(double) - Method in class swervelib.motors.SwerveMotor
    +
    +
    Set the voltage compensation for the swerve module motor.
    +
    +
    setVoltageCompensation(double) - Method in class swervelib.motors.TalonFXSwerve
    +
    +
    Set the voltage compensation for the swerve module motor.
    +
    +
    setVoltageCompensation(double) - Method in class swervelib.motors.TalonSRXSwerve
    +
    +
    Set the voltage compensation for the swerve module motor.
    +
    +
    sizeFrontBack - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    The distance between the front and back modules.
    +
    +
    sizeLeftRight - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    The distance between the left and right modules.
    +
    +
    SparkMaxBrushedMotorSwerve - Class in swervelib.motors
    +
    +
    Brushed motor control with SparkMax.
    +
    +
    SparkMaxBrushedMotorSwerve(int, boolean, SparkMaxRelativeEncoder.Type, int, boolean) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
    +
    +
    SparkMaxBrushedMotorSwerve(CANSparkMax, boolean, SparkMaxRelativeEncoder.Type, int, boolean) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve
    +
    +
    Initialize the swerve motor.
    +
    +
    SparkMaxEncoderSwerve - Class in swervelib.encoders
    +
    +
    SparkMax absolute encoder, attached through the data port.
    +
    +
    SparkMaxEncoderSwerve(SwerveMotor, int) - Constructor for class swervelib.encoders.SparkMaxEncoderSwerve
    +
    +
    Create the AbsoluteEncoder object as a duty cycle.
    +
    +
    SparkMaxSwerve - Class in swervelib.motors
    +
    +
    An implementation of CANSparkMax as a SwerveMotor.
    +
    +
    SparkMaxSwerve(int, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
    +
    +
    Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
    +
    +
    SparkMaxSwerve(CANSparkMax, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
    +
    +
    Initialize the swerve motor.
    +
    +
    stateStdDevs - Variable in class swervelib.SwerveDrive
    +
    +
    Trustworthiness of the internal model of how motors should be moving Measured in expected + standard deviation (meters of position and degrees of rotation)
    +
    +
    SwerveAbsoluteEncoder - Class in swervelib.encoders
    +
    +
    Swerve abstraction class to define a standard interface with absolute encoders for swerve + modules..
    +
    +
    SwerveAbsoluteEncoder() - Constructor for class swervelib.encoders.SwerveAbsoluteEncoder
    +
     
    +
    swerveController - Variable in class swervelib.SwerveDrive
    +
    +
    Swerve controller for controlling heading of the robot.
    +
    +
    SwerveController - Class in swervelib
    +
    +
    Controller class used to convert raw inputs into robot speeds.
    +
    +
    SwerveController(SwerveControllerConfiguration) - Constructor for class swervelib.SwerveController
    +
    +
    Construct the SwerveController object which is used for determining the speeds of the robot + based on controller input.
    +
    +
    SwerveControllerConfiguration - Class in swervelib.parser
    +
    +
    Swerve Controller configuration class which is used to configure SwerveController.
    +
    +
    SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig) - Constructor for class swervelib.parser.SwerveControllerConfiguration
    +
    +
    Construct the swerve controller configuration.
    +
    +
    SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
    +
    +
    Construct the swerve controller configuration.
    +
    +
    SwerveDrive - Class in swervelib
    +
    +
    Swerve Drive class representing and controlling the swerve drive.
    +
    +
    SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration) - Constructor for class swervelib.SwerveDrive
    +
    +
    Creates a new swerve drivebase subsystem.
    +
    +
    swerveDriveConfiguration - Variable in class swervelib.SwerveDrive
    +
    +
    Swerve drive configuration.
    +
    +
    SwerveDriveConfiguration - Class in swervelib.parser
    +
    +
    Swerve drive configurations used during SwerveDrive construction.
    +
    +
    SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, double, boolean) - Constructor for class swervelib.parser.SwerveDriveConfiguration
    +
    +
    Create swerve drive configuration.
    +
    +
    swerveDriveJson - Static variable in class swervelib.parser.SwerveParser
    +
    +
    Parsed swervedrive.json
    +
    +
    SwerveDriveJson - Class in swervelib.parser.json
    +
    +
    SwerveDrive JSON parsed class.
    +
    +
    SwerveDriveJson() - Constructor for class swervelib.parser.json.SwerveDriveJson
    +
     
    +
    SwerveDriveOdometry2 - Class in swervelib.math
    +
    +
    Clone of SwerveDriveOdometry except uses gyro pitch and roll to achieve a more accurate + estimation.
    +
    +
    SwerveDriveOdometry2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[]) - Constructor for class swervelib.math.SwerveDriveOdometry2
    +
    +
    Constructs a SwerveDriveOdometry object with the default pose at the origin.
    +
    +
    SwerveDriveOdometry2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d) - Constructor for class swervelib.math.SwerveDriveOdometry2
    +
    +
    Constructs a SwerveDriveOdometry object.
    +
    +
    swerveDrivePoseEstimator - Variable in class swervelib.SwerveDrive
    +
    +
    Swerve odometry.
    +
    +
    SwerveDriveTelemetry - Class in swervelib.telemetry
    +
    +
    Telemetry to describe the SwerveDrive following frc-web-components.
    +
    +
    SwerveDriveTelemetry() - Constructor for class swervelib.telemetry.SwerveDriveTelemetry
    +
     
    +
    SwerveDriveTelemetry.TelemetryVerbosity - Enum Class in swervelib.telemetry
    +
    +
    Verbosity of telemetry data sent back.
    +
    +
    SwerveIMU - Class in swervelib.imu
    +
    +
    Swerve IMU abstraction to define a standard interface with a swerve drive.
    +
    +
    SwerveIMU() - Constructor for class swervelib.imu.SwerveIMU
    +
     
    +
    SwerveIMUSimulation - Class in swervelib.simulation
    +
    +
    Simulation for SwerveDrive IMU.
    +
    +
    SwerveIMUSimulation() - Constructor for class swervelib.simulation.SwerveIMUSimulation
    +
    +
    Create the swerve drive IMU simulation.
    +
    +
    SwerveKinematics2 - Class in swervelib.math
    +
    +
    Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules + states from chassis speed.
    +
    +
    SwerveKinematics2(Translation2d...) - Constructor for class swervelib.math.SwerveKinematics2
    +
    +
    Constructs a swerve drive kinematics object.
    +
    +
    swervelib - package swervelib
    +
    +
    Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
    +
    +
    swervelib.encoders - package swervelib.encoders
    +
    +
    Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
    +
    +
    swervelib.imu - package swervelib.imu
    +
    +
    IMUs used for controlling the robot heading.
    +
    +
    swervelib.math - package swervelib.math
    +
    +
    Mathematics for swerve drives.
    +
    +
    swervelib.motors - package swervelib.motors
    +
    +
    Swerve motor controller wrappers which implement SwerveMotor.
    +
    +
    swervelib.parser - package swervelib.parser
    +
    +
    JSON Parser for YAGSL configurations.
    +
    +
    swervelib.parser.deserializer - package swervelib.parser.deserializer
    +
    +
    Deserialize specific variables for outside the parser.
    +
    +
    swervelib.parser.json - package swervelib.parser.json
    +
    +
    JSON Mapped classes for parsing configuration files.
    +
    +
    swervelib.parser.json.modules - package swervelib.parser.json.modules
    +
    +
    JSON Mapped Configuration types for modules.
    +
    +
    swervelib.simulation - package swervelib.simulation
    +
    +
    Classes used to simulate the swerve drive.
    +
    +
    swervelib.simulation.ctre - package swervelib.simulation.ctre
    +
    +
    CTRE Physics Simulator.
    +
    +
    swervelib.telemetry - package swervelib.telemetry
    +
    +
    Telemetry package for sending data to NT4 or SmartDashboard.
    +
    +
    SwerveMath - Class in swervelib.math
    +
    +
    Mathematical functions which pertain to swerve drive.
    +
    +
    SwerveMath() - Constructor for class swervelib.math.SwerveMath
    +
     
    +
    SwerveModule - Class in swervelib
    +
    +
    The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
    +
    +
    SwerveModule(int, SwerveModuleConfiguration) - Constructor for class swervelib.SwerveModule
    +
    +
    Construct the swerve module and initialize the swerve module motors and absolute encoder.
    +
    +
    SwerveModuleConfiguration - Class in swervelib.parser
    +
    +
    Swerve Module configuration class which is used to configure SwerveModule.
    +
    +
    SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, double, String) - Constructor for class swervelib.parser.SwerveModuleConfiguration
    +
    +
    Construct a configuration object for swerve modules.
    +
    +
    SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, String) - Constructor for class swervelib.parser.SwerveModuleConfiguration
    +
    +
    Construct a configuration object for swerve modules.
    +
    +
    SwerveModulePhysicalCharacteristics - Class in swervelib.parser
    +
    +
    Configuration class which stores physical characteristics shared between every swerve module.
    +
    +
    SwerveModulePhysicalCharacteristics(double, double, double, double, double, int, int) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    Construct the swerve module physical characteristics.
    +
    +
    SwerveModulePhysicalCharacteristics(double, double, double, double, double, int, int, double, double, int, int, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    Construct the swerve module physical characteristics.
    +
    +
    SwerveModuleSimulation - Class in swervelib.simulation
    +
    +
    Class to hold simulation data for SwerveModule
    +
    +
    SwerveModuleSimulation() - Constructor for class swervelib.simulation.SwerveModuleSimulation
    +
    +
    Create simulation class and initialize module at 0.
    +
    +
    SwerveModuleState2 - Class in swervelib.math
    +
    +
    Second order kinematics swerve module state.
    +
    +
    SwerveModuleState2() - Constructor for class swervelib.math.SwerveModuleState2
    +
    +
    Constructs a SwerveModuleState with zeros for speed and angle.
    +
    +
    SwerveModuleState2(double, Rotation2d, double) - Constructor for class swervelib.math.SwerveModuleState2
    +
    +
    Constructs a SwerveModuleState.
    +
    +
    SwerveModuleState2(SwerveModuleState, double) - Constructor for class swervelib.math.SwerveModuleState2
    +
    +
    Create a SwerveModuleState2 based on the SwerveModuleState with the radians per + second defined.
    +
    +
    SwerveMotor - Class in swervelib.motors
    +
    +
    Swerve motor abstraction which defines a standard interface for motors within a swerve module.
    +
    +
    SwerveMotor() - Constructor for class swervelib.motors.SwerveMotor
    +
     
    +
    SwerveParser - Class in swervelib.parser
    +
    +
    Helper class used to parse the JSON directory with specified configuration options.
    +
    +
    SwerveParser(File) - Constructor for class swervelib.parser.SwerveParser
    +
    +
    Construct a swerve parser.
    +
    +
    SwervePoseEstimator2 - Class in swervelib.math
    +
    +
    Clone of SwerveDrivePoseEstimator which takes into account gyroscope pitch and roll to + achieve a more accurate estimation, originally made by Team 1466.
    +
    +
    SwervePoseEstimator2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d) - Constructor for class swervelib.math.SwervePoseEstimator2
    +
    +
    Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision + measurements.
    +
    +
    SwervePoseEstimator2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d, Matrix<N3, N1>, Matrix<N3, N1>) - Constructor for class swervelib.math.SwervePoseEstimator2
    +
    +
    Constructs a SwerveDrivePoseEstimator.
    +
    +
    synchronizeModuleEncoders() - Method in class swervelib.SwerveDrive
    +
    +
    Synchronize angle motor integrated encoders with data from absolute encoders.
    +
    +
    +

    T

    +
    +
    TalonFXSwerve - Class in swervelib.motors
    +
    +
    TalonFX Swerve Motor.
    +
    +
    TalonFXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
    +
    +
    Construct the TalonFX swerve motor given the ID.
    +
    +
    TalonFXSwerve(int, String, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
    +
    +
    Construct the TalonFX swerve motor given the ID and CANBus.
    +
    +
    TalonFXSwerve(WPI_TalonFX, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
    +
    +
    Constructor for TalonFX swerve motor.
    +
    +
    TalonSRXSwerve - Class in swervelib.motors
    +
    +
    WPI_TalonSRX Swerve Motor.
    +
    +
    TalonSRXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
    +
    +
    Construct the TalonSRX swerve motor given the ID.
    +
    +
    TalonSRXSwerve(WPI_TalonSRX, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
    +
    +
    Constructor for TalonSRX swerve motor.
    +
    +
    thetaController - Variable in class swervelib.SwerveController
    +
    +
    PID Controller for the robot heading.
    +
    +
    toChassisSpeeds(SwerveModuleState2...) - Method in class swervelib.math.SwerveKinematics2
    +
    +
    Performs forward kinematics to return the resulting chassis state from the given module states.
    +
    +
    toSwerveModuleState() - Method in class swervelib.math.SwerveModuleState2
    +
    +
    Convert to a SwerveModuleState.
    +
    +
    toSwerveModuleStates(ChassisSpeeds) - Method in class swervelib.math.SwerveKinematics2
    +
    +
    Performs inverse kinematics.
    +
    +
    toSwerveModuleStates(ChassisSpeeds, Translation2d) - Method in class swervelib.math.SwerveKinematics2
    +
    +
    Performs inverse kinematics to return the module states from a desired chassis velocity.
    +
    +
    toTwist2d(SwerveModulePosition...) - Method in class swervelib.math.SwerveKinematics2
    +
    +
    Performs forward kinematics to return the resulting chassis state from the given module states.
    +
    +
    type - Variable in class swervelib.parser.json.DeviceJson
    +
    +
    The device type, e.g.
    +
    +
    +

    U

    +
    +
    update(Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[]) - Method in class swervelib.math.SwerveDriveOdometry2
    +
    +
    Updates the robot's position on the field using forward kinematics and integration of the pose + over time.
    +
    +
    update(Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[]) - Method in class swervelib.math.SwervePoseEstimator2
    +
    +
    Updates the pose estimator with wheel encoder and gyro information.
    +
    +
    updateData() - Static method in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    Upload data to smartdashboard
    +
    +
    updateOdometry() - Method in class swervelib.SwerveDrive
    +
    +
    Update odometry should be run every loop.
    +
    +
    updateOdometry(SwerveKinematics2, SwerveModuleState2[], Pose2d[], Field2d) - Method in class swervelib.simulation.SwerveIMUSimulation
    +
    +
    Update the odometry of the simulated SwerveDrive and post the SwerveModule states to the Field2d.
    +
    +
    updateStateAndPosition(SwerveModuleState2) - Method in class swervelib.simulation.SwerveModuleSimulation
    +
    +
    Update the position and state of the module.
    +
    +
    updateWithTime(double, Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[]) - Method in class swervelib.math.SwervePoseEstimator2
    +
    +
    Updates the pose estimator with wheel encoder and gyro information.
    +
    +
    +

    V

    +
    +
    valueOf(String) - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    +
    +
    Returns the enum constant of this class with the specified name.
    +
    +
    values() - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    +
    +
    Returns an array containing the constants of this enum class, in +the order they are declared.
    +
    +
    velocityPIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
    +
    +
    PIDF configuration options for the drive motor closed-loop PID controller.
    +
    +
    verbosity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    The current telemetry verbosity level.
    +
    +
    visionMeasurementStdDevs - Variable in class swervelib.SwerveDrive
    +
    +
    Trustworthiness of the vision system Measured in expected standard deviation (meters of + position and degrees of rotation)
    +
    +
    +

    W

    +
    +
    wheelDiameter - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    +
    +
    Wheel diameter in inches.
    +
    +
    wheelDiameter - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    Wheel diameter in meters.
    +
    +
    wheelGripCoefficientOfFriction - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    +
    +
    The grip tape coefficient of friction on carpet.
    +
    +
    wheelGripCoefficientOfFriction - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    +
    +
    Wheel grip tape coefficient of friction on carpet, as described by the vendor.
    +
    +
    wheelLocations - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    The number of swerve modules
    +
    +
    withinHypotDeadband(double, double) - Method in class swervelib.SwerveController
    +
    +
    Calculate the hypot deadband and check if the joystick is within it.
    +
    +
    +

    X

    +
    +
    x - Variable in class swervelib.parser.json.modules.LocationJson
    +
    +
    Location of the swerve module in inches from the center of the robot horizontally.
    +
    +
    xLimiter - Variable in class swervelib.SwerveController
    +
    +
    SlewRateLimiter for movement in the X direction in meters/second.
    +
    +
    +

    Y

    +
    +
    y - Variable in class swervelib.parser.json.modules.LocationJson
    +
    +
    Location of the swerve module in inches from the center of the robot vertically.
    +
    +
    yLimiter - Variable in class swervelib.SwerveController
    +
    +
    SlewRateLimiter for movement in the Y direction in meters/second.
    +
    +
    +

    Z

    +
    +
    zeroGyro() - Method in class swervelib.SwerveDrive
    +
    +
    Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
    +
    +
    +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
    +
    +
    + + diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html deleted file mode 100644 index 7273744..0000000 --- a/docs/index-files/index-1.html +++ /dev/null @@ -1,287 +0,0 @@ - - - - -A-Index - - - - - - - - - - - - - - - -
    - -
    -
    -
    -

    Index

    -
    -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 -

    A

    -
    -
    absoluteEncoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Absolute encoder attached to the SparkMax (if exists)
    -
    -
    absoluteEncoder - Variable in class swervelib.motors.SparkMaxSwerve
    -
    -
    Absolute encoder attached to the SparkMax (if exists)
    -
    -
    absoluteEncoder - Variable in class swervelib.motors.TalonFXSwerve
    -
    -
    Whether the absolute encoder is integrated.
    -
    -
    absoluteEncoder - Variable in class swervelib.motors.TalonSRXSwerve
    -
    -
    Whether the absolute encoder is integrated.
    -
    -
    absoluteEncoder - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    The Absolute Encoder for the swerve module.
    -
    -
    absoluteEncoder - Variable in class swervelib.SwerveModule
    -
    -
    Absolute encoder for swerve drive.
    -
    -
    absoluteEncoderInverted - Variable in class swervelib.parser.json.ModuleJson
    -
    -
    Absolute encoder inversion state.
    -
    -
    absoluteEncoderInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    Whether the absolute encoder is inverted.
    -
    -
    absoluteEncoderOffset - Variable in class swervelib.parser.json.ModuleJson
    -
    -
    Absolute encoder offset from 0 in degrees.
    -
    -
    addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter) - Method in class swervelib.SwerveController
    -
    -
    Add slew rate limiters to all controls.
    -
    -
    addTalonFX(TalonFX, double, double) - Method in class swervelib.simulation.ctre.PhysicsSim
    -
    -
    Adds a TalonFX controller to the simulator.
    -
    -
    addTalonFX(TalonFX, double, double, boolean) - Method in class swervelib.simulation.ctre.PhysicsSim
    -
    -
    Adds a TalonFX controller to the simulator.
    -
    -
    addTalonSRX(TalonSRX, double, double) - Method in class swervelib.simulation.ctre.PhysicsSim
    -
    -
    Adds a TalonSRX controller to the simulator.
    -
    -
    addTalonSRX(TalonSRX, double, double, boolean) - Method in class swervelib.simulation.ctre.PhysicsSim
    -
    -
    Adds a TalonSRX controller to the simulator.
    -
    -
    addVictorSPX(VictorSPX) - Method in class swervelib.simulation.ctre.PhysicsSim
    -
    -
    Adds a VictorSPX controller to the simulator.
    -
    -
    addVisionMeasurement(Pose2d, double) - Method in class swervelib.math.SwervePoseEstimator2
    -
    -
    Adds a vision measurement to the Kalman Filter.
    -
    -
    addVisionMeasurement(Pose2d, double, boolean, double) - Method in class swervelib.SwerveDrive
    -
    -
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
    -
    -
    addVisionMeasurement(Pose2d, double, boolean, Matrix<N3, N1>) - Method in class swervelib.SwerveDrive
    -
    -
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
    -
    -
    addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class swervelib.math.SwervePoseEstimator2
    -
    -
    Adds a vision measurement to the Kalman Filter.
    -
    -
    ADIS16448Swerve - Class in swervelib.imu
    -
    -
    IMU Swerve class for the ADIS16448_IMU device.
    -
    -
    ADIS16448Swerve() - Constructor for class swervelib.imu.ADIS16448Swerve
    -
    -
    Construct the ADIS16448 imu and reset default configurations.
    -
    -
    ADIS16470Swerve - Class in swervelib.imu
    -
    -
    IMU Swerve class for the ADIS16470_IMU device.
    -
    -
    ADIS16470Swerve() - Constructor for class swervelib.imu.ADIS16470Swerve
    -
    -
    Construct the ADIS16470 imu and reset default configurations.
    -
    -
    ADXRS450Swerve - Class in swervelib.imu
    -
    -
    IMU Swerve class for the ADXRS450_Gyro device.
    -
    -
    ADXRS450Swerve() - Constructor for class swervelib.imu.ADXRS450Swerve
    -
    -
    Construct the ADXRS450 imu and reset default configurations.
    -
    -
    AnalogAbsoluteEncoderSwerve - Class in swervelib.encoders
    -
    -
    Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
    -
    -
    AnalogAbsoluteEncoderSwerve(int) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    -
    -
    Construct the Encoder given the analog input channel.
    -
    -
    AnalogAbsoluteEncoderSwerve(AnalogInput) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    -
    -
    Construct the Thrifty Encoder as a Swerve Absolute Encoder.
    -
    -
    AnalogGyroSwerve - Class in swervelib.imu
    -
    -
    Creates a IMU for AnalogGyro devices, only uses yaw.
    -
    -
    AnalogGyroSwerve(int) - Constructor for class swervelib.imu.AnalogGyroSwerve
    -
    -
    Analog port in which the gyroscope is connected.
    -
    -
    angle - Variable in class swervelib.parser.json.ModuleJson
    -
    -
    Angle motor device configuration.
    -
    -
    angle - Variable in class swervelib.parser.json.modules.BoolMotorJson
    -
    -
    Angle motor inversion state.
    -
    -
    angle - Variable in class swervelib.parser.json.MotorConfigDouble
    -
    -
    Angle motor.
    -
    -
    angle - Variable in class swervelib.parser.json.MotorConfigInt
    -
    -
    Angle motor.
    -
    -
    angle - Variable in class swervelib.parser.json.PIDFPropertiesJson
    -
    -
    The PIDF with Integral Zone used for the angle motor.
    -
    -
    angle - Variable in class swervelib.simulation.SwerveIMUSimulation
    -
    -
    Heading of the robot.
    -
    -
    angleEncoderPulsePerRevolution - Variable in class swervelib.parser.json.ModuleJson
    -
    -
    The angle encoder pulse per revolution override.
    -
    -
    angleEncoderPulsePerRotation - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    Angle motor encoder pulse per rotation.
    -
    -
    angleGearRatio - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    Angle gear ratio.
    -
    -
    angleJoystickRadiusDeadband - Variable in class swervelib.parser.json.ControllerPropertiesJson
    -
    -
    The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
    -
    -
    angleJoyStickRadiusDeadband - Variable in class swervelib.parser.SwerveControllerConfiguration
    -
    -
    hypotenuse deadband for the robot angle control joystick.
    -
    -
    angleLimiter - Variable in class swervelib.SwerveController
    -
    -
    SlewRateLimiter for angular movement in radians/second.
    -
    -
    angleMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    The drive motor and angle motor of this swerve module.
    -
    -
    angleMotor - Variable in class swervelib.SwerveModule
    -
    -
    Swerve Motors.
    -
    -
    angleMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    Current limits for the Swerve Module.
    -
    -
    angleMotorEncoderPulsePerRevolution - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    The integrated encoder pulse per revolution.
    -
    -
    angleMotorFreeSpeedRPM - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    -
    -
    DEPRECATED: No longer needed, tune PhysicalPropertiesJson.moduleFeedForwardClosedLoop instead.
    -
    -
    angleMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    State of inversion of the angle motor.
    -
    -
    angleMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    The time it takes for the motor to go from 0 to full throttle in seconds.
    -
    -
    angleOffset - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    Angle offset in degrees for the Swerve Module.
    -
    -
    angleOffset - Variable in class swervelib.SwerveModule
    -
    -
    Angle offset from the absolute encoder.
    -
    -
    anglePIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    PIDF configuration options for the angle motor closed-loop PID controller.
    -
    -
    antiJitter(SwerveModuleState2, SwerveModuleState2, double) - Static method in class swervelib.math.SwerveMath
    -
    -
    Perform anti-jitter within modules if the speed requested is too low.
    -
    -
    applyDeadband(double, boolean, double) - Static method in class swervelib.math.SwerveMath
    -
    -
    Algebraically apply a deadband using a piece wise function.
    -
    -
    attainableMaxRotationalVelocityRadiansPerSecond - Variable in class swervelib.parser.SwerveDriveConfiguration
    -
    -
    Max module speed in meters per second.
    -
    -
    attainableMaxTranslationalSpeedMetersPerSecond - Variable in class swervelib.parser.SwerveDriveConfiguration
    -
    -
    Max module speed in meters per second.
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    K

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    kinematics - Variable in class swervelib.SwerveDrive
    -
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    Swerve Kinematics object utilizing second order kinematics.
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    L

    -
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    lastAngleScalar - Variable in class swervelib.SwerveController
    -
    -
    Last angle as a scalar [-1,1] the robot was set to.
    -
    -
    lastHeadingRadians - Variable in class swervelib.SwerveDrive
    -
    -
    The last heading set in radians.
    -
    -
    lastState - Variable in class swervelib.SwerveModule
    -
    -
    Last swerve module state applied.
    -
    -
    lastTime - Variable in class swervelib.simulation.SwerveIMUSimulation
    -
    -
    The last time the timer was read, used to determine position changes.
    -
    -
    lastTime - Variable in class swervelib.simulation.SwerveModuleSimulation
    -
    -
    Last time queried.
    -
    -
    left - Variable in class swervelib.parser.json.modules.LocationJson
    -
    -
    Location of the swerve module in inches from the center of the robot vertically.
    -
    -
    limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, List<Matter>, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath
    -
    -
    Limits a commanded velocity to prevent exceeding the maximum acceleration given by SwerveMath.calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration).
    -
    -
    location - Variable in class swervelib.parser.json.ModuleJson
    -
    -
    The location of the swerve module from the center of the robot in inches.
    -
    -
    LocationJson - Class in swervelib.parser.json.modules
    -
    -
    Location JSON parsed class.
    -
    -
    LocationJson() - Constructor for class swervelib.parser.json.modules.LocationJson
    -
     
    -
    lockPose() - Method in class swervelib.SwerveDrive
    -
    -
    Point all modules toward the robot center, thus making the robot very difficult to move.
    -
    -
    LOW - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    -
    -
    Low telemetry data, only post the robot position on the field.
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    M

    -
    -
    m_forwardKinematics - Variable in class swervelib.math.SwerveKinematics2
    -
    -
    Forward kinematics matrix.
    -
    -
    m_gyroOffset - Variable in class swervelib.math.SwerveDriveOdometry2
    -
    -
    Gyro offset.
    -
    -
    m_inverseKinematics - Variable in class swervelib.math.SwerveKinematics2
    -
    -
    Inverse kinematics matrix.
    -
    -
    m_kinematics - Variable in class swervelib.math.SwerveDriveOdometry2
    -
    -
    Swerve drive kinematics.
    -
    -
    m_kinematics - Variable in class swervelib.math.SwervePoseEstimator2
    -
    -
    Swerve drive kinematics.
    -
    -
    m_moduleAccelTimer - Variable in class swervelib.math.SwerveKinematics2
    -
     
    -
    m_modules - Variable in class swervelib.math.SwerveKinematics2
    -
    -
    Location of each swerve module in meters.
    -
    -
    m_moduleStates - Variable in class swervelib.math.SwerveKinematics2
    -
    -
    Swerve module states.
    -
    -
    m_numModules - Variable in class swervelib.math.SwerveDriveOdometry2
    -
    -
    Number of swerve modules.
    -
    -
    m_numModules - Variable in class swervelib.math.SwerveKinematics2
    -
    -
    Number of swerve modules.
    -
    -
    m_numModules - Variable in class swervelib.math.SwervePoseEstimator2
    -
    -
    Number of swerve modules.
    -
    -
    m_odometry - Variable in class swervelib.math.SwervePoseEstimator2
    -
    -
    Enhanced swerve drive odometry.
    -
    -
    m_poseBuffer - Variable in class swervelib.math.SwervePoseEstimator2
    -
    -
    Interpolation buffer.
    -
    -
    m_poseMeters - Variable in class swervelib.math.SwerveDriveOdometry2
    -
    -
    Estimated pose.
    -
    -
    m_prevChassisSpeeds - Variable in class swervelib.math.SwerveKinematics2
    -
     
    -
    m_prevCoR - Variable in class swervelib.math.SwerveKinematics2
    -
    -
    Previous CoR
    -
    -
    m_previousAngle - Variable in class swervelib.math.SwerveDriveOdometry2
    -
    -
    Previous gyroscope angle.
    -
    -
    m_previousModulePositions - Variable in class swervelib.math.SwerveDriveOdometry2
    -
    -
    Previous swerve module positions.
    -
    -
    m_prevModuleAccelTime - Variable in class swervelib.math.SwerveKinematics2
    -
     
    -
    m_q - Variable in class swervelib.math.SwervePoseEstimator2
    -
    -
    Matrix quotient.
    -
    -
    m_visionK - Variable in class swervelib.math.SwervePoseEstimator2
    -
    -
    Vision standard deviations.
    -
    -
    m_zeroModuleStates - Variable in class swervelib.math.SwerveDriveOdometry2
    -
    -
    Zero module states.
    -
    -
    MACHINE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    -
    -
    Only send the machine readable data related to swerve drive.
    -
    -
    mass - Variable in class swervelib.math.Matter
    -
    -
    Mass in kg of object.
    -
    -
    massMoment() - Method in class swervelib.math.Matter
    -
    -
    Get the center mass of the object.
    -
    -
    Matter - Class in swervelib.math
    -
    -
    Object with significant mass that needs to be taken into account.
    -
    -
    Matter(Translation3d, double) - Constructor for class swervelib.math.Matter
    -
    -
    Construct an object representing some significant matter on the robot.
    -
    -
    max - Variable in class swervelib.parser.deserializer.PIDFRange
    -
    -
    Maximum value.
    -
    -
    maxAngularVelocity - Variable in class swervelib.parser.SwerveControllerConfiguration
    -
    -
    Maximum angular velocity in rad/s
    -
    -
    maxAngularVelocity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    The maximum achievable angular velocity of the robot.
    -
    -
    maxSpeed - Variable in class swervelib.parser.json.SwerveDriveJson
    -
    -
    Maximum robot speed in feet per second.
    -
    -
    maxSpeed - Variable in class swervelib.parser.SwerveControllerConfiguration
    -
    -
    Maximum robot speed in meters per second.
    -
    -
    maxSpeed - Variable in class swervelib.parser.SwerveDriveConfiguration
    -
    -
    Max module speed in meters per second.
    -
    -
    maxSpeed - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    Maximum robot speed in meters per second.
    -
    -
    maxSpeed - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    The maximum achievable speed of the modules, used to adjust the size of the vectors.
    -
    -
    measuredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    The maximum achievable angular velocity of the robot.
    -
    -
    measuredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    An array of rotation and velocity values describing the measured state of each swerve module
    -
    -
    min - Variable in class swervelib.parser.deserializer.PIDFRange
    -
    -
    Minimum value.
    -
    -
    moduleConfigs - Static variable in class swervelib.parser.SwerveParser
    -
    -
    Module number mapped to the JSON name.
    -
    -
    moduleCount - Variable in class swervelib.parser.SwerveDriveConfiguration
    -
    -
    Number of modules on the robot.
    -
    -
    moduleCount - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    The number of swerve modules
    -
    -
    moduleFeedForwardClosedLoop - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    -
    -
    Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that - your drive train does not drift towards the direction you are rotating while you translate.
    -
    -
    ModuleJson - Class in swervelib.parser.json
    -
    -
    SwerveModule JSON parsed class.
    -
    -
    ModuleJson() - Constructor for class swervelib.parser.json.ModuleJson
    -
     
    -
    moduleJsons - Static variable in class swervelib.parser.SwerveParser
    -
    -
    Array holding the module jsons given in SwerveDriveJson.
    -
    -
    moduleLocation - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    Swerve module location relative to the robot.
    -
    -
    moduleLocationsMeters - Variable in class swervelib.parser.SwerveDriveConfiguration
    -
    -
    Swerve Module locations.
    -
    -
    moduleNumber - Variable in class swervelib.SwerveModule
    -
    -
    Module number for kinematics, usually 0 to 3.
    -
    -
    modulePositions - Variable in class swervelib.math.SwervePoseEstimator2.InterpolationRecord
    -
     
    -
    modules - Variable in class swervelib.parser.json.SwerveDriveJson
    -
    -
    Module JSONs in order clockwise order starting from front left.
    -
    -
    modules - Variable in class swervelib.parser.SwerveDriveConfiguration
    -
    -
    Swerve Modules.
    -
    -
    moduleSteerFFCL - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    Angle volt-meter-per-second.
    -
    -
    moduleSteerFFCL - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that - your drive train does not drift towards the direction you are rotating while you translate.
    -
    -
    moduleSynchronizationCounter - Variable in class swervelib.SwerveDrive
    -
    -
    Counter to synchronize the modules relative encoder with absolute encoder when not moving.
    -
    -
    motor - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    SparkMAX Instance.
    -
    -
    motor - Variable in class swervelib.motors.SparkMaxSwerve
    -
    -
    SparkMAX Instance.
    -
    -
    motor - Variable in class swervelib.motors.TalonFXSwerve
    -
    -
    TalonFX motor controller.
    -
    -
    motor - Variable in class swervelib.motors.TalonSRXSwerve
    -
    -
    TalonSRX motor controller.
    -
    -
    MotorConfigDouble - Class in swervelib.parser.json
    -
    -
    Used to store doubles for motor configuration.
    -
    -
    MotorConfigDouble() - Constructor for class swervelib.parser.json.MotorConfigDouble
    -
    -
    Default constructor.
    -
    -
    MotorConfigDouble(double, double) - Constructor for class swervelib.parser.json.MotorConfigDouble
    -
    -
    Default constructor.
    -
    -
    MotorConfigInt - Class in swervelib.parser.json
    -
    -
    Used to store ints for motor configuration.
    -
    -
    MotorConfigInt() - Constructor for class swervelib.parser.json.MotorConfigInt
    -
    -
    Default constructor.
    -
    -
    MotorConfigInt(int, int) - Constructor for class swervelib.parser.json.MotorConfigInt
    -
    -
    Default constructor with values.
    -
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    N

    -
    -
    name - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    Name for the swerve module for telemetry.
    -
    -
    NavXSwerve - Class in swervelib.imu
    -
    -
    Communicates with the NavX as the IMU.
    -
    -
    NavXSwerve(SerialPort.Port) - Constructor for class swervelib.imu.NavXSwerve
    -
    -
    Constructor for the NavX swerve.
    -
    -
    nominalVoltage - Variable in class swervelib.motors.TalonFXSwerve
    -
    -
    Nominal voltage default to use with feedforward.
    -
    -
    nominalVoltage - Variable in class swervelib.motors.TalonSRXSwerve
    -
    -
    Nominal voltage default to use with feedforward.
    -
    -
    NONE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    -
    -
    No telemetry data is sent back.
    -
    -
    normalizeAngle(double) - Static method in class swervelib.math.SwerveMath
    -
    -
    Normalize an angle to be within 0 to 360.
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    O

    -
    -
    offset - Variable in class swervelib.imu.ADIS16448Swerve
    -
    -
    Offset for the ADIS16448.
    -
    -
    offset - Variable in class swervelib.imu.ADIS16470Swerve
    -
    -
    Offset for the ADIS16470.
    -
    -
    offset - Variable in class swervelib.imu.ADXRS450Swerve
    -
    -
    Offset for the ADXRS450.
    -
    -
    offset - Variable in class swervelib.imu.AnalogGyroSwerve
    -
    -
    Offset for the analog gyro.
    -
    -
    offset - Variable in class swervelib.imu.NavXSwerve
    -
    -
    Offset for the NavX.
    -
    -
    offset - Variable in class swervelib.imu.Pigeon2Swerve
    -
    -
    Offset for the Pigeon 2.
    -
    -
    offset - Variable in class swervelib.imu.PigeonSwerve
    -
    -
    Offset for the Pigeon.
    -
    -
    omegaRadPerSecond - Variable in class swervelib.math.SwerveModuleState2
    -
    -
    Rad per sec
    -
    -
    openJson(File) - Method in class swervelib.parser.SwerveParser
    -
    -
    Open JSON file.
    -
    -
    optimalVoltage - Variable in class swervelib.parser.json.SwerveDriveJson
    -
    -
    Optimal voltage to compensate to and base feedforward calculations off of.
    -
    -
    optimalVoltage - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    Optimal voltage of the robot.
    -
    -
    optimize(SwerveModuleState2, Rotation2d, SwerveModuleState2, double) - Static method in class swervelib.math.SwerveModuleState2
    -
    -
    Minimize the change in heading the desired swerve module state would require by potentially reversing the direction - the wheel spins.
    -
    -
    output - Variable in class swervelib.parser.PIDFConfig
    -
    -
    The PIDF output range.
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    P

    -
    -
    p - Variable in class swervelib.parser.PIDFConfig
    -
    -
    Proportional Gain for PID.
    -
    -
    physicalCharacteristics - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    Physical characteristics of the swerve module.
    -
    -
    physicalPropertiesJson - Static variable in class swervelib.parser.SwerveParser
    -
    -
    Parsed modules/physicalproperties.json
    -
    -
    PhysicalPropertiesJson - Class in swervelib.parser.json
    -
    -
    SwerveModulePhysicalCharacteristics parsed data.
    -
    -
    PhysicalPropertiesJson() - Constructor for class swervelib.parser.json.PhysicalPropertiesJson
    -
     
    -
    PhysicsSim - Class in swervelib.simulation.ctre
    -
    -
    Manages physics simulation for CTRE products.
    -
    -
    PhysicsSim() - Constructor for class swervelib.simulation.ctre.PhysicsSim
    -
     
    -
    PhysicsSim.SimProfile - Class in swervelib.simulation.ctre
    -
    -
    Holds information about a simulated device.
    -
    -
    pid - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Closed-loop PID controller.
    -
    -
    pid - Variable in class swervelib.motors.SparkMaxSwerve
    -
    -
    Closed-loop PID controller.
    -
    -
    PIDFConfig - Class in swervelib.parser
    -
    -
    Hold the PIDF and Integral Zone values for a PID.
    -
    -
    PIDFConfig() - Constructor for class swervelib.parser.PIDFConfig
    -
    -
    Used when parsing PIDF values from JSON.
    -
    -
    PIDFConfig(double, double) - Constructor for class swervelib.parser.PIDFConfig
    -
    -
    PIDF Config constructor to contain the values.
    -
    -
    PIDFConfig(double, double, double) - Constructor for class swervelib.parser.PIDFConfig
    -
    -
    PIDF Config constructor to contain the values.
    -
    -
    PIDFConfig(double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
    -
    -
    PIDF Config constructor to contain the values.
    -
    -
    PIDFConfig(double, double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
    -
    -
    PIDF Config constructor to contain the values.
    -
    -
    pidfPropertiesJson - Static variable in class swervelib.parser.SwerveParser
    -
    -
    Parsed modules/pidfproperties.json
    -
    -
    PIDFPropertiesJson - Class in swervelib.parser.json
    -
    -
    SwerveModule PID with Feedforward for the drive motor and angle motor.
    -
    -
    PIDFPropertiesJson() - Constructor for class swervelib.parser.json.PIDFPropertiesJson
    -
     
    -
    PIDFRange - Class in swervelib.parser.deserializer
    -
    -
    Class to hold the minimum and maximum input or output of the PIDF.
    -
    -
    PIDFRange() - Constructor for class swervelib.parser.deserializer.PIDFRange
    -
     
    -
    Pigeon2Swerve - Class in swervelib.imu
    -
    -
    SwerveIMU interface for the Pigeon2
    -
    -
    Pigeon2Swerve(int) - Constructor for class swervelib.imu.Pigeon2Swerve
    -
    -
    Generate the SwerveIMU for pigeon.
    -
    -
    Pigeon2Swerve(int, String) - Constructor for class swervelib.imu.Pigeon2Swerve
    -
    -
    Generate the SwerveIMU for pigeon.
    -
    -
    PigeonSwerve - Class in swervelib.imu
    -
    -
    SwerveIMU interface for the Pigeon.
    -
    -
    PigeonSwerve(int) - Constructor for class swervelib.imu.PigeonSwerve
    -
    -
    Generate the SwerveIMU for pigeon.
    -
    -
    placeInAppropriate0To360Scope(double, double) - Static method in class swervelib.math.SwerveMath
    -
    -
    Put an angle within the 360 deg scope of a reference.
    -
    -
    PoseLog(Pose2d) - Static method in class swervelib.math.SwerveMath
    -
    -
    Logical inverse of the Pose exponential from 254.
    -
    -
    poseMeters - Variable in class swervelib.math.SwervePoseEstimator2.InterpolationRecord
    -
     
    -
    position - Variable in class swervelib.math.Matter
    -
    -
    Position in meters from robot center in 3d space.
    -
    -
    Position - Enum constant in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
    -
    -
    Slot 1, used for position PID's.
    -
    -
    positionConversionFactor - Variable in class swervelib.motors.TalonFXSwerve
    -
    -
    The position conversion factor to convert raw sensor units to Meters Per 100ms, or Ticks to Degrees.
    -
    -
    positionConversionFactor - Variable in class swervelib.motors.TalonSRXSwerve
    -
    -
    The position conversion factor to convert raw sensor units to Meters Per 100ms, or Ticks to Degrees.
    -
    -
    postTrajectory(Trajectory) - Method in class swervelib.SwerveDrive
    -
    -
    Post the trajectory to the field
    -
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    Q

    -
    -
    queueSynchronizeEncoders() - Method in class swervelib.SwerveModule
    -
    -
    Queue synchronization of the integrated angle encoder with the absolute encoder.
    -
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    R

    -
    -
    rampRate - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    -
    -
    The minimum number of seconds to take for the motor to go from 0 to full throttle.
    -
    -
    random(double) - Static method in class swervelib.simulation.ctre.PhysicsSim
    -
     
    -
    random(double, double) - Static method in class swervelib.simulation.ctre.PhysicsSim
    -
     
    -
    readingError - Variable in class swervelib.encoders.SwerveAbsoluteEncoder
    -
    -
    Last angle reading was faulty.
    -
    -
    replaceSwerveModuleFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveDrive
    -
    -
    Setup the swerve module feedforward.
    -
    -
    resetEncoders() - Method in class swervelib.SwerveDrive
    -
    -
    Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in - autonomous.
    -
    -
    resetOdometry(Pose2d) - Method in class swervelib.SwerveDrive
    -
    -
    Resets odometry to the given pose.
    -
    -
    resetPosition(Rotation2d, SwerveModulePosition[], Pose2d) - Method in class swervelib.math.SwerveDriveOdometry2
    -
    -
    Resets the robot's position on the field.
    -
    -
    resetPosition(Rotation2d, SwerveModulePosition[], Pose2d) - Method in class swervelib.math.SwervePoseEstimator2
    -
    -
    Resets the robot's position on the field.
    -
    -
    robotRotation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    The robot's current rotation based on odometry or gyro readings
    -
    -
    rotationUnit - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    The units of the module rotations and robot rotation
    -
    -
    run() - Method in class swervelib.simulation.ctre.PhysicsSim
    -
    -
    Runs the simulator: - enable the robot - simulate sensors
    -
    -
    run() - Method in class swervelib.simulation.ctre.PhysicsSim.SimProfile
    -
    -
    Runs the simulation profile.
    -
    -
    run() - Method in class swervelib.simulation.ctre.TalonFXSimProfile
    -
    -
    Runs the simulation profile.
    -
    -
    run() - Method in class swervelib.simulation.ctre.TalonSRXSimProfile
    -
    -
    Runs the simulation profile.
    -
    -
    run() - Method in class swervelib.simulation.ctre.VictorSPXSimProfile
    -
    -
    Runs the simulation profile.
    -
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    S

    -
    -
    set(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Set the percentage output.
    -
    -
    set(double) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Set the percentage output.
    -
    -
    set(double) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Set the percentage output.
    -
    -
    set(double) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Set the percentage output.
    -
    -
    set(double) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Set the percentage output.
    -
    -
    setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Set the absolute encoder to be a compatible absolute encoder.
    -
    -
    setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Set the absolute encoder to be a compatible absolute encoder.
    -
    -
    setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Set the absolute encoder to be a compatible absolute encoder.
    -
    -
    setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Set the absolute encoder to be a compatible absolute encoder.
    -
    -
    setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Set the absolute encoder to be a compatible absolute encoder.
    -
    -
    setAngle(double) - Method in class swervelib.simulation.SwerveIMUSimulation
    -
    -
    Set the heading of the robot.
    -
    -
    setAngle(double) - Method in class swervelib.SwerveModule
    -
    -
    Set the angle for the module.
    -
    -
    setChassisSpeeds(ChassisSpeeds) - Method in class swervelib.SwerveDrive
    -
    -
    Set chassis speeds with closed-loop velocity control and second order kinematics.
    -
    -
    setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
    -
    -
    setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
    -
    -
    setCurrentLimit(int) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
    -
    -
    setCurrentLimit(int) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
    -
    -
    setCurrentLimit(int) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
    -
    -
    setDesiredState(SwerveModuleState2, boolean, boolean) - Method in class swervelib.SwerveModule
    -
    -
    Set the desired state of the swerve module.
    -
    -
    setGyro(Rotation3d) - Method in class swervelib.SwerveDrive
    -
    -
    Set the expected gyroscope angle using a Rotation3d object.
    -
    -
    setInverted(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Set the motor to be inverted.
    -
    -
    setInverted(boolean) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Set the motor to be inverted.
    -
    -
    setInverted(boolean) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Set the motor to be inverted.
    -
    -
    setInverted(boolean) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Set the motor to be inverted.
    -
    -
    setInverted(boolean) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Set the motor to be inverted.
    -
    -
    setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Set the maximum rate the open/closed loop output can change by.
    -
    -
    setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Set the maximum rate the open/closed loop output can change by.
    -
    -
    setLoopRampRate(double) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Set the maximum rate the open/closed loop output can change by.
    -
    -
    setLoopRampRate(double) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Set the maximum rate the open/closed loop output can change by.
    -
    -
    setLoopRampRate(double) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Set the maximum rate the open/closed loop output can change by.
    -
    -
    setMaximumAngularVelocity(double) - Method in class swervelib.SwerveController
    -
    -
    Set a new maximum angular velocity that is different from the auto-generated one.
    -
    -
    setMaximumSpeed(double) - Method in class swervelib.SwerveDrive
    -
    -
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the - SwerveDrive.setRawModuleStates(SwerveModuleState2[], boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
    -
    -
    setMaximumSpeed(double, boolean) - Method in class swervelib.SwerveDrive
    -
    -
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the - SwerveDrive.setRawModuleStates(SwerveModuleState2[], boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
    -
    -
    setMaximumSpeeds(double, double, double) - Method in class swervelib.SwerveDrive
    -
    -
    Set the maximum speeds for desaturation.
    -
    -
    setModuleStates(SwerveModuleState2[], boolean) - Method in class swervelib.SwerveDrive
    -
    -
    Set the module states (azimuth and velocity) directly.
    -
    -
    setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Set the idle mode.
    -
    -
    setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Set the idle mode.
    -
    -
    setMotorBrake(boolean) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Set the idle mode.
    -
    -
    setMotorBrake(boolean) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Set the idle mode.
    -
    -
    setMotorBrake(boolean) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Set the idle mode.
    -
    -
    setMotorBrake(boolean) - Method in class swervelib.SwerveModule
    -
    -
    Set the brake mode.
    -
    -
    setMotorIdleMode(boolean) - Method in class swervelib.SwerveDrive
    -
    -
    Sets the drive motors to brake/coast mode.
    -
    -
    setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16448Swerve
    -
    -
    Set the gyro offset.
    -
    -
    setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16470Swerve
    -
    -
    Set the gyro offset.
    -
    -
    setOffset(Rotation3d) - Method in class swervelib.imu.ADXRS450Swerve
    -
    -
    Set the gyro offset.
    -
    -
    setOffset(Rotation3d) - Method in class swervelib.imu.AnalogGyroSwerve
    -
    -
    Set the gyro offset.
    -
    -
    setOffset(Rotation3d) - Method in class swervelib.imu.NavXSwerve
    -
    -
    Set the gyro offset.
    -
    -
    setOffset(Rotation3d) - Method in class swervelib.imu.Pigeon2Swerve
    -
    -
    Set the gyro offset.
    -
    -
    setOffset(Rotation3d) - Method in class swervelib.imu.PigeonSwerve
    -
    -
    Set the gyro offset.
    -
    -
    setOffset(Rotation3d) - Method in class swervelib.imu.SwerveIMU
    -
    -
    Set the gyro offset.
    -
    -
    setPosition(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Set the integrated encoder position.
    -
    -
    setPosition(double) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Set the integrated encoder position.
    -
    -
    setPosition(double) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Set the integrated encoder position.
    -
    -
    setPosition(double) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Set the integrated encoder position.
    -
    -
    setPosition(double) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Set the integrated encoder position.
    -
    -
    setRawModuleStates(SwerveModuleState2[], boolean) - Method in class swervelib.SwerveDrive
    -
    -
    Set the module states (azimuth and velocity) directly.
    -
    -
    setReference(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Set the closed loop PID controller reference point.
    -
    -
    setReference(double, double) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Set the closed loop PID controller reference point.
    -
    -
    setReference(double, double) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Set the closed loop PID controller reference point.
    -
    -
    setReference(double, double) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Set the closed loop PID controller reference point.
    -
    -
    setReference(double, double) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Set the closed loop PID controller reference point.
    -
    -
    setReference(double, double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Set the closed loop PID controller reference point.
    -
    -
    setReference(double, double, double) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Set the closed loop PID controller reference point.
    -
    -
    setReference(double, double, double) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Set the closed loop PID controller reference point.
    -
    -
    setReference(double, double, double) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Set the closed loop PID controller reference point.
    -
    -
    setReference(double, double, double) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Set the closed loop PID controller reference point.
    -
    -
    setVisionMeasurementStdDevs(Matrix<N3, N1>) - Method in class swervelib.math.SwervePoseEstimator2
    -
    -
    Sets the pose estimator's trust of global measurements.
    -
    -
    setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Set the voltage compensation for the swerve module motor.
    -
    -
    setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Set the voltage compensation for the swerve module motor.
    -
    -
    setVoltageCompensation(double) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Set the voltage compensation for the swerve module motor.
    -
    -
    setVoltageCompensation(double) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Set the voltage compensation for the swerve module motor.
    -
    -
    setVoltageCompensation(double) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Set the voltage compensation for the swerve module motor.
    -
    -
    sim - Static variable in class swervelib.simulation.ctre.PhysicsSim
    -
     
    -
    simIMU - Variable in class swervelib.SwerveDrive
    -
    -
    Simulation of the swerve drive.
    -
    -
    simModule - Variable in class swervelib.SwerveModule
    -
    -
    Simulated swerve module.
    -
    -
    SimProfile() - Constructor for class swervelib.simulation.ctre.PhysicsSim.SimProfile
    -
     
    -
    Simulation - Enum constant in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
    -
    -
    Slot 3, used arbitrarily.
    -
    -
    sizeFrontBack - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    The distance between the front and back modules.
    -
    -
    sizeLeftRight - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    The distance between the left and right modules.
    -
    -
    SparkMAX_slotIdx() - Constructor for enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
    -
     
    -
    SparkMaxBrushedMotorSwerve - Class in swervelib.motors
    -
    -
    Brushed motor control with SparkMax.
    -
    -
    SparkMaxBrushedMotorSwerve(int, boolean, SparkMaxRelativeEncoder.Type, int, boolean) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
    -
    -
    SparkMaxBrushedMotorSwerve(CANSparkMax, boolean, SparkMaxRelativeEncoder.Type, int, boolean) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Initialize the swerve motor.
    -
    -
    SparkMaxEncoderSwerve - Class in swervelib.encoders
    -
    -
    SparkMax absolute encoder, attached through the data port.
    -
    -
    SparkMaxEncoderSwerve(SwerveMotor) - Constructor for class swervelib.encoders.SparkMaxEncoderSwerve
    -
    -
    Create the AbsoluteEncoder object as a duty cycle.
    -
    -
    SparkMaxSwerve - Class in swervelib.motors
    -
    -
    An implementation of CANSparkMax as a SwerveMotor.
    -
    -
    SparkMaxSwerve(int, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
    -
    -
    Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
    -
    -
    SparkMaxSwerve(CANSparkMax, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
    -
    -
    Initialize the swerve motor.
    -
    -
    SparkMaxSwerve.SparkMAX_slotIdx - Enum Class in swervelib.motors
    -
    -
    REV Slots for PID configuration.
    -
    -
    state - Variable in class swervelib.simulation.SwerveModuleSimulation
    -
    -
    Current simulated swerve module state.
    -
    -
    stateStdDevs - Variable in class swervelib.SwerveDrive
    -
    -
    Trustworthiness of the internal model of how motors should be moving Measured in expected standard deviation - (meters of position and degrees of rotation)
    -
    -
    SwerveAbsoluteEncoder - Class in swervelib.encoders
    -
    -
    Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
    -
    -
    SwerveAbsoluteEncoder() - Constructor for class swervelib.encoders.SwerveAbsoluteEncoder
    -
     
    -
    swerveController - Variable in class swervelib.SwerveDrive
    -
    -
    Swerve controller for controlling heading of the robot.
    -
    -
    SwerveController - Class in swervelib
    -
    -
    Controller class used to convert raw inputs into robot speeds.
    -
    -
    SwerveController(SwerveControllerConfiguration) - Constructor for class swervelib.SwerveController
    -
    -
    Construct the SwerveController object which is used for determining the speeds of the robot based on controller - input.
    -
    -
    SwerveControllerConfiguration - Class in swervelib.parser
    -
    -
    Swerve Controller configuration class which is used to configure SwerveController.
    -
    -
    SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig) - Constructor for class swervelib.parser.SwerveControllerConfiguration
    -
    -
    Construct the swerve controller configuration.
    -
    -
    SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
    -
    -
    Construct the swerve controller configuration.
    -
    -
    SwerveDrive - Class in swervelib
    -
    -
    Swerve Drive class representing and controlling the swerve drive.
    -
    -
    SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration) - Constructor for class swervelib.SwerveDrive
    -
    -
    Creates a new swerve drivebase subsystem.
    -
    -
    swerveDriveConfiguration - Variable in class swervelib.SwerveDrive
    -
    -
    Swerve drive configuration.
    -
    -
    SwerveDriveConfiguration - Class in swervelib.parser
    -
    -
    Swerve drive configurations used during SwerveDrive construction.
    -
    -
    SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, double, boolean) - Constructor for class swervelib.parser.SwerveDriveConfiguration
    -
    -
    Create swerve drive configuration.
    -
    -
    swerveDriveJson - Static variable in class swervelib.parser.SwerveParser
    -
    -
    Parsed swervedrive.json
    -
    -
    SwerveDriveJson - Class in swervelib.parser.json
    -
    -
    SwerveDrive JSON parsed class.
    -
    -
    SwerveDriveJson() - Constructor for class swervelib.parser.json.SwerveDriveJson
    -
     
    -
    SwerveDriveOdometry2 - Class in swervelib.math
    -
    -
    Clone of SwerveDriveOdometry except uses gyro pitch and roll to achieve a more accurate estimation.
    -
    -
    SwerveDriveOdometry2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[]) - Constructor for class swervelib.math.SwerveDriveOdometry2
    -
    -
    Constructs a SwerveDriveOdometry object with the default pose at the origin.
    -
    -
    SwerveDriveOdometry2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d) - Constructor for class swervelib.math.SwerveDriveOdometry2
    -
    -
    Constructs a SwerveDriveOdometry object.
    -
    -
    swerveDrivePoseEstimator - Variable in class swervelib.SwerveDrive
    -
    -
    Swerve odometry.
    -
    -
    SwerveDriveTelemetry - Class in swervelib.telemetry
    -
    -
    Telemetry to describe the SwerveDrive following frc-web-components.
    -
    -
    SwerveDriveTelemetry() - Constructor for class swervelib.telemetry.SwerveDriveTelemetry
    -
     
    -
    SwerveDriveTelemetry.TelemetryVerbosity - Enum Class in swervelib.telemetry
    -
    -
    Verbosity of telemetry data sent back.
    -
    -
    SwerveIMU - Class in swervelib.imu
    -
    -
    Swerve IMU abstraction to define a standard interface with a swerve drive.
    -
    -
    SwerveIMU() - Constructor for class swervelib.imu.SwerveIMU
    -
     
    -
    SwerveIMUSimulation - Class in swervelib.simulation
    -
    -
    Simulation for SwerveDrive IMU.
    -
    -
    SwerveIMUSimulation() - Constructor for class swervelib.simulation.SwerveIMUSimulation
    -
    -
    Create the swerve drive IMU simulation.
    -
    -
    SwerveKinematics2 - Class in swervelib.math
    -
    -
    Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis - speed.
    -
    -
    SwerveKinematics2(Translation2d...) - Constructor for class swervelib.math.SwerveKinematics2
    -
    -
    Constructs a swerve drive kinematics object.
    -
    -
    swervelib - package swervelib
    -
    -
    Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
    -
    -
    swervelib.encoders - package swervelib.encoders
    -
    -
    Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
    -
    -
    swervelib.imu - package swervelib.imu
    -
    -
    IMUs used for controlling the robot heading.
    -
    -
    swervelib.math - package swervelib.math
    -
    -
    Mathematics for swerve drives.
    -
    -
    swervelib.motors - package swervelib.motors
    -
    -
    Swerve motor controller wrappers which implement SwerveMotor.
    -
    -
    swervelib.parser - package swervelib.parser
    -
    -
    JSON Parser for YAGSL configurations.
    -
    -
    swervelib.parser.deserializer - package swervelib.parser.deserializer
    -
    -
    Deserialize specific variables for outside the parser.
    -
    -
    swervelib.parser.json - package swervelib.parser.json
    -
    -
    JSON Mapped classes for parsing configuration files.
    -
    -
    swervelib.parser.json.modules - package swervelib.parser.json.modules
    -
    -
    JSON Mapped Configuration types for modules.
    -
    -
    swervelib.simulation - package swervelib.simulation
    -
    -
    Classes used to simulate the swerve drive.
    -
    -
    swervelib.simulation.ctre - package swervelib.simulation.ctre
    -
    -
    CTRE Physics Simulator.
    -
    -
    swervelib.telemetry - package swervelib.telemetry
    -
    -
    Telemetry package for sending data to NT4 or SmartDashboard.
    -
    -
    SwerveMath - Class in swervelib.math
    -
    -
    Mathematical functions which pertain to swerve drive.
    -
    -
    SwerveMath() - Constructor for class swervelib.math.SwerveMath
    -
     
    -
    SwerveModule - Class in swervelib
    -
    -
    The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
    -
    -
    SwerveModule(int, SwerveModuleConfiguration) - Constructor for class swervelib.SwerveModule
    -
    -
    Construct the swerve module and initialize the swerve module motors and absolute encoder.
    -
    -
    SwerveModuleConfiguration - Class in swervelib.parser
    -
    -
    Swerve Module configuration class which is used to configure SwerveModule.
    -
    -
    SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, double, String) - Constructor for class swervelib.parser.SwerveModuleConfiguration
    -
    -
    Construct a configuration object for swerve modules.
    -
    -
    SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, String) - Constructor for class swervelib.parser.SwerveModuleConfiguration
    -
    -
    Construct a configuration object for swerve modules.
    -
    -
    SwerveModulePhysicalCharacteristics - Class in swervelib.parser
    -
    -
    Configuration class which stores physical characteristics shared between every swerve module.
    -
    -
    SwerveModulePhysicalCharacteristics(double, double, double, double, double, int, int) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    Construct the swerve module physical characteristics.
    -
    -
    SwerveModulePhysicalCharacteristics(double, double, double, double, double, int, int, double, double, int, int, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    Construct the swerve module physical characteristics.
    -
    -
    swerveModules - Variable in class swervelib.SwerveDrive
    -
    -
    Swerve modules.
    -
    -
    SwerveModuleSimulation - Class in swervelib.simulation
    -
    -
    Class to hold simulation data for SwerveModule
    -
    -
    SwerveModuleSimulation() - Constructor for class swervelib.simulation.SwerveModuleSimulation
    -
    -
    Create simulation class and initialize module at 0.
    -
    -
    SwerveModuleState2 - Class in swervelib.math
    -
    -
    Second order kinematics swerve module state.
    -
    -
    SwerveModuleState2() - Constructor for class swervelib.math.SwerveModuleState2
    -
    -
    Constructs a SwerveModuleState with zeros for speed and angle.
    -
    -
    SwerveModuleState2(double, Rotation2d, double) - Constructor for class swervelib.math.SwerveModuleState2
    -
    -
    Constructs a SwerveModuleState.
    -
    -
    SwerveModuleState2(SwerveModuleState, double) - Constructor for class swervelib.math.SwerveModuleState2
    -
    -
    Create a SwerveModuleState2 based on the SwerveModuleState with the radians per second defined.
    -
    -
    SwerveMotor - Class in swervelib.motors
    -
    -
    Swerve motor abstraction which defines a standard interface for motors within a swerve module.
    -
    -
    SwerveMotor() - Constructor for class swervelib.motors.SwerveMotor
    -
     
    -
    SwerveParser - Class in swervelib.parser
    -
    -
    Helper class used to parse the JSON directory with specified configuration options.
    -
    -
    SwerveParser(File) - Constructor for class swervelib.parser.SwerveParser
    -
    -
    Construct a swerve parser.
    -
    -
    SwervePoseEstimator2 - Class in swervelib.math
    -
    -
    Clone of SwerveDrivePoseEstimator which takes into account gyroscope pitch and roll to achieve a more - accurate estimation, originally made by Team 1466.
    -
    -
    SwervePoseEstimator2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d) - Constructor for class swervelib.math.SwervePoseEstimator2
    -
    -
    Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements.
    -
    -
    SwervePoseEstimator2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d, Matrix<N3, N1>, Matrix<N3, N1>) - Constructor for class swervelib.math.SwervePoseEstimator2
    -
    -
    Constructs a SwerveDrivePoseEstimator.
    -
    -
    SwervePoseEstimator2.InterpolationRecord - Class in swervelib.math
    -
    -
    Represents an odometry record.
    -
    -
    synchronizeEncoderQueued - Variable in class swervelib.SwerveModule
    -
    -
    Encoder synchronization queued.
    -
    -
    synchronizeModuleEncoders() - Method in class swervelib.SwerveDrive
    -
    -
    Synchronize angle motor integrated encoders with data from absolute encoders.
    -
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    TalonFXSimProfile - Class in swervelib.simulation.ctre
    -
    -
    Holds information about a simulated TalonFX.
    -
    -
    TalonFXSimProfile(TalonFX, double, double, boolean) - Constructor for class swervelib.simulation.ctre.TalonFXSimProfile
    -
    -
    Creates a new simulation profile for a TalonFX device.
    -
    -
    TalonFXSwerve - Class in swervelib.motors
    -
    -
    TalonFX Swerve Motor.
    -
    -
    TalonFXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
    -
    -
    Construct the TalonFX swerve motor given the ID.
    -
    -
    TalonFXSwerve(int, String, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
    -
    -
    Construct the TalonFX swerve motor given the ID and CANBus.
    -
    -
    TalonFXSwerve(WPI_TalonFX, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
    -
    -
    Constructor for TalonFX swerve motor.
    -
    -
    TalonSRXSimProfile - Class in swervelib.simulation.ctre
    -
    -
    Holds information about a simulated TalonSRX.
    -
    -
    TalonSRXSimProfile(TalonSRX, double, double, boolean) - Constructor for class swervelib.simulation.ctre.TalonSRXSimProfile
    -
    -
    Creates a new simulation profile for a TalonSRX device.
    -
    -
    TalonSRXSwerve - Class in swervelib.motors
    -
    -
    WPI_TalonSRX Swerve Motor.
    -
    -
    TalonSRXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
    -
    -
    Construct the TalonSRX swerve motor given the ID.
    -
    -
    TalonSRXSwerve(WPI_TalonSRX, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
    -
    -
    Constructor for TalonSRX swerve motor.
    -
    -
    TelemetryVerbosity() - Constructor for enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    -
     
    -
    thetaController - Variable in class swervelib.SwerveController
    -
    -
    PID Controller for the robot heading.
    -
    -
    timer - Variable in class swervelib.simulation.SwerveIMUSimulation
    -
    -
    Main timer to control movement estimations.
    -
    -
    timer - Variable in class swervelib.simulation.SwerveModuleSimulation
    -
    -
    Main timer to simulate the passage of time.
    -
    -
    toChassisSpeeds(SwerveModuleState2...) - Method in class swervelib.math.SwerveKinematics2
    -
    -
    Performs forward kinematics to return the resulting chassis state from the given module states.
    -
    -
    toSwerveModuleState() - Method in class swervelib.math.SwerveModuleState2
    -
    -
    Convert to a SwerveModuleState.
    -
    -
    toSwerveModuleStates(ChassisSpeeds) - Method in class swervelib.math.SwerveKinematics2
    -
    -
    Performs inverse kinematics.
    -
    -
    toSwerveModuleStates(ChassisSpeeds, Translation2d) - Method in class swervelib.math.SwerveKinematics2
    -
    -
    Performs inverse kinematics to return the module states from a desired chassis velocity.
    -
    -
    toTwist2d(SwerveModulePosition...) - Method in class swervelib.math.SwerveKinematics2
    -
    -
    Performs forward kinematics to return the resulting chassis state from the given module states.
    -
    -
    type - Variable in class swervelib.parser.json.DeviceJson
    -
    -
    The device type, e.g.
    -
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    B

    -
    -
    bigInverseKinematics - Variable in class swervelib.math.SwerveKinematics2
    -
    -
    Second order kinematics inverse matrix.
    -
    -
    BoolMotorJson - Class in swervelib.parser.json.modules
    -
    -
    Inverted motor JSON parsed class.
    -
    -
    BoolMotorJson() - Constructor for class swervelib.parser.json.modules.BoolMotorJson
    -
     
    -
    burnFlash() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Save the configurations from flash to EEPROM.
    -
    -
    burnFlash() - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Save the configurations from flash to EEPROM.
    -
    -
    burnFlash() - Method in class swervelib.motors.SwerveMotor
    -
    -
    Save the configurations from flash to EEPROM.
    -
    -
    burnFlash() - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Save the configurations from flash to EEPROM.
    -
    -
    burnFlash() - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Save the configurations from flash to EEPROM.
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    U

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    update(Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[]) - Method in class swervelib.math.SwerveDriveOdometry2
    -
    -
    Updates the robot's position on the field using forward kinematics and integration of the pose over time.
    -
    -
    update(Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[]) - Method in class swervelib.math.SwervePoseEstimator2
    -
    -
    Updates the pose estimator with wheel encoder and gyro information.
    -
    -
    updateData() - Static method in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    Upload data to smartdashboard
    -
    -
    updateOdometry() - Method in class swervelib.SwerveDrive
    -
    -
    Update odometry should be run every loop.
    -
    -
    updateOdometry(SwerveKinematics2, SwerveModuleState2[], Pose2d[], Field2d) - Method in class swervelib.simulation.SwerveIMUSimulation
    -
    -
    Update the odometry of the simulated SwerveDrive and post the SwerveModule - states to the Field2d.
    -
    -
    updateStateAndPosition(SwerveModuleState2) - Method in class swervelib.simulation.SwerveModuleSimulation
    -
    -
    Update the position and state of the module.
    -
    -
    updateWithTime(double, Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[]) - Method in class swervelib.math.SwervePoseEstimator2
    -
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    Updates the pose estimator with wheel encoder and gyro information.
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    V

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    valueOf(String) - Static method in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
    -
    -
    Returns the enum constant of this class with the specified name.
    -
    -
    valueOf(String) - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    -
    -
    Returns the enum constant of this class with the specified name.
    -
    -
    values() - Static method in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
    -
    -
    Returns an array containing the constants of this enum class, in -the order they are declared.
    -
    -
    values() - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    -
    -
    Returns an array containing the constants of this enum class, in -the order they are declared.
    -
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    Velocity - Enum constant in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
    -
    -
    Slot 2, used for velocity PID's.
    -
    -
    velocityPIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    PIDF configuration options for the drive motor closed-loop PID controller.
    -
    -
    verbosity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    The current telemetry verbosity level.
    -
    -
    VictorSPXSimProfile - Class in swervelib.simulation.ctre
    -
    -
    Holds information about a simulated VictorSPX.
    -
    -
    VictorSPXSimProfile(VictorSPX) - Constructor for class swervelib.simulation.ctre.VictorSPXSimProfile
    -
    -
    Creates a new simulation profile for a VictorSPX device.
    -
    -
    visionMeasurementStdDevs - Variable in class swervelib.SwerveDrive
    -
    -
    Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of - rotation)
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    W

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    wheelDiameter - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    -
    -
    Wheel diameter in inches.
    -
    -
    wheelDiameter - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    Wheel diameter in meters.
    -
    -
    wheelGripCoefficientOfFriction - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    -
    -
    The grip tape coefficient of friction on carpet.
    -
    -
    wheelGripCoefficientOfFriction - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    Wheel grip tape coefficient of friction on carpet, as described by the vendor.
    -
    -
    wheelLocations - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    The number of swerve modules
    -
    -
    withinHypotDeadband(double, double) - Method in class swervelib.SwerveController
    -
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    Calculate the hypot deadband and check if the joystick is within it.
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    X

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    x - Variable in class swervelib.parser.json.modules.LocationJson
    -
    -
    Location of the swerve module in inches from the center of the robot horizontally.
    -
    -
    xLimiter - Variable in class swervelib.SwerveController
    -
    -
    SlewRateLimiter for movement in the X direction in meters/second.
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    Y

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    y - Variable in class swervelib.parser.json.modules.LocationJson
    -
    -
    Location of the swerve module in inches from the center of the robot vertically.
    -
    -
    yLimiter - Variable in class swervelib.SwerveController
    -
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    SlewRateLimiter for movement in the Y direction in meters/second.
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    Z

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    zeroGyro() - Method in class swervelib.SwerveDrive
    -
    -
    Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
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    _

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    _accelToFullTime - Variable in class swervelib.simulation.ctre.TalonFXSimProfile
    -
     
    -
    _accelToFullTime - Variable in class swervelib.simulation.ctre.TalonSRXSimProfile
    -
     
    -
    _falcon - Variable in class swervelib.simulation.ctre.TalonFXSimProfile
    -
     
    -
    _fullVel - Variable in class swervelib.simulation.ctre.TalonFXSimProfile
    -
     
    -
    _fullVel - Variable in class swervelib.simulation.ctre.TalonSRXSimProfile
    -
     
    -
    _lastTime - Variable in class swervelib.simulation.ctre.PhysicsSim.SimProfile
    -
     
    -
    _running - Variable in class swervelib.simulation.ctre.PhysicsSim.SimProfile
    -
     
    -
    _sensorPhase - Variable in class swervelib.simulation.ctre.TalonFXSimProfile
    -
     
    -
    _sensorPhase - Variable in class swervelib.simulation.ctre.TalonSRXSimProfile
    -
     
    -
    _simProfiles - Variable in class swervelib.simulation.ctre.PhysicsSim
    -
     
    -
    _talon - Variable in class swervelib.simulation.ctre.TalonSRXSimProfile
    -
     
    -
    _vel - Variable in class swervelib.simulation.ctre.TalonFXSimProfile
    -
    -
    The current velocity
    -
    -
    _vel - Variable in class swervelib.simulation.ctre.TalonSRXSimProfile
    -
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    The current velocity
    -
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    _victor - Variable in class swervelib.simulation.ctre.VictorSPXSimProfile
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    C

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    -
    calcMaxAccel(Rotation2d, List<Matter>, double, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath
    -
    -
    Calculates the maximum acceleration allowed in a direction without tipping the robot.
    -
    -
    calculateDegreesPerSteeringRotation(double, double) - Static method in class swervelib.math.SwerveMath
    -
    -
    Calculate the degrees per steering rotation for the integrated encoder.
    -
    -
    calculateMaxAcceleration(double) - Static method in class swervelib.math.SwerveMath
    -
    -
    Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
    -
    -
    calculateMaxAcceleration(double, double, double, double, double) - Static method in class swervelib.math.SwerveMath
    -
    -
    Calculate the maximum theoretical acceleration without friction.
    -
    -
    calculateMaxAngularVelocity(double, double, double) - Static method in class swervelib.math.SwerveMath
    -
    -
    Calculate the maximum angular velocity.
    -
    -
    calculateMetersPerRotation(double, double, double) - Static method in class swervelib.math.SwerveMath
    -
    -
    Calculate the meters per rotation for the integrated encoder.
    -
    -
    canbus - Variable in class swervelib.parser.json.DeviceJson
    -
    -
    The CAN bus name which the device resides on if using CAN.
    -
    -
    CANCoderSwerve - Class in swervelib.encoders
    -
    -
    Swerve Absolute Encoder for CTRE CANCoders.
    -
    -
    CANCoderSwerve(int) - Constructor for class swervelib.encoders.CANCoderSwerve
    -
    -
    Initialize the CANCoder on the standard CANBus.
    -
    -
    CANCoderSwerve(int, String) - Constructor for class swervelib.encoders.CANCoderSwerve
    -
    -
    Initialize the CANCoder on the CANivore.
    -
    -
    chassisVelocityCorrection - Variable in class swervelib.SwerveDrive
    -
    -
    Correct chassis velocity in SwerveDrive.drive(Translation2d, double, boolean, boolean) using 254's - correction.
    -
    -
    checkDirectory(File) - Method in class swervelib.parser.SwerveParser
    -
    -
    Check directory structure.
    -
    -
    clearStickyFaults() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    -
    -
    Clear sticky faults on the encoder.
    -
    -
    clearStickyFaults() - Method in class swervelib.encoders.CANCoderSwerve
    -
    -
    Clear sticky faults on the encoder.
    -
    -
    clearStickyFaults() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
    -
    -
    Clear sticky faults on the encoder.
    -
    -
    clearStickyFaults() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
    -
    -
    Clear sticky faults on the encoder.
    -
    -
    clearStickyFaults() - Method in class swervelib.imu.ADIS16448Swerve
    -
    -
    Clear sticky faults on IMU.
    -
    -
    clearStickyFaults() - Method in class swervelib.imu.ADIS16470Swerve
    -
    -
    Clear sticky faults on IMU.
    -
    -
    clearStickyFaults() - Method in class swervelib.imu.ADXRS450Swerve
    -
    -
    Clear sticky faults on IMU.
    -
    -
    clearStickyFaults() - Method in class swervelib.imu.AnalogGyroSwerve
    -
    -
    Clear sticky faults on IMU.
    -
    -
    clearStickyFaults() - Method in class swervelib.imu.NavXSwerve
    -
    -
    Clear sticky faults on IMU.
    -
    -
    clearStickyFaults() - Method in class swervelib.imu.Pigeon2Swerve
    -
    -
    Clear sticky faults on IMU.
    -
    -
    clearStickyFaults() - Method in class swervelib.imu.PigeonSwerve
    -
    -
    Clear sticky faults on IMU.
    -
    -
    clearStickyFaults() - Method in class swervelib.imu.SwerveIMU
    -
    -
    Clear sticky faults on IMU.
    -
    -
    clearStickyFaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Clear the sticky faults on the motor controller.
    -
    -
    clearStickyFaults() - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Clear the sticky faults on the motor controller.
    -
    -
    clearStickyFaults() - Method in class swervelib.motors.SwerveMotor
    -
    -
    Clear the sticky faults on the motor controller.
    -
    -
    clearStickyFaults() - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Clear the sticky faults on the motor controller.
    -
    -
    clearStickyFaults() - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Clear the sticky faults on the motor controller.
    -
    -
    config - Variable in class swervelib.SwerveController
    -
    -
    SwerveControllerConfiguration object storing data to generate the PIDController for controlling the - robot heading, and deadband for heading joystick.
    -
    -
    configChanged - Variable in class swervelib.motors.TalonFXSwerve
    -
    -
    If the TalonFX configuration has changed.
    -
    -
    configChanged - Variable in class swervelib.motors.TalonSRXSwerve
    -
    -
    If the TalonFX configuration has changed.
    -
    -
    configuration - Variable in class swervelib.motors.TalonFXSwerve
    -
    -
    Current TalonFX configuration.
    -
    -
    configuration - Variable in class swervelib.motors.TalonSRXSwerve
    -
    -
    Current TalonFX configuration.
    -
    -
    configuration - Variable in class swervelib.SwerveModule
    -
    -
    Swerve module configuration options.
    -
    -
    configure(boolean) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    -
    -
    Configure the absolute encoder to read from [0, 360) per second.
    -
    -
    configure(boolean) - Method in class swervelib.encoders.CANCoderSwerve
    -
    -
    Configure the absolute encoder to read from [0, 360) per second.
    -
    -
    configure(boolean) - Method in class swervelib.encoders.SparkMaxEncoderSwerve
    -
    -
    Configure the absolute encoder to read from [0, 360) per second.
    -
    -
    configure(boolean) - Method in class swervelib.encoders.SwerveAbsoluteEncoder
    -
    -
    Configure the absolute encoder to read from [0, 360) per second.
    -
    -
    configureCANStatusFrames(int) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Set the CAN status frames.
    -
    -
    configureCANStatusFrames(int) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Set the CAN status frames.
    -
    -
    configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Set the CAN status frames.
    -
    -
    configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Set the CAN status frames.
    -
    -
    configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Set the CAN status frames.
    -
    -
    configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Set the CAN status frames.
    -
    -
    configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Configure the integrated encoder for the swerve module.
    -
    -
    configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Configure the integrated encoder for the swerve module.
    -
    -
    configureIntegratedEncoder(double) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Configure the integrated encoder for the swerve module.
    -
    -
    configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Configure the integrated encoder for the swerve module.
    -
    -
    configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Configure the integrated encoder for the swerve module.
    -
    -
    configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Configure the PIDF values for the closed loop controller.
    -
    -
    configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Configure the PIDF values for the closed loop controller.
    -
    -
    configurePIDF(PIDFConfig) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Configure the PIDF values for the closed loop controller.
    -
    -
    configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Configure the PIDF values for the closed loop controller.
    -
    -
    configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Configure the PIDF values for the closed loop controller.
    -
    -
    configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Configure the PID wrapping for the position closed loop controller.
    -
    -
    configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Configure the PID wrapping for the position closed loop controller.
    -
    -
    configurePIDWrapping(double, double) - Method in class swervelib.motors.SwerveMotor
    -
    -
    Configure the PID wrapping for the position closed loop controller.
    -
    -
    configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Configure the PID wrapping for the position closed loop controller.
    -
    -
    configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Configure the PID wrapping for the position closed loop controller.
    -
    -
    controllerPropertiesJson - Static variable in class swervelib.parser.SwerveParser
    -
    -
    Parsed controllerproperties.json
    -
    -
    ControllerPropertiesJson - Class in swervelib.parser.json
    -
    -
    SwerveController parsed class.
    -
    -
    ControllerPropertiesJson() - Constructor for class swervelib.parser.json.ControllerPropertiesJson
    -
     
    -
    convertToNativeSensorUnits(double, double) - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Convert the setpoint into native sensor units.
    -
    -
    convertToNativeSensorUnits(double, double) - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Convert the setpoint into native sensor units.
    -
    -
    createControllerConfiguration(SwerveDriveConfiguration) - Method in class swervelib.parser.json.ControllerPropertiesJson
    -
    -
    Create the SwerveControllerConfiguration based on parsed and given data.
    -
    -
    createDriveFeedforward() - Method in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    Create the drive feedforward for swerve modules.
    -
    -
    createEncoder() - Method in class swervelib.parser.json.DeviceJson
    -
    -
    Create a SwerveAbsoluteEncoder from the current configuration.
    -
    -
    createIMU() - Method in class swervelib.parser.json.DeviceJson
    -
    -
    Create a SwerveIMU from the given configuration.
    -
    -
    createIntegratedEncoder(SwerveMotor) - Method in class swervelib.parser.json.DeviceJson
    -
    -
    Create a SwerveAbsoluteEncoder from the data port on the motor controller.
    -
    -
    createModuleConfiguration(PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, String) - Method in class swervelib.parser.json.ModuleJson
    -
    -
    Create the swerve module configuration based off of parsed data.
    -
    -
    createModules(SwerveModuleConfiguration[]) - Method in class swervelib.parser.SwerveDriveConfiguration
    -
    -
    Create modules based off of the SwerveModuleConfiguration.
    -
    -
    createMotor(boolean) - Method in class swervelib.parser.json.DeviceJson
    -
    -
    Create a SwerveMotor from the given configuration.
    -
    -
    createPhysicalProperties(double) - Method in class swervelib.parser.json.PhysicalPropertiesJson
    -
    -
    Create the physical characteristics based off the parsed data.
    -
    -
    createPIDController() - Method in class swervelib.parser.PIDFConfig
    -
    -
    Create a PIDController from the PID values.
    -
    -
    createSwerveDrive() - Method in class swervelib.parser.SwerveParser
    -
    -
    Create SwerveDrive from JSON configuration directory.
    -
    -
    currentLimit - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    -
    -
    The current limit in AMPs to apply to the motors.
    -
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    All Classes and Interfaces|All Packages|Constant Field Values -

    D

    -
    -
    d - Variable in class swervelib.parser.PIDFConfig
    -
    -
    Derivative Gain for PID.
    -
    -
    desaturateWheelSpeeds(SwerveModuleState2[], double) - Static method in class swervelib.math.SwerveKinematics2
    -
    -
    Renormalizes the wheel speeds if any individual speed is above the specified maximum.
    -
    -
    desaturateWheelSpeeds(SwerveModuleState2[], ChassisSpeeds, double, double, double) - Static method in class swervelib.math.SwerveKinematics2
    -
    -
    Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of - joystick saturation at edges of joystick.
    -
    -
    desiredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    Describes the desired forward, sideways and angular velocity of the robot.
    -
    -
    desiredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    An array of rotation and velocity values describing the desired state of each swerve module
    -
    -
    DeviceJson - Class in swervelib.parser.json
    -
    -
    Device JSON parsed class.
    -
    -
    DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson
    -
     
    -
    disableSecondOrderKinematics() - Method in class swervelib.SwerveDrive
    -
    -
    Disable second order kinematics.
    -
    -
    drive - Variable in class swervelib.parser.json.ModuleJson
    -
    -
    Drive motor device configuration.
    -
    -
    drive - Variable in class swervelib.parser.json.modules.BoolMotorJson
    -
    -
    Drive motor inversion state.
    -
    -
    drive - Variable in class swervelib.parser.json.MotorConfigDouble
    -
    -
    Drive motor.
    -
    -
    drive - Variable in class swervelib.parser.json.MotorConfigInt
    -
    -
    Drive motor.
    -
    -
    drive - Variable in class swervelib.parser.json.PIDFPropertiesJson
    -
    -
    The PIDF with Integral Zone used for the drive motor.
    -
    -
    drive(Translation2d, double, boolean, boolean) - Method in class swervelib.SwerveDrive
    -
    -
    The primary method for controlling the drivebase.
    -
    -
    drive(Translation2d, double, boolean, boolean, boolean) - Method in class swervelib.SwerveDrive
    -
    -
    The primary method for controlling the drivebase.
    -
    -
    driveEncoderPulsePerRotation - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    Drive motor encoder pulse per rotation.
    -
    -
    driveGearRatio - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    Drive gear ratio.
    -
    -
    driveMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    The drive motor and angle motor of this swerve module.
    -
    -
    driveMotor - Variable in class swervelib.SwerveModule
    -
    -
    Swerve Motors.
    -
    -
    driveMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    Current limits for the Swerve Module.
    -
    -
    driveMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    State of inversion of the drive motor.
    -
    -
    driveMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
    -
    -
    The time it takes for the motor to go from 0 to full throttle in seconds.
    -
    -
    dt - Variable in class swervelib.simulation.SwerveModuleSimulation
    -
    -
    Time delta since last update
    -
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    E

    -
    -
    enableSecondOrderKinematics() - Method in class swervelib.SwerveDrive
    -
    -
    Enable second order kinematics for tracking purposes but completely untuned.
    -
    -
    enableSecondOrderKinematics(double) - Method in class swervelib.SwerveDrive
    -
    -
    Enable second order kinematics for simulation and modifying the feedforward.
    -
    -
    encoder - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    -
    -
    Encoder as Analog Input.
    -
    -
    encoder - Variable in class swervelib.encoders.CANCoderSwerve
    -
    -
    CANCoder with WPILib sendable and support.
    -
    -
    encoder - Variable in class swervelib.encoders.SparkMaxEncoderSwerve
    -
    -
    The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
    -
    -
    encoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Integrated encoder.
    -
    -
    encoder - Variable in class swervelib.motors.SparkMaxSwerve
    -
    -
    Integrated encoder.
    -
    -
    encoder - Variable in class swervelib.parser.json.ModuleJson
    -
    -
    Absolute encoder device configuration.
    -
    -
    encoderPulsePerRotation - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    -
    -
    Encoder pulse per rotation for non-integrated encoders.
    -
    -
    equals(Object) - Method in class swervelib.math.SwervePoseEstimator2.InterpolationRecord
    -
     
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    F

    -
    -
    f - Variable in class swervelib.parser.PIDFConfig
    -
    -
    Feedforward value for PID.
    -
    -
    factoryDefault() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    -
    -
    Reset the encoder to factory defaults.
    -
    -
    factoryDefault() - Method in class swervelib.encoders.CANCoderSwerve
    -
    -
    Reset the encoder to factory defaults.
    -
    -
    factoryDefault() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
    -
    -
    Reset the encoder to factory defaults.
    -
    -
    factoryDefault() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
    -
    -
    Reset the encoder to factory defaults.
    -
    -
    factoryDefault() - Method in class swervelib.imu.ADIS16448Swerve
    -
    -
    Reset IMU to factory default.
    -
    -
    factoryDefault() - Method in class swervelib.imu.ADIS16470Swerve
    -
    -
    Reset IMU to factory default.
    -
    -
    factoryDefault() - Method in class swervelib.imu.ADXRS450Swerve
    -
    -
    Reset IMU to factory default.
    -
    -
    factoryDefault() - Method in class swervelib.imu.AnalogGyroSwerve
    -
    -
    Reset IMU to factory default.
    -
    -
    factoryDefault() - Method in class swervelib.imu.NavXSwerve
    -
    -
    Reset IMU to factory default.
    -
    -
    factoryDefault() - Method in class swervelib.imu.Pigeon2Swerve
    -
    -
    Reset IMU to factory default.
    -
    -
    factoryDefault() - Method in class swervelib.imu.PigeonSwerve
    -
    -
    Reset IMU to factory default.
    -
    -
    factoryDefault() - Method in class swervelib.imu.SwerveIMU
    -
    -
    Reset IMU to factory default.
    -
    -
    factoryDefaultOccurred - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Factory default already occurred.
    -
    -
    factoryDefaultOccurred - Variable in class swervelib.motors.SparkMaxSwerve
    -
    -
    Factory default already occurred.
    -
    -
    factoryDefaultOccurred - Variable in class swervelib.motors.TalonFXSwerve
    -
    -
    Factory default already occurred.
    -
    -
    factoryDefaultOccurred - Variable in class swervelib.motors.TalonSRXSwerve
    -
    -
    Factory default already occurred.
    -
    -
    factoryDefaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Configure the factory defaults.
    -
    -
    factoryDefaults() - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Configure the factory defaults.
    -
    -
    factoryDefaults() - Method in class swervelib.motors.SwerveMotor
    -
    -
    Configure the factory defaults.
    -
    -
    factoryDefaults() - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Configure the factory defaults.
    -
    -
    factoryDefaults() - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Configure the factory defaults.
    -
    -
    fakePos - Variable in class swervelib.simulation.SwerveModuleSimulation
    -
    -
    Fake motor position.
    -
    -
    fakeSpeed - Variable in class swervelib.simulation.SwerveModuleSimulation
    -
    -
    The fake speed of the previous state, used to calculate SwerveModuleSimulation.fakePos.
    -
    -
    feedforward - Variable in class swervelib.SwerveModule
    -
    -
    Feedforward for drive motor during closed loop control.
    -
    -
    field - Variable in class swervelib.SwerveDrive
    -
    -
    Field object.
    -
    -
    forwardDirection - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    The direction the robot should be facing when the "Robot Rotation" is zero or blank.
    -
    -
    front - Variable in class swervelib.parser.json.modules.LocationJson
    -
    -
    Location of the swerve module in inches from the center of the robot horizontally.
    -
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    All Classes and Interfaces|All Packages|Constant Field Values -

    G

    -
    -
    gearRatio - Variable in class swervelib.parser.json.PhysicalPropertiesJson
    -
    -
    Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
    -
    -
    getAbsoluteEncoder() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    -
    -
    Get the instantiated absolute encoder Object.
    -
    -
    getAbsoluteEncoder() - Method in class swervelib.encoders.CANCoderSwerve
    -
    -
    Get the instantiated absolute encoder Object.
    -
    -
    getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
    -
    -
    Get the instantiated absolute encoder Object.
    -
    -
    getAbsoluteEncoder() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
    -
    -
    Get the instantiated absolute encoder Object.
    -
    -
    getAbsolutePosition() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    -
    -
    Get the absolute position of the encoder.
    -
    -
    getAbsolutePosition() - Method in class swervelib.encoders.CANCoderSwerve
    -
    -
    Get the absolute position of the encoder.
    -
    -
    getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
    -
    -
    Get the absolute position of the encoder.
    -
    -
    getAbsolutePosition() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
    -
    -
    Get the absolute position of the encoder.
    -
    -
    getAbsolutePosition() - Method in class swervelib.SwerveModule
    -
    -
    Get the absolute position.
    -
    -
    getAccel() - Method in class swervelib.imu.ADIS16448Swerve
    -
    -
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    -
    -
    getAccel() - Method in class swervelib.imu.ADIS16470Swerve
    -
    -
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    -
    -
    getAccel() - Method in class swervelib.imu.ADXRS450Swerve
    -
    -
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    -
    -
    getAccel() - Method in class swervelib.imu.AnalogGyroSwerve
    -
    -
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    -
    -
    getAccel() - Method in class swervelib.imu.NavXSwerve
    -
    -
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    -
    -
    getAccel() - Method in class swervelib.imu.Pigeon2Swerve
    -
    -
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    -
    -
    getAccel() - Method in class swervelib.imu.PigeonSwerve
    -
    -
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    -
    -
    getAccel() - Method in class swervelib.imu.SwerveIMU
    -
    -
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    -
    -
    getAccel() - Method in class swervelib.simulation.SwerveIMUSimulation
    -
    -
    Fetch the acceleration [x, y, z] from the IMU in m/s/s.
    -
    -
    getAccel() - Method in class swervelib.SwerveDrive
    -
    -
    Gets current acceleration of the robot in m/s/s.
    -
    -
    getAngleMotor() - Method in class swervelib.SwerveModule
    -
    -
    Get the angle SwerveMotor for the SwerveModule.
    -
    -
    getConfiguration() - Method in class swervelib.SwerveModule
    -
    -
    Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.
    -
    -
    getDriveMotor() - Method in class swervelib.SwerveModule
    -
    -
    Get the drive SwerveMotor for the SwerveModule.
    -
    -
    getEstimatedPosition() - Method in class swervelib.math.SwervePoseEstimator2
    -
    -
    Gets the estimated robot pose.
    -
    -
    getFieldVelocity() - Method in class swervelib.SwerveDrive
    -
    -
    Gets the current field-relative velocity (x, y and omega) of the robot
    -
    -
    getGyroRotation3d() - Method in class swervelib.simulation.SwerveIMUSimulation
    -
    -
    Gets the estimated gyro Rotation3d of the robot.
    -
    -
    getGyroRotation3d() - Method in class swervelib.SwerveDrive
    -
    -
    Gets the current gyro Rotation3d of the robot, as reported by the imu.
    -
    -
    getIMU() - Method in class swervelib.imu.ADIS16448Swerve
    -
    -
    Get the instantiated IMU object.
    -
    -
    getIMU() - Method in class swervelib.imu.ADIS16470Swerve
    -
    -
    Get the instantiated IMU object.
    -
    -
    getIMU() - Method in class swervelib.imu.ADXRS450Swerve
    -
    -
    Get the instantiated IMU object.
    -
    -
    getIMU() - Method in class swervelib.imu.AnalogGyroSwerve
    -
    -
    Get the instantiated IMU object.
    -
    -
    getIMU() - Method in class swervelib.imu.NavXSwerve
    -
    -
    Get the instantiated IMU object.
    -
    -
    getIMU() - Method in class swervelib.imu.Pigeon2Swerve
    -
    -
    Get the instantiated IMU object.
    -
    -
    getIMU() - Method in class swervelib.imu.PigeonSwerve
    -
    -
    Get the instantiated IMU object.
    -
    -
    getIMU() - Method in class swervelib.imu.SwerveIMU
    -
    -
    Get the instantiated IMU object.
    -
    -
    getInstance() - Static method in class swervelib.simulation.ctre.PhysicsSim
    -
    -
    Gets the robot simulator instance.
    -
    -
    getJoystickAngle(double, double) - Method in class swervelib.SwerveController
    -
    -
    Get the angle in radians based off of the heading joysticks.
    -
    -
    getModuleConfigurationByName(String, SwerveDriveConfiguration) - Static method in class swervelib.parser.SwerveParser
    -
    -
    Get the swerve module by the json name.
    -
    -
    getModulePositions() - Method in class swervelib.SwerveDrive
    -
    -
    Gets the current module positions (azimuth and wheel position (meters)).
    -
    -
    getModules() - Method in class swervelib.SwerveDrive
    -
    -
    Get the SwerveModules associated with the SwerveDrive.
    -
    -
    getMotor() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Get the motor object from the module.
    -
    -
    getMotor() - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Get the motor object from the module.
    -
    -
    getMotor() - Method in class swervelib.motors.SwerveMotor
    -
    -
    Get the motor object from the module.
    -
    -
    getMotor() - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Get the motor object from the module.
    -
    -
    getMotor() - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Get the motor object from the module.
    -
    -
    getPeriod() - Method in class swervelib.simulation.ctre.PhysicsSim.SimProfile
    -
    -
    Returns the time since last call, in milliseconds.
    -
    -
    getPitch() - Method in class swervelib.simulation.SwerveIMUSimulation
    -
    -
    Pitch is not simulated currently, always returns 0.
    -
    -
    getPitch() - Method in class swervelib.SwerveDrive
    -
    -
    Gets the current pitch angle of the robot, as reported by the imu.
    -
    -
    getPose() - Method in class swervelib.SwerveDrive
    -
    -
    Gets the current pose (position and rotation) of the robot, as reported by odometry.
    -
    -
    getPoseMeters() - Method in class swervelib.math.SwerveDriveOdometry2
    -
    -
    Returns the position of the robot on the field.
    -
    -
    getPosition() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Get the position of the integrated encoder.
    -
    -
    getPosition() - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Get the position of the integrated encoder.
    -
    -
    getPosition() - Method in class swervelib.motors.SwerveMotor
    -
    -
    Get the position of the integrated encoder.
    -
    -
    getPosition() - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Get the position of the integrated encoder.
    -
    -
    getPosition() - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Get the position of the integrated encoder.
    -
    -
    getPosition() - Method in class swervelib.simulation.SwerveModuleSimulation
    -
    -
    Get the simulated swerve module position.
    -
    -
    getPosition() - Method in class swervelib.SwerveModule
    -
    -
    Get the position of the swerve module.
    -
    -
    getPositionEncoderConversion(boolean) - Method in class swervelib.parser.SwerveModuleConfiguration
    -
    -
    Get the encoder conversion for position encoders.
    -
    -
    getRawRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
    -
    -
    Fetch the Rotation3d from the IMU without any zeroing.
    -
    -
    getRawRotation3d() - Method in class swervelib.imu.ADIS16470Swerve
    -
    -
    Fetch the Rotation3d from the IMU without any zeroing.
    -
    -
    getRawRotation3d() - Method in class swervelib.imu.ADXRS450Swerve
    -
    -
    Fetch the Rotation3d from the IMU without any zeroing.
    -
    -
    getRawRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve
    -
    -
    Fetch the Rotation3d from the IMU without any zeroing.
    -
    -
    getRawRotation3d() - Method in class swervelib.imu.NavXSwerve
    -
    -
    Fetch the Rotation3d from the IMU without any zeroing.
    -
    -
    getRawRotation3d() - Method in class swervelib.imu.Pigeon2Swerve
    -
    -
    Fetch the Rotation3d from the IMU without any zeroing.
    -
    -
    getRawRotation3d() - Method in class swervelib.imu.PigeonSwerve
    -
    -
    Fetch the Rotation3d from the IMU without any zeroing.
    -
    -
    getRawRotation3d() - Method in class swervelib.imu.SwerveIMU
    -
    -
    Fetch the Rotation3d from the IMU without any zeroing.
    -
    -
    getRawTargetSpeeds(double, double, double) - Method in class swervelib.SwerveController
    -
    -
    Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
    -
    -
    getRawTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController
    -
    -
    Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
    -
    -
    getRelativePosition() - Method in class swervelib.SwerveModule
    -
    -
    Get the relative angle in degrees.
    -
    -
    getRobotVelocity() - Method in class swervelib.SwerveDrive
    -
    -
    Gets the current robot-relative velocity (x, y and omega) of the robot
    -
    -
    getRoll() - Method in class swervelib.simulation.SwerveIMUSimulation
    -
    -
    Roll is not simulated currently, always returns 0.
    -
    -
    getRoll() - Method in class swervelib.SwerveDrive
    -
    -
    Gets the current roll angle of the robot, as reported by the imu.
    -
    -
    getRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
    -
    -
    Fetch the Rotation3d from the IMU.
    -
    -
    getRotation3d() - Method in class swervelib.imu.ADIS16470Swerve
    -
    -
    Fetch the Rotation3d from the IMU.
    -
    -
    getRotation3d() - Method in class swervelib.imu.ADXRS450Swerve
    -
    -
    Fetch the Rotation3d from the IMU.
    -
    -
    getRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve
    -
    -
    Fetch the Rotation3d from the IMU.
    -
    -
    getRotation3d() - Method in class swervelib.imu.NavXSwerve
    -
    -
    Fetch the Rotation3d from the IMU.
    -
    -
    getRotation3d() - Method in class swervelib.imu.Pigeon2Swerve
    -
    -
    Fetch the Rotation3d from the IMU.
    -
    -
    getRotation3d() - Method in class swervelib.imu.PigeonSwerve
    -
    -
    Fetch the Rotation3d from the IMU.
    -
    -
    getRotation3d() - Method in class swervelib.imu.SwerveIMU
    -
    -
    Fetch the Rotation3d from the IMU.
    -
    -
    getState() - Method in class swervelib.simulation.SwerveModuleSimulation
    -
    -
    Get the SwerveModuleState2 of the simulated module.
    -
    -
    getState() - Method in class swervelib.SwerveModule
    -
    -
    Get the Swerve Module state.
    -
    -
    getStates() - Method in class swervelib.SwerveDrive
    -
    -
    Gets the current module states (azimuth and velocity)
    -
    -
    getSwerveController() - Method in class swervelib.SwerveDrive
    -
    -
    Helper function to get the SwerveDrive.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.
    -
    -
    getSwerveModule(SwerveModule[], boolean, boolean) - Static method in class swervelib.math.SwerveMath
    -
    -
    Get the fruthest module from center based on the module locations.
    -
    -
    getSwerveModulePoses(Pose2d) - Method in class swervelib.SwerveDrive
    -
    -
    Get the swerve module poses and on the field relative to the robot.
    -
    -
    getTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController
    -
    -
    Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.
    -
    -
    getTargetSpeeds(double, double, double, double, double) - Method in class swervelib.SwerveController
    -
    -
    Get the chassis speeds based on controller input of 2 joysticks.
    -
    -
    getTranslation2d(ChassisSpeeds) - Static method in class swervelib.SwerveController
    -
    -
    Helper function to get the Translation2d of the chassis speeds given the ChassisSpeeds.
    -
    -
    getVelocity() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Get the velocity of the integrated encoder.
    -
    -
    getVelocity() - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Get the velocity of the integrated encoder.
    -
    -
    getVelocity() - Method in class swervelib.motors.SwerveMotor
    -
    -
    Get the velocity of the integrated encoder.
    -
    -
    getVelocity() - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Get the velocity of the integrated encoder.
    -
    -
    getVelocity() - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Get the velocity of the integrated encoder.
    -
    -
    getYaw() - Method in class swervelib.simulation.SwerveIMUSimulation
    -
    -
    Get the estimated angle of the robot.
    -
    -
    getYaw() - Method in class swervelib.SwerveDrive
    -
    -
    Gets the current yaw angle of the robot, as reported by the imu.
    -
    -
    gyro - Variable in class swervelib.imu.AnalogGyroSwerve
    -
    -
    Gyroscope object.
    -
    -
    gyro - Variable in class swervelib.imu.NavXSwerve
    -
    -
    NavX IMU.
    -
    -
    gyroAngle - Variable in class swervelib.math.SwervePoseEstimator2.InterpolationRecord
    -
     
    -
    gyroPitch - Variable in class swervelib.math.SwervePoseEstimator2.InterpolationRecord
    -
     
    -
    gyroRoll - Variable in class swervelib.math.SwervePoseEstimator2.InterpolationRecord
    -
     
    -
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    -
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    - - diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html deleted file mode 100644 index d24d4ba..0000000 --- a/docs/index-files/index-8.html +++ /dev/null @@ -1,79 +0,0 @@ - - - - -H-Index - - - - - - - - - - - - - - - -
    - -
    -
    -
    -

    Index

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    All Classes and Interfaces|All Packages|Constant Field Values -

    H

    -
    -
    hashCode() - Method in class swervelib.math.SwervePoseEstimator2.InterpolationRecord
    -
     
    -
    heading - Variable in class swervelib.parser.json.ControllerPropertiesJson
    -
    -
    The PID used to control the robot heading.
    -
    -
    headingCalculate(double, double) - Method in class swervelib.SwerveController
    -
    -
    Calculate the angular velocity given the current and target heading angle in radians.
    -
    -
    headingPIDF - Variable in class swervelib.parser.SwerveControllerConfiguration
    -
    -
    PIDF for the heading of the robot.
    -
    -
    HIGH - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
    -
    -
    Full swerve drive data is sent back in both human and machine readable forms.
    -
    -
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    All Classes and Interfaces|All Packages|Constant Field Values
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    -
    - - diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html deleted file mode 100644 index 29d8435..0000000 --- a/docs/index-files/index-9.html +++ /dev/null @@ -1,161 +0,0 @@ - - - - -I-Index - - - - - - - - - - - - - - - -
    - -
    -
    -
    -

    Index

    -
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    All Classes and Interfaces|All Packages|Constant Field Values -

    I

    -
    -
    i - Variable in class swervelib.parser.PIDFConfig
    -
    -
    Integral Gain for PID.
    -
    -
    id - Variable in class swervelib.parser.json.DeviceJson
    -
    -
    The CAN ID or pin ID of the device.
    -
    -
    imu - Variable in class swervelib.imu.ADIS16448Swerve
    -
    -
    ADIS16448_IMU device to read the current headings from.
    -
    -
    imu - Variable in class swervelib.imu.ADIS16470Swerve
    -
    -
    ADIS16470_IMU device to read the current headings from.
    -
    -
    imu - Variable in class swervelib.imu.ADXRS450Swerve
    -
    -
    ADXRS450_Gyro device to read the current headings from.
    -
    -
    imu - Variable in class swervelib.imu.Pigeon2Swerve
    -
    -
    Pigeon2 IMU device.
    -
    -
    imu - Variable in class swervelib.imu.PigeonSwerve
    -
    -
    Pigeon v1 IMU device.
    -
    -
    imu - Variable in class swervelib.parser.json.SwerveDriveJson
    -
    -
    Robot IMU used to determine heading of the robot.
    -
    -
    imu - Variable in class swervelib.parser.SwerveDriveConfiguration
    -
    -
    Swerve IMU
    -
    -
    imu - Variable in class swervelib.SwerveDrive
    -
    -
    Swerve IMU device for sensing the heading of the robot.
    -
    -
    interpolate(SwervePoseEstimator2.InterpolationRecord, double) - Method in class swervelib.math.SwervePoseEstimator2.InterpolationRecord
    -
    -
    Return the interpolated record.
    -
    -
    InterpolationRecord(Pose2d, Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[]) - Constructor for class swervelib.math.SwervePoseEstimator2.InterpolationRecord
    -
    -
    Constructs an Interpolation Record with the specified parameters.
    -
    -
    inverted - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
    -
    -
    Inversion state of the encoder.
    -
    -
    inverted - Variable in class swervelib.parser.json.ModuleJson
    -
    -
    Defines which motors are inverted.
    -
    -
    invertedIMU - Variable in class swervelib.parser.json.SwerveDriveJson
    -
    -
    Invert the IMU of the robot.
    -
    -
    invertedIMU - Variable in class swervelib.parser.SwerveDriveConfiguration
    -
    -
    Invert the imu measurements.
    -
    -
    invertOdometry - Variable in class swervelib.SwerveDrive
    -
    -
    Invert odometry readings of drive motor positions, used as a patch for debugging currently.
    -
    -
    isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
    -
    -
    Queries whether the absolute encoder is directly attached to the motor controller.
    -
    -
    isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxSwerve
    -
    -
    Queries whether the absolute encoder is directly attached to the motor controller.
    -
    -
    isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SwerveMotor
    -
    -
    Queries whether the absolute encoder is directly attached to the motor controller.
    -
    -
    isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonFXSwerve
    -
    -
    Queries whether the absolute encoder is directly attached to the motor controller.
    -
    -
    isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonSRXSwerve
    -
    -
    Queries whether the absolute encoder is directly attached to the motor controller.
    -
    -
    isDriveMotor - Variable in class swervelib.motors.SwerveMotor
    -
    -
    Whether the swerve motor is a drive motor.
    -
    -
    isSimulation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
    -
    -
    State of simulation of the Robot, used to optimize retrieval.
    -
    -
    iz - Variable in class swervelib.parser.PIDFConfig
    -
    -
    Integral zone of the PID.
    -
    -
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    - - diff --git a/docs/index.html b/docs/index.html index c7bb0b6..01e4122 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,18 +1,17 @@ - -Overview + +Overview (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
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    • @@ -47,6 +46,9 @@ loadScripts(document, 'script');
    +
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    YAGSL-Lib API

    +
    Packages
    diff --git a/docs/jquery-ui.overrides.css b/docs/jquery-ui.overrides.css index f89acb6..facf852 100644 --- a/docs/jquery-ui.overrides.css +++ b/docs/jquery-ui.overrides.css @@ -1,5 +1,5 @@ /* - * Copyright (c) 2020, Oracle and/or its affiliates. All rights reserved. + * Copyright (c) 2020, 2022, Oracle and/or its affiliates. All rights reserved. * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER. * * This code is free software; you can redistribute it and/or modify it @@ -31,4 +31,5 @@ a.ui-button:active, .ui-button.ui-state-active:hover { /* Overrides the color of selection used in jQuery UI */ background: #F8981D; + border: 1px solid #F8981D; } diff --git a/docs/jquery/external/jquery/jquery.js b/docs/jquery/external/jquery/jquery.js deleted file mode 100644 index 5093733..0000000 --- a/docs/jquery/external/jquery/jquery.js +++ /dev/null @@ -1,10872 +0,0 @@ -/*! - * jQuery JavaScript Library v3.5.1 - * https://jquery.com/ - * - * Includes Sizzle.js - * https://sizzlejs.com/ - * - * Copyright JS Foundation and other contributors - * Released under the MIT license - * https://jquery.org/license - * - * Date: 2020-05-04T22:49Z - */ -( function( global, factory ) { - - "use strict"; - - if ( typeof module === "object" && typeof module.exports === "object" ) { - - // For CommonJS and CommonJS-like environments where a proper `window` - // is present, execute the factory and get jQuery. - // For environments that do not have a `window` with a `document` - // (such as Node.js), expose a factory as module.exports. - // This accentuates the need for the creation of a real `window`. - // e.g. var jQuery = require("jquery")(window); - // See ticket #14549 for more info. - module.exports = global.document ? - factory( global, true ) : - function( w ) { - if ( !w.document ) { - throw new Error( "jQuery requires a window with a document" ); - } - return factory( w ); - }; - } else { - factory( global ); - } - -// Pass this if window is not defined yet -} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { - -// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 -// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode -// arguments.callee.caller (trac-13335). 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- }, - - noop: function() {}, - - isPlainObject: function( obj ) { - var proto, Ctor; - - // Detect obvious negatives - // Use toString instead of jQuery.type to catch host objects - if ( !obj || toString.call( obj ) !== "[object Object]" ) { - return false; - } - - proto = getProto( obj ); - - // Objects with no prototype (e.g., `Object.create( null )`) are plain - if ( !proto ) { - return true; - } - - // Objects with prototype are plain iff they were constructed by a global Object function - Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; - return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; - }, - - isEmptyObject: function( obj ) { - var name; - - for ( name in obj ) { - return false; - } - return true; - }, - - // Evaluates a script in a provided context; falls back to the global one - // if not specified. - globalEval: function( code, options, doc ) { - DOMEval( code, { nonce: options && options.nonce }, doc ); - }, - - each: function( obj, callback ) { - var length, i = 0; - - if ( isArrayLike( obj ) ) { - length = obj.length; - for ( ; i < length; i++ ) { - if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { - break; - } - } - } else { - for ( i in obj ) { - if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { - break; - } - } - } - - return obj; - }, - - // results is for internal usage only - makeArray: function( arr, results ) { - var ret = results || []; - - if ( arr != null ) { - if ( isArrayLike( Object( arr ) ) ) { - jQuery.merge( ret, - typeof arr === "string" ? - [ arr ] : arr - ); - } else { - push.call( ret, arr ); - } - } - - return ret; - }, - - inArray: function( elem, arr, i ) { - return arr == null ? -1 : indexOf.call( arr, elem, i ); - }, - - // Support: Android <=4.0 only, PhantomJS 1 only - // push.apply(_, arraylike) throws on ancient WebKit - merge: function( first, second ) { - var len = +second.length, - j = 0, - i = first.length; - - for ( ; j < len; j++ ) { - first[ i++ ] = second[ j ]; - } - - first.length = i; - - return first; - }, - - grep: function( elems, callback, invert ) { - var callbackInverse, - matches = [], - i = 0, - length = elems.length, - callbackExpect = !invert; - - // Go through the array, only saving the items - // that pass the validator function - for ( ; i < length; i++ ) { - callbackInverse = !callback( elems[ i ], i ); - if ( callbackInverse !== callbackExpect ) { - matches.push( elems[ i ] ); - } - } - - return matches; - }, - - // arg is for internal usage only - map: function( elems, callback, arg ) { - var length, value, - i = 0, - ret = []; - - // Go through the array, translating each of the items to their new values - if ( isArrayLike( elems ) ) { - length = elems.length; - for ( ; i < length; i++ ) { - value = callback( elems[ i ], i, arg ); - - if ( value != null ) { - ret.push( value ); - } - } - - // Go through every key on the object, - } else { - for ( i in elems ) { - value = callback( elems[ i ], i, arg ); - - if ( value != null ) { - ret.push( value ); - } - } - } - - // Flatten any nested arrays - return flat( ret ); - }, - - // A global GUID counter for objects - guid: 1, - - // jQuery.support is not used in Core but other projects attach their - // properties to it so it needs to exist. - support: support -} ); - -if ( typeof Symbol === "function" ) { - jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; -} - -// Populate the class2type map -jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), -function( _i, name ) { - class2type[ "[object " + name + "]" ] = name.toLowerCase(); -} ); - -function isArrayLike( obj ) { - - // Support: real iOS 8.2 only (not reproducible in simulator) - // `in` check used to prevent JIT error (gh-2145) - // hasOwn isn't used here due to false negatives - // regarding Nodelist length in IE - var length = !!obj && "length" in obj && obj.length, - type = toType( obj ); - - if ( isFunction( obj ) || isWindow( obj ) ) { - return false; - } - - return type === "array" || length === 0 || - typeof length === "number" && length > 0 && ( length - 1 ) in obj; -} -var Sizzle = -/*! - * Sizzle CSS Selector Engine v2.3.5 - * https://sizzlejs.com/ - * - * Copyright JS Foundation and other contributors - * Released under the MIT license - * https://js.foundation/ - * - * Date: 2020-03-14 - */ -( function( window ) { -var i, - support, - Expr, - getText, - isXML, - tokenize, - compile, - select, - outermostContext, - sortInput, - hasDuplicate, - - // Local document vars - setDocument, - document, - docElem, - documentIsHTML, - rbuggyQSA, - rbuggyMatches, - matches, - contains, - - // Instance-specific data - expando = "sizzle" + 1 * new Date(), - preferredDoc = window.document, - dirruns = 0, - done = 0, - classCache = createCache(), - tokenCache = createCache(), - compilerCache = createCache(), - nonnativeSelectorCache = createCache(), - sortOrder = function( a, b ) { - if ( a === b ) { - hasDuplicate = true; - } - return 0; - }, - - // Instance methods - hasOwn = ( {} ).hasOwnProperty, - arr = [], - pop = arr.pop, - pushNative = arr.push, - push = arr.push, - slice = arr.slice, - - // Use a stripped-down indexOf as it's faster than native - // https://jsperf.com/thor-indexof-vs-for/5 - indexOf = function( list, elem ) { - var i = 0, - len = list.length; - for ( ; i < len; i++ ) { - if ( list[ i ] === elem ) { - return i; - } - } - return -1; - }, - - booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" + - "ismap|loop|multiple|open|readonly|required|scoped", - - // Regular expressions - - // http://www.w3.org/TR/css3-selectors/#whitespace - whitespace = "[\\x20\\t\\r\\n\\f]", - - // https://www.w3.org/TR/css-syntax-3/#ident-token-diagram - identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace + - "?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+", - - // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors - attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + - - // Operator (capture 2) - "*([*^$|!~]?=)" + whitespace + - - // "Attribute values must be CSS identifiers [capture 5] - // or strings [capture 3 or capture 4]" - "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + - whitespace + "*\\]", - - pseudos = ":(" + identifier + ")(?:\\((" + - - // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: - // 1. quoted (capture 3; capture 4 or capture 5) - "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + - - // 2. simple (capture 6) - "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + - - // 3. anything else (capture 2) - ".*" + - ")\\)|)", - - // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter - rwhitespace = new RegExp( whitespace + "+", "g" ), - rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + - whitespace + "+$", "g" ), - - rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), - rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + - "*" ), - rdescend = new RegExp( whitespace + "|>" ), - - rpseudo = new RegExp( pseudos ), - ridentifier = new RegExp( "^" + identifier + "$" ), - - matchExpr = { - "ID": new RegExp( "^#(" + identifier + ")" ), - "CLASS": new RegExp( "^\\.(" + identifier + ")" ), - "TAG": new RegExp( "^(" + identifier + "|[*])" ), - "ATTR": new RegExp( "^" + attributes ), - "PSEUDO": new RegExp( "^" + pseudos ), - "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + - whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + - whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), - "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), - - // For use in libraries implementing .is() - // We use this for POS matching in `select` - "needsContext": new RegExp( "^" + whitespace + - "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace + - "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) - }, - - rhtml = /HTML$/i, - rinputs = /^(?:input|select|textarea|button)$/i, - rheader = /^h\d$/i, - - rnative = /^[^{]+\{\s*\[native \w/, - - // Easily-parseable/retrievable ID or TAG or CLASS selectors - rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, - - rsibling = /[+~]/, - - // CSS escapes - // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters - runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ), - funescape = function( escape, nonHex ) { - var high = "0x" + escape.slice( 1 ) - 0x10000; - - return nonHex ? - - // Strip the backslash prefix from a non-hex escape sequence - nonHex : - - // Replace a hexadecimal escape sequence with the encoded Unicode code point - // Support: IE <=11+ - // For values outside the Basic Multilingual Plane (BMP), manually construct a - // surrogate pair - high < 0 ? - String.fromCharCode( high + 0x10000 ) : - String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); - }, - - // CSS string/identifier serialization - // https://drafts.csswg.org/cssom/#common-serializing-idioms - rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g, - fcssescape = function( ch, asCodePoint ) { - if ( asCodePoint ) { - - // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER - if ( ch === "\0" ) { - return "\uFFFD"; - } - - // Control characters and (dependent upon position) numbers get escaped as code points - return ch.slice( 0, -1 ) + "\\" + - ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; - } - - // Other potentially-special ASCII characters get backslash-escaped - return "\\" + ch; - }, - - // Used for iframes - // See setDocument() - // Removing the function wrapper causes a "Permission Denied" - // error in IE - unloadHandler = function() { - setDocument(); - }, - - inDisabledFieldset = addCombinator( - function( elem ) { - return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset"; - }, - { dir: "parentNode", next: "legend" } - ); - -// Optimize for push.apply( _, NodeList ) -try { - push.apply( - ( arr = slice.call( preferredDoc.childNodes ) ), - preferredDoc.childNodes - ); - - // Support: Android<4.0 - // Detect silently failing push.apply - // eslint-disable-next-line no-unused-expressions - arr[ preferredDoc.childNodes.length ].nodeType; -} catch ( e ) { - push = { apply: arr.length ? - - // Leverage slice if possible - function( target, els ) { - pushNative.apply( target, slice.call( els ) ); - } : - - // Support: IE<9 - // Otherwise append directly - function( target, els ) { - var j = target.length, - i = 0; - - // Can't trust NodeList.length - while ( ( target[ j++ ] = els[ i++ ] ) ) {} - target.length = j - 1; - } - }; -} - -function Sizzle( selector, context, results, seed ) { - var m, i, elem, nid, match, groups, newSelector, - newContext = context && context.ownerDocument, - - // nodeType defaults to 9, since context defaults to document - nodeType = context ? context.nodeType : 9; - - results = results || []; - - // Return early from calls with invalid selector or context - if ( typeof selector !== "string" || !selector || - nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { - - return results; - } - - // Try to shortcut find operations (as opposed to filters) in HTML documents - if ( !seed ) { - setDocument( context ); - context = context || document; - - if ( documentIsHTML ) { - - // If the selector is sufficiently simple, try using a "get*By*" DOM method - // (excepting DocumentFragment context, where the methods don't exist) - if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) { - - // ID selector - if ( ( m = match[ 1 ] ) ) { - - // Document context - if ( nodeType === 9 ) { - if ( ( elem = context.getElementById( m ) ) ) { - - // Support: IE, Opera, Webkit - // TODO: identify versions - // getElementById can match elements by name instead of ID - if ( elem.id === m ) { - results.push( elem ); - return results; - } - } else { - return results; - } - - // Element context - } else { - - // Support: IE, Opera, Webkit - // TODO: identify versions - // getElementById can match elements by name instead of ID - if ( newContext && ( elem = newContext.getElementById( m ) ) && - contains( context, elem ) && - elem.id === m ) { - - results.push( elem ); - return results; - } - } - - // Type selector - } else if ( match[ 2 ] ) { - push.apply( results, context.getElementsByTagName( selector ) ); - return results; - - // Class selector - } else if ( ( m = match[ 3 ] ) && support.getElementsByClassName && - context.getElementsByClassName ) { - - push.apply( results, context.getElementsByClassName( m ) ); - return results; - } - } - - // Take advantage of querySelectorAll - if ( support.qsa && - !nonnativeSelectorCache[ selector + " " ] && - ( !rbuggyQSA || !rbuggyQSA.test( selector ) ) && - - // Support: IE 8 only - // Exclude object elements - ( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) { - - newSelector = selector; - newContext = context; - - // qSA considers elements outside a scoping root when evaluating child or - // descendant combinators, which is not what we want. - // In such cases, we work around the behavior by prefixing every selector in the - // list with an ID selector referencing the scope context. - // The technique has to be used as well when a leading combinator is used - // as such selectors are not recognized by querySelectorAll. - // Thanks to Andrew Dupont for this technique. - if ( nodeType === 1 && - ( rdescend.test( selector ) || rcombinators.test( selector ) ) ) { - - // Expand context for sibling selectors - newContext = rsibling.test( selector ) && testContext( context.parentNode ) || - context; - - // We can use :scope instead of the ID hack if the browser - // supports it & if we're not changing the context. - if ( newContext !== context || !support.scope ) { - - // Capture the context ID, setting it first if necessary - if ( ( nid = context.getAttribute( "id" ) ) ) { - nid = nid.replace( rcssescape, fcssescape ); - } else { - context.setAttribute( "id", ( nid = expando ) ); - } - } - - // Prefix every selector in the list - groups = tokenize( selector ); - i = groups.length; - while ( i-- ) { - groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " + - toSelector( groups[ i ] ); - } - newSelector = groups.join( "," ); - } - - try { - push.apply( results, - newContext.querySelectorAll( newSelector ) - ); - return results; - } catch ( qsaError ) { - nonnativeSelectorCache( selector, true ); - } finally { - if ( nid === expando ) { - context.removeAttribute( "id" ); - } - } - } - } - } - - // All others - return select( selector.replace( rtrim, "$1" ), context, results, seed ); -} - -/** - * Create key-value caches of limited size - * @returns {function(string, object)} Returns the Object data after storing it on itself with - * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) - * deleting the oldest entry - */ -function createCache() { - var keys = []; - - function cache( key, value ) { - - // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) - if ( keys.push( key + " " ) > Expr.cacheLength ) { - - // Only keep the most recent entries - delete cache[ keys.shift() ]; - } - return ( cache[ key + " " ] = value ); - } - return cache; -} - -/** - * Mark a function for special use by Sizzle - * @param {Function} fn The function to mark - */ -function markFunction( fn ) { - fn[ expando ] = true; - return fn; -} - -/** - * Support testing using an element - * @param {Function} fn Passed the created element and returns a boolean result - */ -function assert( fn ) { - var el = document.createElement( "fieldset" ); - - try { - return !!fn( el ); - } catch ( e ) { - return false; - } finally { - - // Remove from its parent by default - if ( el.parentNode ) { - el.parentNode.removeChild( el ); - } - - // release memory in IE - el = null; - } -} - -/** - * Adds the same handler for all of the specified attrs - * @param {String} attrs Pipe-separated list of attributes - * @param {Function} handler The method that will be applied - */ -function addHandle( attrs, handler ) { - var arr = attrs.split( "|" ), - i = arr.length; - - while ( i-- ) { - Expr.attrHandle[ arr[ i ] ] = handler; - } -} - -/** - * Checks document order of two siblings - * @param {Element} a - * @param {Element} b - * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b - */ -function siblingCheck( a, b ) { - var cur = b && a, - diff = cur && a.nodeType === 1 && b.nodeType === 1 && - a.sourceIndex - b.sourceIndex; - - // Use IE sourceIndex if available on both nodes - if ( diff ) { - return diff; - } - - // Check if b follows a - if ( cur ) { - while ( ( cur = cur.nextSibling ) ) { - if ( cur === b ) { - return -1; - } - } - } - - return a ? 1 : -1; -} - -/** - * Returns a function to use in pseudos for input types - * @param {String} type - */ -function createInputPseudo( type ) { - return function( elem ) { - var name = elem.nodeName.toLowerCase(); - return name === "input" && elem.type === type; - }; -} - -/** - * Returns a function to use in pseudos for buttons - * @param {String} type - */ -function createButtonPseudo( type ) { - return function( elem ) { - var name = elem.nodeName.toLowerCase(); - return ( name === "input" || name === "button" ) && elem.type === type; - }; -} - -/** - * Returns a function to use in pseudos for :enabled/:disabled - * @param {Boolean} disabled true for :disabled; false for :enabled - */ -function createDisabledPseudo( disabled ) { - - // Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable - return function( elem ) { - - // Only certain elements can match :enabled or :disabled - // https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled - // https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled - if ( "form" in elem ) { - - // Check for inherited disabledness on relevant non-disabled elements: - // * listed form-associated elements in a disabled fieldset - // https://html.spec.whatwg.org/multipage/forms.html#category-listed - // https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled - // * option elements in a disabled optgroup - // https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled - // All such elements have a "form" property. - if ( elem.parentNode && elem.disabled === false ) { - - // Option elements defer to a parent optgroup if present - if ( "label" in elem ) { - if ( "label" in elem.parentNode ) { - return elem.parentNode.disabled === disabled; - } else { - return elem.disabled === disabled; - } - } - - // Support: IE 6 - 11 - // Use the isDisabled shortcut property to check for disabled fieldset ancestors - return elem.isDisabled === disabled || - - // Where there is no isDisabled, check manually - /* jshint -W018 */ - elem.isDisabled !== !disabled && - inDisabledFieldset( elem ) === disabled; - } - - return elem.disabled === disabled; - - // Try to winnow out elements that can't be disabled before trusting the disabled property. - // Some victims get caught in our net (label, legend, menu, track), but it shouldn't - // even exist on them, let alone have a boolean value. - } else if ( "label" in elem ) { - return elem.disabled === disabled; - } - - // Remaining elements are neither :enabled nor :disabled - return false; - }; -} - -/** - * Returns a function to use in pseudos for positionals - * @param {Function} fn - */ -function createPositionalPseudo( fn ) { - return markFunction( function( argument ) { - argument = +argument; - return markFunction( function( seed, matches ) { - var j, - matchIndexes = fn( [], seed.length, argument ), - i = matchIndexes.length; - - // Match elements found at the specified indexes - while ( i-- ) { - if ( seed[ ( j = matchIndexes[ i ] ) ] ) { - seed[ j ] = !( matches[ j ] = seed[ j ] ); - } - } - } ); - } ); -} - -/** - * Checks a node for validity as a Sizzle context - * @param {Element|Object=} context - * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value - */ -function testContext( context ) { - return context && typeof context.getElementsByTagName !== "undefined" && context; -} - -// Expose support vars for convenience -support = Sizzle.support = {}; - -/** - * Detects XML nodes - * @param {Element|Object} elem An element or a document - * @returns {Boolean} True iff elem is a non-HTML XML node - */ -isXML = Sizzle.isXML = function( elem ) { - var namespace = elem.namespaceURI, - docElem = ( elem.ownerDocument || elem ).documentElement; - - // Support: IE <=8 - // Assume HTML when documentElement doesn't yet exist, such as inside loading iframes - // https://bugs.jquery.com/ticket/4833 - return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" ); -}; - -/** - * Sets document-related variables once based on the current document - * @param {Element|Object} [doc] An element or document object to use to set the document - * @returns {Object} Returns the current document - */ -setDocument = Sizzle.setDocument = function( node ) { - var hasCompare, subWindow, - doc = node ? node.ownerDocument || node : preferredDoc; - - // Return early if doc is invalid or already selected - // Support: IE 11+, Edge 17 - 18+ - // IE/Edge sometimes throw a "Permission denied" error when strict-comparing - // two documents; shallow comparisons work. - // eslint-disable-next-line eqeqeq - if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) { - return document; - } - - // Update global variables - document = doc; - docElem = document.documentElement; - documentIsHTML = !isXML( document ); - - // Support: IE 9 - 11+, Edge 12 - 18+ - // Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936) - // Support: IE 11+, Edge 17 - 18+ - // IE/Edge sometimes throw a "Permission denied" error when strict-comparing - // two documents; shallow comparisons work. - // eslint-disable-next-line eqeqeq - if ( preferredDoc != document && - ( subWindow = document.defaultView ) && subWindow.top !== subWindow ) { - - // Support: IE 11, Edge - if ( subWindow.addEventListener ) { - subWindow.addEventListener( "unload", unloadHandler, false ); - - // Support: IE 9 - 10 only - } else if ( subWindow.attachEvent ) { - subWindow.attachEvent( "onunload", unloadHandler ); - } - } - - // Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only, - // Safari 4 - 5 only, Opera <=11.6 - 12.x only - // IE/Edge & older browsers don't support the :scope pseudo-class. - // Support: Safari 6.0 only - // Safari 6.0 supports :scope but it's an alias of :root there. - support.scope = assert( function( el ) { - docElem.appendChild( el ).appendChild( document.createElement( "div" ) ); - return typeof el.querySelectorAll !== "undefined" && - !el.querySelectorAll( ":scope fieldset div" ).length; - } ); - - /* Attributes - ---------------------------------------------------------------------- */ - - // Support: IE<8 - // Verify that getAttribute really returns attributes and not properties - // (excepting IE8 booleans) - support.attributes = assert( function( el ) { - el.className = "i"; - return !el.getAttribute( "className" ); - } ); - - /* getElement(s)By* - ---------------------------------------------------------------------- */ - - // Check if getElementsByTagName("*") returns only elements - support.getElementsByTagName = assert( function( el ) { - el.appendChild( document.createComment( "" ) ); - return !el.getElementsByTagName( "*" ).length; - } ); - - // Support: IE<9 - support.getElementsByClassName = rnative.test( document.getElementsByClassName ); - - // Support: IE<10 - // Check if getElementById returns elements by name - // The broken getElementById methods don't pick up programmatically-set names, - // so use a roundabout getElementsByName test - support.getById = assert( function( el ) { - docElem.appendChild( el ).id = expando; - return !document.getElementsByName || !document.getElementsByName( expando ).length; - } ); - - // ID filter and find - if ( support.getById ) { - Expr.filter[ "ID" ] = function( id ) { - var attrId = id.replace( runescape, funescape ); - return function( elem ) { - return elem.getAttribute( "id" ) === attrId; - }; - }; - Expr.find[ "ID" ] = function( id, context ) { - if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { - var elem = context.getElementById( id ); - return elem ? [ elem ] : []; - } - }; - } else { - Expr.filter[ "ID" ] = function( id ) { - var attrId = id.replace( runescape, funescape ); - return function( elem ) { - var node = typeof elem.getAttributeNode !== "undefined" && - elem.getAttributeNode( "id" ); - return node && node.value === attrId; - }; - }; - - // Support: IE 6 - 7 only - // getElementById is not reliable as a find shortcut - Expr.find[ "ID" ] = function( id, context ) { - if ( typeof context.getElementById !== "undefined" && documentIsHTML ) { - var node, i, elems, - elem = context.getElementById( id ); - - if ( elem ) { - - // Verify the id attribute - node = elem.getAttributeNode( "id" ); - if ( node && node.value === id ) { - return [ elem ]; - } - - // Fall back on getElementsByName - elems = context.getElementsByName( id ); - i = 0; - while ( ( elem = elems[ i++ ] ) ) { - node = elem.getAttributeNode( "id" ); - if ( node && node.value === id ) { - return [ elem ]; - } - } - } - - return []; - } - }; - } - - // Tag - Expr.find[ "TAG" ] = support.getElementsByTagName ? - function( tag, context ) { - if ( typeof context.getElementsByTagName !== "undefined" ) { - return context.getElementsByTagName( tag ); - - // DocumentFragment nodes don't have gEBTN - } else if ( support.qsa ) { - return context.querySelectorAll( tag ); - } - } : - - function( tag, context ) { - var elem, - tmp = [], - i = 0, - - // By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too - results = context.getElementsByTagName( tag ); - - // Filter out possible comments - if ( tag === "*" ) { - while ( ( elem = results[ i++ ] ) ) { - if ( elem.nodeType === 1 ) { - tmp.push( elem ); - } - } - - return tmp; - } - return results; - }; - - // Class - Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) { - if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) { - return context.getElementsByClassName( className ); - } - }; - - /* QSA/matchesSelector - ---------------------------------------------------------------------- */ - - // QSA and matchesSelector support - - // matchesSelector(:active) reports false when true (IE9/Opera 11.5) - rbuggyMatches = []; - - // qSa(:focus) reports false when true (Chrome 21) - // We allow this because of a bug in IE8/9 that throws an error - // whenever `document.activeElement` is accessed on an iframe - // So, we allow :focus to pass through QSA all the time to avoid the IE error - // See https://bugs.jquery.com/ticket/13378 - rbuggyQSA = []; - - if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) { - - // Build QSA regex - // Regex strategy adopted from Diego Perini - assert( function( el ) { - - var input; - - // Select is set to empty string on purpose - // This is to test IE's treatment of not explicitly - // setting a boolean content attribute, - // since its presence should be enough - // https://bugs.jquery.com/ticket/12359 - docElem.appendChild( el ).innerHTML = "" + - ""; - - // Support: IE8, Opera 11-12.16 - // Nothing should be selected when empty strings follow ^= or $= or *= - // The test attribute must be unknown in Opera but "safe" for WinRT - // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section - if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) { - rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); - } - - // Support: IE8 - // Boolean attributes and "value" are not treated correctly - if ( !el.querySelectorAll( "[selected]" ).length ) { - rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); - } - - // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ - if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { - rbuggyQSA.push( "~=" ); - } - - // Support: IE 11+, Edge 15 - 18+ - // IE 11/Edge don't find elements on a `[name='']` query in some cases. - // Adding a temporary attribute to the document before the selection works - // around the issue. - // Interestingly, IE 10 & older don't seem to have the issue. - input = document.createElement( "input" ); - input.setAttribute( "name", "" ); - el.appendChild( input ); - if ( !el.querySelectorAll( "[name='']" ).length ) { - rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" + - whitespace + "*(?:''|\"\")" ); - } - - // Webkit/Opera - :checked should return selected option elements - // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked - // IE8 throws error here and will not see later tests - if ( !el.querySelectorAll( ":checked" ).length ) { - rbuggyQSA.push( ":checked" ); - } - - // Support: Safari 8+, iOS 8+ - // https://bugs.webkit.org/show_bug.cgi?id=136851 - // In-page `selector#id sibling-combinator selector` fails - if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { - rbuggyQSA.push( ".#.+[+~]" ); - } - - // Support: Firefox <=3.6 - 5 only - // Old Firefox doesn't throw on a badly-escaped identifier. - el.querySelectorAll( "\\\f" ); - rbuggyQSA.push( "[\\r\\n\\f]" ); - } ); - - assert( function( el ) { - el.innerHTML = "" + - ""; - - // Support: Windows 8 Native Apps - // The type and name attributes are restricted during .innerHTML assignment - var input = document.createElement( "input" ); - input.setAttribute( "type", "hidden" ); - el.appendChild( input ).setAttribute( "name", "D" ); - - // Support: IE8 - // Enforce case-sensitivity of name attribute - if ( el.querySelectorAll( "[name=d]" ).length ) { - rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); - } - - // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) - // IE8 throws error here and will not see later tests - if ( el.querySelectorAll( ":enabled" ).length !== 2 ) { - rbuggyQSA.push( ":enabled", ":disabled" ); - } - - // Support: IE9-11+ - // IE's :disabled selector does not pick up the children of disabled fieldsets - docElem.appendChild( el ).disabled = true; - if ( el.querySelectorAll( ":disabled" ).length !== 2 ) { - rbuggyQSA.push( ":enabled", ":disabled" ); - } - - // Support: Opera 10 - 11 only - // Opera 10-11 does not throw on post-comma invalid pseudos - el.querySelectorAll( "*,:x" ); - rbuggyQSA.push( ",.*:" ); - } ); - } - - if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches || - docElem.webkitMatchesSelector || - docElem.mozMatchesSelector || - docElem.oMatchesSelector || - docElem.msMatchesSelector ) ) ) ) { - - assert( function( el ) { - - // Check to see if it's possible to do matchesSelector - // on a disconnected node (IE 9) - support.disconnectedMatch = matches.call( el, "*" ); - - // This should fail with an exception - // Gecko does not error, returns false instead - matches.call( el, "[s!='']:x" ); - rbuggyMatches.push( "!=", pseudos ); - } ); - } - - rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) ); - rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) ); - - /* Contains - ---------------------------------------------------------------------- */ - hasCompare = rnative.test( docElem.compareDocumentPosition ); - - // Element contains another - // Purposefully self-exclusive - // As in, an element does not contain itself - contains = hasCompare || rnative.test( docElem.contains ) ? - function( a, b ) { - var adown = a.nodeType === 9 ? a.documentElement : a, - bup = b && b.parentNode; - return a === bup || !!( bup && bup.nodeType === 1 && ( - adown.contains ? - adown.contains( bup ) : - a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 - ) ); - } : - function( a, b ) { - if ( b ) { - while ( ( b = b.parentNode ) ) { - if ( b === a ) { - return true; - } - } - } - return false; - }; - - /* Sorting - ---------------------------------------------------------------------- */ - - // Document order sorting - sortOrder = hasCompare ? - function( a, b ) { - - // Flag for duplicate removal - if ( a === b ) { - hasDuplicate = true; - return 0; - } - - // Sort on method existence if only one input has compareDocumentPosition - var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; - if ( compare ) { - return compare; - } - - // Calculate position if both inputs belong to the same document - // Support: IE 11+, Edge 17 - 18+ - // IE/Edge sometimes throw a "Permission denied" error when strict-comparing - // two documents; shallow comparisons work. - // eslint-disable-next-line eqeqeq - compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ? - a.compareDocumentPosition( b ) : - - // Otherwise we know they are disconnected - 1; - - // Disconnected nodes - if ( compare & 1 || - ( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) { - - // Choose the first element that is related to our preferred document - // Support: IE 11+, Edge 17 - 18+ - // IE/Edge sometimes throw a "Permission denied" error when strict-comparing - // two documents; shallow comparisons work. - // eslint-disable-next-line eqeqeq - if ( a == document || a.ownerDocument == preferredDoc && - contains( preferredDoc, a ) ) { - return -1; - } - - // Support: IE 11+, Edge 17 - 18+ - // IE/Edge sometimes throw a "Permission denied" error when strict-comparing - // two documents; shallow comparisons work. - // eslint-disable-next-line eqeqeq - if ( b == document || b.ownerDocument == preferredDoc && - contains( preferredDoc, b ) ) { - return 1; - } - - // Maintain original order - return sortInput ? - ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : - 0; - } - - return compare & 4 ? -1 : 1; - } : - function( a, b ) { - - // Exit early if the nodes are identical - if ( a === b ) { - hasDuplicate = true; - return 0; - } - - var cur, - i = 0, - aup = a.parentNode, - bup = b.parentNode, - ap = [ a ], - bp = [ b ]; - - // Parentless nodes are either documents or disconnected - if ( !aup || !bup ) { - - // Support: IE 11+, Edge 17 - 18+ - // IE/Edge sometimes throw a "Permission denied" error when strict-comparing - // two documents; shallow comparisons work. - /* eslint-disable eqeqeq */ - return a == document ? -1 : - b == document ? 1 : - /* eslint-enable eqeqeq */ - aup ? -1 : - bup ? 1 : - sortInput ? - ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : - 0; - - // If the nodes are siblings, we can do a quick check - } else if ( aup === bup ) { - return siblingCheck( a, b ); - } - - // Otherwise we need full lists of their ancestors for comparison - cur = a; - while ( ( cur = cur.parentNode ) ) { - ap.unshift( cur ); - } - cur = b; - while ( ( cur = cur.parentNode ) ) { - bp.unshift( cur ); - } - - // Walk down the tree looking for a discrepancy - while ( ap[ i ] === bp[ i ] ) { - i++; - } - - return i ? - - // Do a sibling check if the nodes have a common ancestor - siblingCheck( ap[ i ], bp[ i ] ) : - - // Otherwise nodes in our document sort first - // Support: IE 11+, Edge 17 - 18+ - // IE/Edge sometimes throw a "Permission denied" error when strict-comparing - // two documents; shallow comparisons work. - /* eslint-disable eqeqeq */ - ap[ i ] == preferredDoc ? -1 : - bp[ i ] == preferredDoc ? 1 : - /* eslint-enable eqeqeq */ - 0; - }; - - return document; -}; - -Sizzle.matches = function( expr, elements ) { - return Sizzle( expr, null, null, elements ); -}; - -Sizzle.matchesSelector = function( elem, expr ) { - setDocument( elem ); - - if ( support.matchesSelector && documentIsHTML && - !nonnativeSelectorCache[ expr + " " ] && - ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && - ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { - - try { - var ret = matches.call( elem, expr ); - - // IE 9's matchesSelector returns false on disconnected nodes - if ( ret || support.disconnectedMatch || - - // As well, disconnected nodes are said to be in a document - // fragment in IE 9 - elem.document && elem.document.nodeType !== 11 ) { - return ret; - } - } catch ( e ) { - nonnativeSelectorCache( expr, true ); - } - } - - return Sizzle( expr, document, null, [ elem ] ).length > 0; -}; - -Sizzle.contains = function( context, elem ) { - - // Set document vars if needed - // Support: IE 11+, Edge 17 - 18+ - // IE/Edge sometimes throw a "Permission denied" error when strict-comparing - // two documents; shallow comparisons work. - // eslint-disable-next-line eqeqeq - if ( ( context.ownerDocument || context ) != document ) { - setDocument( context ); - } - return contains( context, elem ); -}; - -Sizzle.attr = function( elem, name ) { - - // Set document vars if needed - // Support: IE 11+, Edge 17 - 18+ - // IE/Edge sometimes throw a "Permission denied" error when strict-comparing - // two documents; shallow comparisons work. - // eslint-disable-next-line eqeqeq - if ( ( elem.ownerDocument || elem ) != document ) { - setDocument( elem ); - } - - var fn = Expr.attrHandle[ name.toLowerCase() ], - - // Don't get fooled by Object.prototype properties (jQuery #13807) - val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? - fn( elem, name, !documentIsHTML ) : - undefined; - - return val !== undefined ? - val : - support.attributes || !documentIsHTML ? - elem.getAttribute( name ) : - ( val = elem.getAttributeNode( name ) ) && val.specified ? - val.value : - null; -}; - -Sizzle.escape = function( sel ) { - return ( sel + "" ).replace( rcssescape, fcssescape ); -}; - -Sizzle.error = function( msg ) { - throw new Error( "Syntax error, unrecognized expression: " + msg ); -}; - -/** - * Document sorting and removing duplicates - * @param {ArrayLike} results - */ -Sizzle.uniqueSort = function( results ) { - var elem, - duplicates = [], - j = 0, - i = 0; - - // Unless we *know* we can detect duplicates, assume their presence - hasDuplicate = !support.detectDuplicates; - sortInput = !support.sortStable && results.slice( 0 ); - results.sort( sortOrder ); - - if ( hasDuplicate ) { - while ( ( elem = results[ i++ ] ) ) { - if ( elem === results[ i ] ) { - j = duplicates.push( i ); - } - } - while ( j-- ) { - results.splice( duplicates[ j ], 1 ); - } - } - - // Clear input after sorting to release objects - // See https://github.com/jquery/sizzle/pull/225 - sortInput = null; - - return results; -}; - -/** - * Utility function for retrieving the text value of an array of DOM nodes - * @param {Array|Element} elem - */ -getText = Sizzle.getText = function( elem ) { - var node, - ret = "", - i = 0, - nodeType = elem.nodeType; - - if ( !nodeType ) { - - // If no nodeType, this is expected to be an array - while ( ( node = elem[ i++ ] ) ) { - - // Do not traverse comment nodes - ret += getText( node ); - } - } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { - - // Use textContent for elements - // innerText usage removed for consistency of new lines (jQuery #11153) - if ( typeof elem.textContent === "string" ) { - return elem.textContent; - } else { - - // Traverse its children - for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { - ret += getText( elem ); - } - } - } else if ( nodeType === 3 || nodeType === 4 ) { - return elem.nodeValue; - } - - // Do not include comment or processing instruction nodes - - return ret; -}; - -Expr = Sizzle.selectors = { - - // Can be adjusted by the user - cacheLength: 50, - - createPseudo: markFunction, - - match: matchExpr, - - attrHandle: {}, - - find: {}, - - relative: { - ">": { dir: "parentNode", first: true }, - " ": { dir: "parentNode" }, - "+": { dir: "previousSibling", first: true }, - "~": { dir: "previousSibling" } - }, - - preFilter: { - "ATTR": function( match ) { - match[ 1 ] = match[ 1 ].replace( runescape, funescape ); - - // Move the given value to match[3] whether quoted or unquoted - match[ 3 ] = ( match[ 3 ] || match[ 4 ] || - match[ 5 ] || "" ).replace( runescape, funescape ); - - if ( match[ 2 ] === "~=" ) { - match[ 3 ] = " " + match[ 3 ] + " "; - } - - return match.slice( 0, 4 ); - }, - - "CHILD": function( match ) { - - /* matches from matchExpr["CHILD"] - 1 type (only|nth|...) - 2 what (child|of-type) - 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) - 4 xn-component of xn+y argument ([+-]?\d*n|) - 5 sign of xn-component - 6 x of xn-component - 7 sign of y-component - 8 y of y-component - */ - match[ 1 ] = match[ 1 ].toLowerCase(); - - if ( match[ 1 ].slice( 0, 3 ) === "nth" ) { - - // nth-* requires argument - if ( !match[ 3 ] ) { - Sizzle.error( match[ 0 ] ); - } - - // numeric x and y parameters for Expr.filter.CHILD - // remember that false/true cast respectively to 0/1 - match[ 4 ] = +( match[ 4 ] ? - match[ 5 ] + ( match[ 6 ] || 1 ) : - 2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) ); - match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" ); - - // other types prohibit arguments - } else if ( match[ 3 ] ) { - Sizzle.error( match[ 0 ] ); - } - - return match; - }, - - "PSEUDO": function( match ) { - var excess, - unquoted = !match[ 6 ] && match[ 2 ]; - - if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) { - return null; - } - - // Accept quoted arguments as-is - if ( match[ 3 ] ) { - match[ 2 ] = match[ 4 ] || match[ 5 ] || ""; - - // Strip excess characters from unquoted arguments - } else if ( unquoted && rpseudo.test( unquoted ) && - - // Get excess from tokenize (recursively) - ( excess = tokenize( unquoted, true ) ) && - - // advance to the next closing parenthesis - ( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) { - - // excess is a negative index - match[ 0 ] = match[ 0 ].slice( 0, excess ); - match[ 2 ] = unquoted.slice( 0, excess ); - } - - // Return only captures needed by the pseudo filter method (type and argument) - return match.slice( 0, 3 ); - } - }, - - filter: { - - "TAG": function( nodeNameSelector ) { - var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); - return nodeNameSelector === "*" ? - function() { - return true; - } : - function( elem ) { - return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; - }; - }, - - "CLASS": function( className ) { - var pattern = classCache[ className + " " ]; - - return pattern || - ( pattern = new RegExp( "(^|" + whitespace + - ")" + className + "(" + whitespace + "|$)" ) ) && classCache( - className, function( elem ) { - return pattern.test( - typeof elem.className === "string" && elem.className || - typeof elem.getAttribute !== "undefined" && - elem.getAttribute( "class" ) || - "" - ); - } ); - }, - - "ATTR": function( name, operator, check ) { - return function( elem ) { - var result = Sizzle.attr( elem, name ); - - if ( result == null ) { - return operator === "!="; - } - if ( !operator ) { - return true; - } - - result += ""; - - /* eslint-disable max-len */ - - return operator === "=" ? result === check : - operator === "!=" ? result !== check : - operator === "^=" ? check && result.indexOf( check ) === 0 : - operator === "*=" ? check && result.indexOf( check ) > -1 : - operator === "$=" ? check && result.slice( -check.length ) === check : - operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : - operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : - false; - /* eslint-enable max-len */ - - }; - }, - - "CHILD": function( type, what, _argument, first, last ) { - var simple = type.slice( 0, 3 ) !== "nth", - forward = type.slice( -4 ) !== "last", - ofType = what === "of-type"; - - return first === 1 && last === 0 ? - - // Shortcut for :nth-*(n) - function( elem ) { - return !!elem.parentNode; - } : - - function( elem, _context, xml ) { - var cache, uniqueCache, outerCache, node, nodeIndex, start, - dir = simple !== forward ? "nextSibling" : "previousSibling", - parent = elem.parentNode, - name = ofType && elem.nodeName.toLowerCase(), - useCache = !xml && !ofType, - diff = false; - - if ( parent ) { - - // :(first|last|only)-(child|of-type) - if ( simple ) { - while ( dir ) { - node = elem; - while ( ( node = node[ dir ] ) ) { - if ( ofType ? - node.nodeName.toLowerCase() === name : - node.nodeType === 1 ) { - - return false; - } - } - - // Reverse direction for :only-* (if we haven't yet done so) - start = dir = type === "only" && !start && "nextSibling"; - } - return true; - } - - start = [ forward ? parent.firstChild : parent.lastChild ]; - - // non-xml :nth-child(...) stores cache data on `parent` - if ( forward && useCache ) { - - // Seek `elem` from a previously-cached index - - // ...in a gzip-friendly way - node = parent; - outerCache = node[ expando ] || ( node[ expando ] = {} ); - - // Support: IE <9 only - // Defend against cloned attroperties (jQuery gh-1709) - uniqueCache = outerCache[ node.uniqueID ] || - ( outerCache[ node.uniqueID ] = {} ); - - cache = uniqueCache[ type ] || []; - nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; - diff = nodeIndex && cache[ 2 ]; - node = nodeIndex && parent.childNodes[ nodeIndex ]; - - while ( ( node = ++nodeIndex && node && node[ dir ] || - - // Fallback to seeking `elem` from the start - ( diff = nodeIndex = 0 ) || start.pop() ) ) { - - // When found, cache indexes on `parent` and break - if ( node.nodeType === 1 && ++diff && node === elem ) { - uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; - break; - } - } - - } else { - - // Use previously-cached element index if available - if ( useCache ) { - - // ...in a gzip-friendly way - node = elem; - outerCache = node[ expando ] || ( node[ expando ] = {} ); - - // Support: IE <9 only - // Defend against cloned attroperties (jQuery gh-1709) - uniqueCache = outerCache[ node.uniqueID ] || - ( outerCache[ node.uniqueID ] = {} ); - - cache = uniqueCache[ type ] || []; - nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; - diff = nodeIndex; - } - - // xml :nth-child(...) - // or :nth-last-child(...) or :nth(-last)?-of-type(...) - if ( diff === false ) { - - // Use the same loop as above to seek `elem` from the start - while ( ( node = ++nodeIndex && node && node[ dir ] || - ( diff = nodeIndex = 0 ) || start.pop() ) ) { - - if ( ( ofType ? - node.nodeName.toLowerCase() === name : - node.nodeType === 1 ) && - ++diff ) { - - // Cache the index of each encountered element - if ( useCache ) { - outerCache = node[ expando ] || - ( node[ expando ] = {} ); - - // Support: IE <9 only - // Defend against cloned attroperties (jQuery gh-1709) - uniqueCache = outerCache[ node.uniqueID ] || - ( outerCache[ node.uniqueID ] = {} ); - - uniqueCache[ type ] = [ dirruns, diff ]; - } - - if ( node === elem ) { - break; - } - } - } - } - } - - // Incorporate the offset, then check against cycle size - diff -= last; - return diff === first || ( diff % first === 0 && diff / first >= 0 ); - } - }; - }, - - "PSEUDO": function( pseudo, argument ) { - - // pseudo-class names are case-insensitive - // http://www.w3.org/TR/selectors/#pseudo-classes - // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters - // Remember that setFilters inherits from pseudos - var args, - fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || - Sizzle.error( "unsupported pseudo: " + pseudo ); - - // The user may use createPseudo to indicate that - // arguments are needed to create the filter function - // just as Sizzle does - if ( fn[ expando ] ) { - return fn( argument ); - } - - // But maintain support for old signatures - if ( fn.length > 1 ) { - args = [ pseudo, pseudo, "", argument ]; - return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? - markFunction( function( seed, matches ) { - var idx, - matched = fn( seed, argument ), - i = matched.length; - while ( i-- ) { - idx = indexOf( seed, matched[ i ] ); - seed[ idx ] = !( matches[ idx ] = matched[ i ] ); - } - } ) : - function( elem ) { - return fn( elem, 0, args ); - }; - } - - return fn; - } - }, - - pseudos: { - - // Potentially complex pseudos - "not": markFunction( function( selector ) { - - // Trim the selector passed to compile - // to avoid treating leading and trailing - // spaces as combinators - var input = [], - results = [], - matcher = compile( selector.replace( rtrim, "$1" ) ); - - return matcher[ expando ] ? - markFunction( function( seed, matches, _context, xml ) { - var elem, - unmatched = matcher( seed, null, xml, [] ), - i = seed.length; - - // Match elements unmatched by `matcher` - while ( i-- ) { - if ( ( elem = unmatched[ i ] ) ) { - seed[ i ] = !( matches[ i ] = elem ); - } - } - } ) : - function( elem, _context, xml ) { - input[ 0 ] = elem; - matcher( input, null, xml, results ); - - // Don't keep the element (issue #299) - input[ 0 ] = null; - return !results.pop(); - }; - } ), - - "has": markFunction( function( selector ) { - return function( elem ) { - return Sizzle( selector, elem ).length > 0; - }; - } ), - - "contains": markFunction( function( text ) { - text = text.replace( runescape, funescape ); - return function( elem ) { - return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1; - }; - } ), - - // "Whether an element is represented by a :lang() selector - // is based solely on the element's language value - // being equal to the identifier C, - // or beginning with the identifier C immediately followed by "-". - // The matching of C against the element's language value is performed case-insensitively. - // The identifier C does not have to be a valid language name." - // http://www.w3.org/TR/selectors/#lang-pseudo - "lang": markFunction( function( lang ) { - - // lang value must be a valid identifier - if ( !ridentifier.test( lang || "" ) ) { - Sizzle.error( "unsupported lang: " + lang ); - } - lang = lang.replace( runescape, funescape ).toLowerCase(); - return function( elem ) { - var elemLang; - do { - if ( ( elemLang = documentIsHTML ? - elem.lang : - elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) { - - elemLang = elemLang.toLowerCase(); - return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; - } - } while ( ( elem = elem.parentNode ) && elem.nodeType === 1 ); - return false; - }; - } ), - - // Miscellaneous - "target": function( elem ) { - var hash = window.location && window.location.hash; - return hash && hash.slice( 1 ) === elem.id; - }, - - "root": function( elem ) { - return elem === docElem; - }, - - "focus": function( elem ) { - return elem === document.activeElement && - ( !document.hasFocus || document.hasFocus() ) && - !!( elem.type || elem.href || ~elem.tabIndex ); - }, - - // Boolean properties - "enabled": createDisabledPseudo( false ), - "disabled": createDisabledPseudo( true ), - - "checked": function( elem ) { - - // In CSS3, :checked should return both checked and selected elements - // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked - var nodeName = elem.nodeName.toLowerCase(); - return ( nodeName === "input" && !!elem.checked ) || - ( nodeName === "option" && !!elem.selected ); - }, - - "selected": function( elem ) { - - // Accessing this property makes selected-by-default - // options in Safari work properly - if ( elem.parentNode ) { - // eslint-disable-next-line no-unused-expressions - elem.parentNode.selectedIndex; - } - - return elem.selected === true; - }, - - // Contents - "empty": function( elem ) { - - // http://www.w3.org/TR/selectors/#empty-pseudo - // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), - // but not by others (comment: 8; processing instruction: 7; etc.) - // nodeType < 6 works because attributes (2) do not appear as children - for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { - if ( elem.nodeType < 6 ) { - return false; - } - } - return true; - }, - - "parent": function( elem ) { - return !Expr.pseudos[ "empty" ]( elem ); - }, - - // Element/input types - "header": function( elem ) { - return rheader.test( elem.nodeName ); - }, - - "input": function( elem ) { - return rinputs.test( elem.nodeName ); - }, - - "button": function( elem ) { - var name = elem.nodeName.toLowerCase(); - return name === "input" && elem.type === "button" || name === "button"; - }, - - "text": function( elem ) { - var attr; - return elem.nodeName.toLowerCase() === "input" && - elem.type === "text" && - - // Support: IE<8 - // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" - ( ( attr = elem.getAttribute( "type" ) ) == null || - attr.toLowerCase() === "text" ); - }, - - // Position-in-collection - "first": createPositionalPseudo( function() { - return [ 0 ]; - } ), - - "last": createPositionalPseudo( function( _matchIndexes, length ) { - return [ length - 1 ]; - } ), - - "eq": createPositionalPseudo( function( _matchIndexes, length, argument ) { - return [ argument < 0 ? argument + length : argument ]; - } ), - - "even": createPositionalPseudo( function( matchIndexes, length ) { - var i = 0; - for ( ; i < length; i += 2 ) { - matchIndexes.push( i ); - } - return matchIndexes; - } ), - - "odd": createPositionalPseudo( function( matchIndexes, length ) { - var i = 1; - for ( ; i < length; i += 2 ) { - matchIndexes.push( i ); - } - return matchIndexes; - } ), - - "lt": createPositionalPseudo( function( matchIndexes, length, argument ) { - var i = argument < 0 ? - argument + length : - argument > length ? - length : - argument; - for ( ; --i >= 0; ) { - matchIndexes.push( i ); - } - return matchIndexes; - } ), - - "gt": createPositionalPseudo( function( matchIndexes, length, argument ) { - var i = argument < 0 ? argument + length : argument; - for ( ; ++i < length; ) { - matchIndexes.push( i ); - } - return matchIndexes; - } ) - } -}; - -Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ]; - -// Add button/input type pseudos -for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { - Expr.pseudos[ i ] = createInputPseudo( i ); -} -for ( i in { submit: true, reset: true } ) { - Expr.pseudos[ i ] = createButtonPseudo( i ); -} - -// Easy API for creating new setFilters -function setFilters() {} -setFilters.prototype = Expr.filters = Expr.pseudos; -Expr.setFilters = new setFilters(); - -tokenize = Sizzle.tokenize = function( selector, parseOnly ) { - var matched, match, tokens, type, - soFar, groups, preFilters, - cached = tokenCache[ selector + " " ]; - - if ( cached ) { - return parseOnly ? 0 : cached.slice( 0 ); - } - - soFar = selector; - groups = []; - preFilters = Expr.preFilter; - - while ( soFar ) { - - // Comma and first run - if ( !matched || ( match = rcomma.exec( soFar ) ) ) { - if ( match ) { - - // Don't consume trailing commas as valid - soFar = soFar.slice( match[ 0 ].length ) || soFar; - } - groups.push( ( tokens = [] ) ); - } - - matched = false; - - // Combinators - if ( ( match = rcombinators.exec( soFar ) ) ) { - matched = match.shift(); - tokens.push( { - value: matched, - - // Cast descendant combinators to space - type: match[ 0 ].replace( rtrim, " " ) - } ); - soFar = soFar.slice( matched.length ); - } - - // Filters - for ( type in Expr.filter ) { - if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] || - ( match = preFilters[ type ]( match ) ) ) ) { - matched = match.shift(); - tokens.push( { - value: matched, - type: type, - matches: match - } ); - soFar = soFar.slice( matched.length ); - } - } - - if ( !matched ) { - break; - } - } - - // Return the length of the invalid excess - // if we're just parsing - // Otherwise, throw an error or return tokens - return parseOnly ? - soFar.length : - soFar ? - Sizzle.error( selector ) : - - // Cache the tokens - tokenCache( selector, groups ).slice( 0 ); -}; - -function toSelector( tokens ) { - var i = 0, - len = tokens.length, - selector = ""; - for ( ; i < len; i++ ) { - selector += tokens[ i ].value; - } - return selector; -} - -function addCombinator( matcher, combinator, base ) { - var dir = combinator.dir, - skip = combinator.next, - key = skip || dir, - checkNonElements = base && key === "parentNode", - doneName = done++; - - return combinator.first ? - - // Check against closest ancestor/preceding element - function( elem, context, xml ) { - while ( ( elem = elem[ dir ] ) ) { - if ( elem.nodeType === 1 || checkNonElements ) { - return matcher( elem, context, xml ); - } - } - return false; - } : - - // Check against all ancestor/preceding elements - function( elem, context, xml ) { - var oldCache, uniqueCache, outerCache, - newCache = [ dirruns, doneName ]; - - // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching - if ( xml ) { - while ( ( elem = elem[ dir ] ) ) { - if ( elem.nodeType === 1 || checkNonElements ) { - if ( matcher( elem, context, xml ) ) { - return true; - } - } - } - } else { - while ( ( elem = elem[ dir ] ) ) { - if ( elem.nodeType === 1 || checkNonElements ) { - outerCache = elem[ expando ] || ( elem[ expando ] = {} ); - - // Support: IE <9 only - // Defend against cloned attroperties (jQuery gh-1709) - uniqueCache = outerCache[ elem.uniqueID ] || - ( outerCache[ elem.uniqueID ] = {} ); - - if ( skip && skip === elem.nodeName.toLowerCase() ) { - elem = elem[ dir ] || elem; - } else if ( ( oldCache = uniqueCache[ key ] ) && - oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { - - // Assign to newCache so results back-propagate to previous elements - return ( newCache[ 2 ] = oldCache[ 2 ] ); - } else { - - // Reuse newcache so results back-propagate to previous elements - uniqueCache[ key ] = newCache; - - // A match means we're done; a fail means we have to keep checking - if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) { - return true; - } - } - } - } - } - return false; - }; -} - -function elementMatcher( matchers ) { - return matchers.length > 1 ? - function( elem, context, xml ) { - var i = matchers.length; - while ( i-- ) { - if ( !matchers[ i ]( elem, context, xml ) ) { - return false; - } - } - return true; - } : - matchers[ 0 ]; -} - -function multipleContexts( selector, contexts, results ) { - var i = 0, - len = contexts.length; - for ( ; i < len; i++ ) { - Sizzle( selector, contexts[ i ], results ); - } - return results; -} - -function condense( unmatched, map, filter, context, xml ) { - var elem, - newUnmatched = [], - i = 0, - len = unmatched.length, - mapped = map != null; - - for ( ; i < len; i++ ) { - if ( ( elem = unmatched[ i ] ) ) { - if ( !filter || filter( elem, context, xml ) ) { - newUnmatched.push( elem ); - if ( mapped ) { - map.push( i ); - } - } - } - } - - return newUnmatched; -} - -function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { - if ( postFilter && !postFilter[ expando ] ) { - postFilter = setMatcher( postFilter ); - } - if ( postFinder && !postFinder[ expando ] ) { - postFinder = setMatcher( postFinder, postSelector ); - } - return markFunction( function( seed, results, context, xml ) { - var temp, i, elem, - preMap = [], - postMap = [], - preexisting = results.length, - - // Get initial elements from seed or context - elems = seed || multipleContexts( - selector || "*", - context.nodeType ? [ context ] : context, - [] - ), - - // Prefilter to get matcher input, preserving a map for seed-results synchronization - matcherIn = preFilter && ( seed || !selector ) ? - condense( elems, preMap, preFilter, context, xml ) : - elems, - - matcherOut = matcher ? - - // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, - postFinder || ( seed ? preFilter : preexisting || postFilter ) ? - - // ...intermediate processing is necessary - [] : - - // ...otherwise use results directly - results : - matcherIn; - - // Find primary matches - if ( matcher ) { - matcher( matcherIn, matcherOut, context, xml ); - } - - // Apply postFilter - if ( postFilter ) { - temp = condense( matcherOut, postMap ); - postFilter( temp, [], context, xml ); - - // Un-match failing elements by moving them back to matcherIn - i = temp.length; - while ( i-- ) { - if ( ( elem = temp[ i ] ) ) { - matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem ); - } - } - } - - if ( seed ) { - if ( postFinder || preFilter ) { - if ( postFinder ) { - - // Get the final matcherOut by condensing this intermediate into postFinder contexts - temp = []; - i = matcherOut.length; - while ( i-- ) { - if ( ( elem = matcherOut[ i ] ) ) { - - // Restore matcherIn since elem is not yet a final match - temp.push( ( matcherIn[ i ] = elem ) ); - } - } - postFinder( null, ( matcherOut = [] ), temp, xml ); - } - - // Move matched elements from seed to results to keep them synchronized - i = matcherOut.length; - while ( i-- ) { - if ( ( elem = matcherOut[ i ] ) && - ( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) { - - seed[ temp ] = !( results[ temp ] = elem ); - } - } - } - - // Add elements to results, through postFinder if defined - } else { - matcherOut = condense( - matcherOut === results ? - matcherOut.splice( preexisting, matcherOut.length ) : - matcherOut - ); - if ( postFinder ) { - postFinder( null, results, matcherOut, xml ); - } else { - push.apply( results, matcherOut ); - } - } - } ); -} - -function matcherFromTokens( tokens ) { - var checkContext, matcher, j, - len = tokens.length, - leadingRelative = Expr.relative[ tokens[ 0 ].type ], - implicitRelative = leadingRelative || Expr.relative[ " " ], - i = leadingRelative ? 1 : 0, - - // The foundational matcher ensures that elements are reachable from top-level context(s) - matchContext = addCombinator( function( elem ) { - return elem === checkContext; - }, implicitRelative, true ), - matchAnyContext = addCombinator( function( elem ) { - return indexOf( checkContext, elem ) > -1; - }, implicitRelative, true ), - matchers = [ function( elem, context, xml ) { - var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( - ( checkContext = context ).nodeType ? - matchContext( elem, context, xml ) : - matchAnyContext( elem, context, xml ) ); - - // Avoid hanging onto element (issue #299) - checkContext = null; - return ret; - } ]; - - for ( ; i < len; i++ ) { - if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) { - matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ]; - } else { - matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches ); - - // Return special upon seeing a positional matcher - if ( matcher[ expando ] ) { - - // Find the next relative operator (if any) for proper handling - j = ++i; - for ( ; j < len; j++ ) { - if ( Expr.relative[ tokens[ j ].type ] ) { - break; - } - } - return setMatcher( - i > 1 && elementMatcher( matchers ), - i > 1 && toSelector( - - // If the preceding token was a descendant combinator, insert an implicit any-element `*` - tokens - .slice( 0, i - 1 ) - .concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } ) - ).replace( rtrim, "$1" ), - matcher, - i < j && matcherFromTokens( tokens.slice( i, j ) ), - j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ), - j < len && toSelector( tokens ) - ); - } - matchers.push( matcher ); - } - } - - return elementMatcher( matchers ); -} - -function matcherFromGroupMatchers( elementMatchers, setMatchers ) { - var bySet = setMatchers.length > 0, - byElement = elementMatchers.length > 0, - superMatcher = function( seed, context, xml, results, outermost ) { - var elem, j, matcher, - matchedCount = 0, - i = "0", - unmatched = seed && [], - setMatched = [], - contextBackup = outermostContext, - - // We must always have either seed elements or outermost context - elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ), - - // Use integer dirruns iff this is the outermost matcher - dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ), - len = elems.length; - - if ( outermost ) { - - // Support: IE 11+, Edge 17 - 18+ - // IE/Edge sometimes throw a "Permission denied" error when strict-comparing - // two documents; shallow comparisons work. - // eslint-disable-next-line eqeqeq - outermostContext = context == document || context || outermost; - } - - // Add elements passing elementMatchers directly to results - // Support: IE<9, Safari - // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id - for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) { - if ( byElement && elem ) { - j = 0; - - // Support: IE 11+, Edge 17 - 18+ - // IE/Edge sometimes throw a "Permission denied" error when strict-comparing - // two documents; shallow comparisons work. - // eslint-disable-next-line eqeqeq - if ( !context && elem.ownerDocument != document ) { - setDocument( elem ); - xml = !documentIsHTML; - } - while ( ( matcher = elementMatchers[ j++ ] ) ) { - if ( matcher( elem, context || document, xml ) ) { - results.push( elem ); - break; - } - } - if ( outermost ) { - dirruns = dirrunsUnique; - } - } - - // Track unmatched elements for set filters - if ( bySet ) { - - // They will have gone through all possible matchers - if ( ( elem = !matcher && elem ) ) { - matchedCount--; - } - - // Lengthen the array for every element, matched or not - if ( seed ) { - unmatched.push( elem ); - } - } - } - - // `i` is now the count of elements visited above, and adding it to `matchedCount` - // makes the latter nonnegative. - matchedCount += i; - - // Apply set filters to unmatched elements - // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` - // equals `i`), unless we didn't visit _any_ elements in the above loop because we have - // no element matchers and no seed. - // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that - // case, which will result in a "00" `matchedCount` that differs from `i` but is also - // numerically zero. - if ( bySet && i !== matchedCount ) { - j = 0; - while ( ( matcher = setMatchers[ j++ ] ) ) { - matcher( unmatched, setMatched, context, xml ); - } - - if ( seed ) { - - // Reintegrate element matches to eliminate the need for sorting - if ( matchedCount > 0 ) { - while ( i-- ) { - if ( !( unmatched[ i ] || setMatched[ i ] ) ) { - setMatched[ i ] = pop.call( results ); - } - } - } - - // Discard index placeholder values to get only actual matches - setMatched = condense( setMatched ); - } - - // Add matches to results - push.apply( results, setMatched ); - - // Seedless set matches succeeding multiple successful matchers stipulate sorting - if ( outermost && !seed && setMatched.length > 0 && - ( matchedCount + setMatchers.length ) > 1 ) { - - Sizzle.uniqueSort( results ); - } - } - - // Override manipulation of globals by nested matchers - if ( outermost ) { - dirruns = dirrunsUnique; - outermostContext = contextBackup; - } - - return unmatched; - }; - - return bySet ? - markFunction( superMatcher ) : - superMatcher; -} - -compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { - var i, - setMatchers = [], - elementMatchers = [], - cached = compilerCache[ selector + " " ]; - - if ( !cached ) { - - // Generate a function of recursive functions that can be used to check each element - if ( !match ) { - match = tokenize( selector ); - } - i = match.length; - while ( i-- ) { - cached = matcherFromTokens( match[ i ] ); - if ( cached[ expando ] ) { - setMatchers.push( cached ); - } else { - elementMatchers.push( cached ); - } - } - - // Cache the compiled function - cached = compilerCache( - selector, - matcherFromGroupMatchers( elementMatchers, setMatchers ) - ); - - // Save selector and tokenization - cached.selector = selector; - } - return cached; -}; - -/** - * A low-level selection function that works with Sizzle's compiled - * selector functions - * @param {String|Function} selector A selector or a pre-compiled - * selector function built with Sizzle.compile - * @param {Element} context - * @param {Array} [results] - * @param {Array} [seed] A set of elements to match against - */ -select = Sizzle.select = function( selector, context, results, seed ) { - var i, tokens, token, type, find, - compiled = typeof selector === "function" && selector, - match = !seed && tokenize( ( selector = compiled.selector || selector ) ); - - results = results || []; - - // Try to minimize operations if there is only one selector in the list and no seed - // (the latter of which guarantees us context) - if ( match.length === 1 ) { - - // Reduce context if the leading compound selector is an ID - tokens = match[ 0 ] = match[ 0 ].slice( 0 ); - if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" && - context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) { - - context = ( Expr.find[ "ID" ]( token.matches[ 0 ] - .replace( runescape, funescape ), context ) || [] )[ 0 ]; - if ( !context ) { - return results; - - // Precompiled matchers will still verify ancestry, so step up a level - } else if ( compiled ) { - context = context.parentNode; - } - - selector = selector.slice( tokens.shift().value.length ); - } - - // Fetch a seed set for right-to-left matching - i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length; - while ( i-- ) { - token = tokens[ i ]; - - // Abort if we hit a combinator - if ( Expr.relative[ ( type = token.type ) ] ) { - break; - } - if ( ( find = Expr.find[ type ] ) ) { - - // Search, expanding context for leading sibling combinators - if ( ( seed = find( - token.matches[ 0 ].replace( runescape, funescape ), - rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) || - context - ) ) ) { - - // If seed is empty or no tokens remain, we can return early - tokens.splice( i, 1 ); - selector = seed.length && toSelector( tokens ); - if ( !selector ) { - push.apply( results, seed ); - return results; - } - - break; - } - } - } - } - - // Compile and execute a filtering function if one is not provided - // Provide `match` to avoid retokenization if we modified the selector above - ( compiled || compile( selector, match ) )( - seed, - context, - !documentIsHTML, - results, - !context || rsibling.test( selector ) && testContext( context.parentNode ) || context - ); - return results; -}; - -// One-time assignments - -// Sort stability -support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando; - -// Support: Chrome 14-35+ -// Always assume duplicates if they aren't passed to the comparison function -support.detectDuplicates = !!hasDuplicate; - -// Initialize against the default document -setDocument(); - -// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) -// Detached nodes confoundingly follow *each other* -support.sortDetached = assert( function( el ) { - - // Should return 1, but returns 4 (following) - return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1; -} ); - -// Support: IE<8 -// Prevent attribute/property "interpolation" -// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx -if ( !assert( function( el ) { - el.innerHTML = ""; - return el.firstChild.getAttribute( "href" ) === "#"; -} ) ) { - addHandle( "type|href|height|width", function( elem, name, isXML ) { - if ( !isXML ) { - return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); - } - } ); -} - -// Support: IE<9 -// Use defaultValue in place of getAttribute("value") -if ( !support.attributes || !assert( function( el ) { - el.innerHTML = ""; - el.firstChild.setAttribute( "value", "" ); - return el.firstChild.getAttribute( "value" ) === ""; -} ) ) { - addHandle( "value", function( elem, _name, isXML ) { - if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { - return elem.defaultValue; - } - } ); -} - -// Support: IE<9 -// Use getAttributeNode to fetch booleans when getAttribute lies -if ( !assert( function( el ) { - return el.getAttribute( "disabled" ) == null; -} ) ) { - addHandle( booleans, function( elem, name, isXML ) { - var val; - if ( !isXML ) { - return elem[ name ] === true ? name.toLowerCase() : - ( val = elem.getAttributeNode( name ) ) && val.specified ? - val.value : - null; - } - } ); -} - -return Sizzle; - -} )( window ); - - - -jQuery.find = Sizzle; -jQuery.expr = Sizzle.selectors; - -// Deprecated -jQuery.expr[ ":" ] = jQuery.expr.pseudos; -jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; -jQuery.text = Sizzle.getText; -jQuery.isXMLDoc = Sizzle.isXML; -jQuery.contains = Sizzle.contains; -jQuery.escapeSelector = Sizzle.escape; - - - - -var dir = function( elem, dir, until ) { - var matched = [], - truncate = until !== undefined; - - while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { - if ( elem.nodeType === 1 ) { - if ( truncate && jQuery( elem ).is( until ) ) { - break; - } - matched.push( elem ); - } - } - return matched; -}; - - -var siblings = function( n, elem ) { - var matched = []; - - for ( ; n; n = n.nextSibling ) { - if ( n.nodeType === 1 && n !== elem ) { - matched.push( n ); - } - } - - return matched; -}; - - -var rneedsContext = jQuery.expr.match.needsContext; - - - -function nodeName( elem, name ) { - - return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); - -}; -var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); - - - -// Implement the identical functionality for filter and not -function winnow( elements, qualifier, not ) { - if ( isFunction( qualifier ) ) { - return jQuery.grep( elements, function( elem, i ) { - return !!qualifier.call( elem, i, elem ) !== not; - } ); - } - - // Single element - if ( qualifier.nodeType ) { - return jQuery.grep( elements, function( elem ) { - return ( elem === qualifier ) !== not; - } ); - } - - // Arraylike of elements (jQuery, arguments, Array) - if ( typeof qualifier !== "string" ) { - return jQuery.grep( elements, function( elem ) { - return ( indexOf.call( qualifier, elem ) > -1 ) !== not; - } ); - } - - // Filtered directly for both simple and complex selectors - return jQuery.filter( qualifier, elements, not ); -} - -jQuery.filter = function( expr, elems, not ) { - var elem = elems[ 0 ]; - - if ( not ) { - expr = ":not(" + expr + ")"; - } - - if ( elems.length === 1 && elem.nodeType === 1 ) { - return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : []; - } - - return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { - return elem.nodeType === 1; - } ) ); -}; - -jQuery.fn.extend( { - find: function( selector ) { - var i, ret, - len = this.length, - self = this; - - if ( typeof selector !== "string" ) { - return this.pushStack( jQuery( selector ).filter( function() { - for ( i = 0; i < len; i++ ) { - if ( jQuery.contains( self[ i ], this ) ) { - return true; - } - } - } ) ); - } - - ret = this.pushStack( [] ); - - for ( i = 0; i < len; i++ ) { - jQuery.find( selector, self[ i ], ret ); - } - - return len > 1 ? jQuery.uniqueSort( ret ) : ret; - }, - filter: function( selector ) { - return this.pushStack( winnow( this, selector || [], false ) ); - }, - not: function( selector ) { - return this.pushStack( winnow( this, selector || [], true ) ); - }, - is: function( selector ) { - return !!winnow( - this, - - // If this is a positional/relative selector, check membership in the returned set - // so $("p:first").is("p:last") won't return true for a doc with two "p". - typeof selector === "string" && rneedsContext.test( selector ) ? - jQuery( selector ) : - selector || [], - false - ).length; - } -} ); - - -// Initialize a jQuery object - - -// A central reference to the root jQuery(document) -var rootjQuery, - - // A simple way to check for HTML strings - // Prioritize #id over to avoid XSS via location.hash (#9521) - // Strict HTML recognition (#11290: must start with <) - // Shortcut simple #id case for speed - rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, - - init = jQuery.fn.init = function( selector, context, root ) { - var match, elem; - - // HANDLE: $(""), $(null), $(undefined), $(false) - if ( !selector ) { - return this; - } - - // Method init() accepts an alternate rootjQuery - // so migrate can support jQuery.sub (gh-2101) - root = root || rootjQuery; - - // Handle HTML strings - if ( typeof selector === "string" ) { - if ( selector[ 0 ] === "<" && - selector[ selector.length - 1 ] === ">" && - selector.length >= 3 ) { - - // Assume that strings that start and end with <> are HTML and skip the regex check - match = [ null, selector, null ]; - - } else { - match = rquickExpr.exec( selector ); - } - - // Match html or make sure no context is specified for #id - if ( match && ( match[ 1 ] || !context ) ) { - - // HANDLE: $(html) -> $(array) - if ( match[ 1 ] ) { - context = context instanceof jQuery ? context[ 0 ] : context; - - // Option to run scripts is true for back-compat - // Intentionally let the error be thrown if parseHTML is not present - jQuery.merge( this, jQuery.parseHTML( - match[ 1 ], - context && context.nodeType ? context.ownerDocument || context : document, - true - ) ); - - // HANDLE: $(html, props) - if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { - for ( match in context ) { - - // Properties of context are called as methods if possible - if ( isFunction( this[ match ] ) ) { - this[ match ]( context[ match ] ); - - // ...and otherwise set as attributes - } else { - this.attr( match, context[ match ] ); - } - } - } - - return this; - - // HANDLE: $(#id) - } else { - elem = document.getElementById( match[ 2 ] ); - - if ( elem ) { - - // Inject the element directly into the jQuery object - this[ 0 ] = elem; - this.length = 1; - } - return this; - } - - // HANDLE: $(expr, $(...)) - } else if ( !context || context.jquery ) { - return ( context || root ).find( selector ); - - // HANDLE: $(expr, context) - // (which is just equivalent to: $(context).find(expr) - } else { - return this.constructor( context ).find( selector ); - } - - // HANDLE: $(DOMElement) - } else if ( selector.nodeType ) { - this[ 0 ] = selector; - this.length = 1; - return this; - - // HANDLE: $(function) - // Shortcut for document ready - } else if ( isFunction( selector ) ) { - return root.ready !== undefined ? - root.ready( selector ) : - - // Execute immediately if ready is not present - selector( jQuery ); - } - - return jQuery.makeArray( selector, this ); - }; - -// Give the init function the jQuery prototype for later instantiation -init.prototype = jQuery.fn; - -// Initialize central reference -rootjQuery = jQuery( document ); - - -var rparentsprev = /^(?:parents|prev(?:Until|All))/, - - // Methods guaranteed to produce a unique set when starting from a unique set - guaranteedUnique = { - children: true, - contents: true, - next: true, - prev: true - }; - -jQuery.fn.extend( { - has: function( target ) { - var targets = jQuery( target, this ), - l = targets.length; - - return this.filter( function() { - var i = 0; - for ( ; i < l; i++ ) { - if ( jQuery.contains( this, targets[ i ] ) ) { - return true; - } - } - } ); - }, - - closest: function( selectors, context ) { - var cur, - i = 0, - l = this.length, - matched = [], - targets = typeof selectors !== "string" && jQuery( selectors ); - - // Positional selectors never match, since there's no _selection_ context - if ( !rneedsContext.test( selectors ) ) { - for ( ; i < l; i++ ) { - for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { - - // Always skip document fragments - if ( cur.nodeType < 11 && ( targets ? - targets.index( cur ) > -1 : - - // Don't pass non-elements to Sizzle - cur.nodeType === 1 && - jQuery.find.matchesSelector( cur, selectors ) ) ) { - - matched.push( cur ); - break; - } - } - } - } - - return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); - }, - - // Determine the position of an element within the set - index: function( elem ) { - - // No argument, return index in parent - if ( !elem ) { - return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; - } - - // Index in selector - if ( typeof elem === "string" ) { - return indexOf.call( jQuery( elem ), this[ 0 ] ); - } - - // Locate the position of the desired element - return indexOf.call( this, - - // If it receives a jQuery object, the first element is used - elem.jquery ? elem[ 0 ] : elem - ); - }, - - add: function( selector, context ) { - return this.pushStack( - jQuery.uniqueSort( - jQuery.merge( this.get(), jQuery( selector, context ) ) - ) - ); - }, - - addBack: function( selector ) { - return this.add( selector == null ? - this.prevObject : this.prevObject.filter( selector ) - ); - } -} ); - -function sibling( cur, dir ) { - while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} - return cur; -} - -jQuery.each( { - parent: function( elem ) { - var parent = elem.parentNode; - return parent && parent.nodeType !== 11 ? parent : null; - }, - parents: function( elem ) { - return dir( elem, "parentNode" ); - }, - parentsUntil: function( elem, _i, until ) { - return dir( elem, "parentNode", until ); - }, - next: function( elem ) { - return sibling( elem, "nextSibling" ); - }, - prev: function( elem ) { - return sibling( elem, "previousSibling" ); - }, - nextAll: function( elem ) { - return dir( elem, "nextSibling" ); - }, - prevAll: function( elem ) { - return dir( elem, "previousSibling" ); - }, - nextUntil: function( elem, _i, until ) { - return dir( elem, "nextSibling", until ); - }, - prevUntil: function( elem, _i, until ) { - return dir( elem, "previousSibling", until ); - }, - siblings: function( elem ) { - return siblings( ( elem.parentNode || {} ).firstChild, elem ); - }, - children: function( elem ) { - return siblings( elem.firstChild ); - }, - contents: function( elem ) { - if ( elem.contentDocument != null && - - // Support: IE 11+ - // elements with no `data` attribute has an object - // `contentDocument` with a `null` prototype. - getProto( elem.contentDocument ) ) { - - return elem.contentDocument; - } - - // Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only - // Treat the template element as a regular one in browsers that - // don't support it. - if ( nodeName( elem, "template" ) ) { - elem = elem.content || elem; - } - - return jQuery.merge( [], elem.childNodes ); - } -}, function( name, fn ) { - jQuery.fn[ name ] = function( until, selector ) { - var matched = jQuery.map( this, fn, until ); - - if ( name.slice( -5 ) !== "Until" ) { - selector = until; - } - - if ( selector && typeof selector === "string" ) { - matched = jQuery.filter( selector, matched ); - } - - if ( this.length > 1 ) { - - // Remove duplicates - if ( !guaranteedUnique[ name ] ) { - jQuery.uniqueSort( matched ); - } - - // Reverse order for parents* and prev-derivatives - if ( rparentsprev.test( name ) ) { - matched.reverse(); - } - } - - return this.pushStack( matched ); - }; -} ); -var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g ); - - - -// Convert String-formatted options into Object-formatted ones -function createOptions( options ) { - var object = {}; - jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) { - object[ flag ] = true; - } ); - return object; -} - -/* - * Create a callback list using the following parameters: - * - * options: an optional list of space-separated options that will change how - * the callback list behaves or a more traditional option object - * - * By default a callback list will act like an event callback list and can be - * "fired" multiple times. - * - * Possible options: - * - * once: will ensure the callback list can only be fired once (like a Deferred) - * - * memory: will keep track of previous values and will call any callback added - * after the list has been fired right away with the latest "memorized" - * values (like a Deferred) - * - * unique: will ensure a callback can only be added once (no duplicate in the list) - * - * stopOnFalse: interrupt callings when a callback returns false - * - */ -jQuery.Callbacks = function( options ) { - - // Convert options from String-formatted to Object-formatted if needed - // (we check in cache first) - options = typeof options === "string" ? - createOptions( options ) : - jQuery.extend( {}, options ); - - var // Flag to know if list is currently firing - firing, - - // Last fire value for non-forgettable lists - memory, - - // Flag to know if list was already fired - fired, - - // Flag to prevent firing - locked, - - // Actual callback list - list = [], - - // Queue of execution data for repeatable lists - queue = [], - - // Index of currently firing callback (modified by add/remove as needed) - firingIndex = -1, - - // Fire callbacks - fire = function() { - - // Enforce single-firing - locked = locked || options.once; - - // Execute callbacks for all pending executions, - // respecting firingIndex overrides and runtime changes - fired = firing = true; - for ( ; queue.length; firingIndex = -1 ) { - memory = queue.shift(); - while ( ++firingIndex < list.length ) { - - // Run callback and check for early termination - if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && - options.stopOnFalse ) { - - // Jump to end and forget the data so .add doesn't re-fire - firingIndex = list.length; - memory = false; - } - } - } - - // Forget the data if we're done with it - if ( !options.memory ) { - memory = false; - } - - firing = false; - - // Clean up if we're done firing for good - if ( locked ) { - - // Keep an empty list if we have data for future add calls - if ( memory ) { - list = []; - - // Otherwise, this object is spent - } else { - list = ""; - } - } - }, - - // Actual Callbacks object - self = { - - // Add a callback or a collection of callbacks to the list - add: function() { - if ( list ) { - - // If we have memory from a past run, we should fire after adding - if ( memory && !firing ) { - firingIndex = list.length - 1; - queue.push( memory ); - } - - ( function add( args ) { - jQuery.each( args, function( _, arg ) { - if ( isFunction( arg ) ) { - if ( !options.unique || !self.has( arg ) ) { - list.push( arg ); - } - } else if ( arg && arg.length && toType( arg ) !== "string" ) { - - // Inspect recursively - add( arg ); - } - } ); - } )( arguments ); - - if ( memory && !firing ) { - fire(); - } - } - return this; - }, - - // Remove a callback from the list - remove: function() { - jQuery.each( arguments, function( _, arg ) { - var index; - while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { - list.splice( index, 1 ); - - // Handle firing indexes - if ( index <= firingIndex ) { - firingIndex--; - } - } - } ); - return this; - }, - - // Check if a given callback is in the list. - // If no argument is given, return whether or not list has callbacks attached. - has: function( fn ) { - return fn ? - jQuery.inArray( fn, list ) > -1 : - list.length > 0; - }, - - // Remove all callbacks from the list - empty: function() { - if ( list ) { - list = []; - } - return this; - }, - - // Disable .fire and .add - // Abort any current/pending executions - // Clear all callbacks and values - disable: function() { - locked = queue = []; - list = memory = ""; - return this; - }, - disabled: function() { - return !list; - }, - - // Disable .fire - // Also disable .add unless we have memory (since it would have no effect) - // Abort any pending executions - lock: function() { - locked = queue = []; - if ( !memory && !firing ) { - list = memory = ""; - } - return this; - }, - locked: function() { - return !!locked; - }, - - // Call all callbacks with the given context and arguments - fireWith: function( context, args ) { - if ( !locked ) { - args = args || []; - args = [ context, args.slice ? args.slice() : args ]; - queue.push( args ); - if ( !firing ) { - fire(); - } - } - return this; - }, - - // Call all the callbacks with the given arguments - fire: function() { - self.fireWith( this, arguments ); - return this; - }, - - // To know if the callbacks have already been called at least once - fired: function() { - return !!fired; - } - }; - - return self; -}; - - -function Identity( v ) { - return v; -} -function Thrower( ex ) { - throw ex; -} - -function adoptValue( value, resolve, reject, noValue ) { - var method; - - try { - - // Check for promise aspect first to privilege synchronous behavior - if ( value && isFunction( ( method = value.promise ) ) ) { - method.call( value ).done( resolve ).fail( reject ); - - // Other thenables - } else if ( value && isFunction( ( method = value.then ) ) ) { - method.call( value, resolve, reject ); - - // Other non-thenables - } else { - - // Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer: - // * false: [ value ].slice( 0 ) => resolve( value ) - // * true: [ value ].slice( 1 ) => resolve() - resolve.apply( undefined, [ value ].slice( noValue ) ); - } - - // For Promises/A+, convert exceptions into rejections - // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in - // Deferred#then to conditionally suppress rejection. - } catch ( value ) { - - // Support: Android 4.0 only - // Strict mode functions invoked without .call/.apply get global-object context - reject.apply( undefined, [ value ] ); - } -} - -jQuery.extend( { - - Deferred: function( func ) { - var tuples = [ - - // action, add listener, callbacks, - // ... .then handlers, argument index, [final state] - [ "notify", "progress", jQuery.Callbacks( "memory" ), - jQuery.Callbacks( "memory" ), 2 ], - [ "resolve", "done", jQuery.Callbacks( "once memory" ), - jQuery.Callbacks( "once memory" ), 0, "resolved" ], - [ "reject", "fail", jQuery.Callbacks( "once memory" ), - jQuery.Callbacks( "once memory" ), 1, "rejected" ] - ], - state = "pending", - promise = { - state: function() { - return state; - }, - always: function() { - deferred.done( arguments ).fail( arguments ); - return this; - }, - "catch": function( fn ) { - return promise.then( null, fn ); - }, - - // Keep pipe for back-compat - pipe: function( /* fnDone, fnFail, fnProgress */ ) { - var fns = arguments; - - return jQuery.Deferred( function( newDefer ) { - jQuery.each( tuples, function( _i, tuple ) { - - // Map tuples (progress, done, fail) to arguments (done, fail, progress) - var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; - - // deferred.progress(function() { bind to newDefer or newDefer.notify }) - // deferred.done(function() { bind to newDefer or newDefer.resolve }) - // deferred.fail(function() { bind to newDefer or newDefer.reject }) - deferred[ tuple[ 1 ] ]( function() { - var returned = fn && fn.apply( this, arguments ); - if ( returned && isFunction( returned.promise ) ) { - returned.promise() - .progress( newDefer.notify ) - .done( newDefer.resolve ) - .fail( newDefer.reject ); - } else { - newDefer[ tuple[ 0 ] + "With" ]( - this, - fn ? [ returned ] : arguments - ); - } - } ); - } ); - fns = null; - } ).promise(); - }, - then: function( onFulfilled, onRejected, onProgress ) { - var maxDepth = 0; - function resolve( depth, deferred, handler, special ) { - return function() { - var that = this, - args = arguments, - mightThrow = function() { - var returned, then; - - // Support: Promises/A+ section 2.3.3.3.3 - // https://promisesaplus.com/#point-59 - // Ignore double-resolution attempts - if ( depth < maxDepth ) { - return; - } - - returned = handler.apply( that, args ); - - // Support: Promises/A+ section 2.3.1 - // https://promisesaplus.com/#point-48 - if ( returned === deferred.promise() ) { - throw new TypeError( "Thenable self-resolution" ); - } - - // Support: Promises/A+ sections 2.3.3.1, 3.5 - // https://promisesaplus.com/#point-54 - // https://promisesaplus.com/#point-75 - // Retrieve `then` only once - then = returned && - - // Support: Promises/A+ section 2.3.4 - // https://promisesaplus.com/#point-64 - // Only check objects and functions for thenability - ( typeof returned === "object" || - typeof returned === "function" ) && - returned.then; - - // Handle a returned thenable - if ( isFunction( then ) ) { - - // Special processors (notify) just wait for resolution - if ( special ) { - then.call( - returned, - resolve( maxDepth, deferred, Identity, special ), - resolve( maxDepth, deferred, Thrower, special ) - ); - - // Normal processors (resolve) also hook into progress - } else { - - // ...and disregard older resolution values - maxDepth++; - - then.call( - returned, - resolve( maxDepth, deferred, Identity, special ), - resolve( maxDepth, deferred, Thrower, special ), - resolve( maxDepth, deferred, Identity, - deferred.notifyWith ) - ); - } - - // Handle all other returned values - } else { - - // Only substitute handlers pass on context - // and multiple values (non-spec behavior) - if ( handler !== Identity ) { - that = undefined; - args = [ returned ]; - } - - // Process the value(s) - // Default process is resolve - ( special || deferred.resolveWith )( that, args ); - } - }, - - // Only normal processors (resolve) catch and reject exceptions - process = special ? - mightThrow : - function() { - try { - mightThrow(); - } catch ( e ) { - - if ( jQuery.Deferred.exceptionHook ) { - jQuery.Deferred.exceptionHook( e, - process.stackTrace ); - } - - // Support: Promises/A+ section 2.3.3.3.4.1 - // https://promisesaplus.com/#point-61 - // Ignore post-resolution exceptions - if ( depth + 1 >= maxDepth ) { - - // Only substitute handlers pass on context - // and multiple values (non-spec behavior) - if ( handler !== Thrower ) { - that = undefined; - args = [ e ]; - } - - deferred.rejectWith( that, args ); - } - } - }; - - // Support: Promises/A+ section 2.3.3.3.1 - // https://promisesaplus.com/#point-57 - // Re-resolve promises immediately to dodge false rejection from - // subsequent errors - if ( depth ) { - process(); - } else { - - // Call an optional hook to record the stack, in case of exception - // since it's otherwise lost when execution goes async - if ( jQuery.Deferred.getStackHook ) { - process.stackTrace = jQuery.Deferred.getStackHook(); - } - window.setTimeout( process ); - } - }; - } - - return jQuery.Deferred( function( newDefer ) { - - // progress_handlers.add( ... ) - tuples[ 0 ][ 3 ].add( - resolve( - 0, - newDefer, - isFunction( onProgress ) ? - onProgress : - Identity, - newDefer.notifyWith - ) - ); - - // fulfilled_handlers.add( ... ) - tuples[ 1 ][ 3 ].add( - resolve( - 0, - newDefer, - isFunction( onFulfilled ) ? - onFulfilled : - Identity - ) - ); - - // rejected_handlers.add( ... ) - tuples[ 2 ][ 3 ].add( - resolve( - 0, - newDefer, - isFunction( onRejected ) ? - onRejected : - Thrower - ) - ); - } ).promise(); - }, - - // Get a promise for this deferred - // If obj is provided, the promise aspect is added to the object - promise: function( obj ) { - return obj != null ? jQuery.extend( obj, promise ) : promise; - } - }, - deferred = {}; - - // Add list-specific methods - jQuery.each( tuples, function( i, tuple ) { - var list = tuple[ 2 ], - stateString = tuple[ 5 ]; - - // promise.progress = list.add - // promise.done = list.add - // promise.fail = list.add - promise[ tuple[ 1 ] ] = list.add; - - // Handle state - if ( stateString ) { - list.add( - function() { - - // state = "resolved" (i.e., fulfilled) - // state = "rejected" - state = stateString; - }, - - // rejected_callbacks.disable - // fulfilled_callbacks.disable - tuples[ 3 - i ][ 2 ].disable, - - // rejected_handlers.disable - // fulfilled_handlers.disable - tuples[ 3 - i ][ 3 ].disable, - - // progress_callbacks.lock - tuples[ 0 ][ 2 ].lock, - - // progress_handlers.lock - tuples[ 0 ][ 3 ].lock - ); - } - - // progress_handlers.fire - // fulfilled_handlers.fire - // rejected_handlers.fire - list.add( tuple[ 3 ].fire ); - - // deferred.notify = function() { deferred.notifyWith(...) } - // deferred.resolve = function() { deferred.resolveWith(...) } - // deferred.reject = function() { deferred.rejectWith(...) } - deferred[ tuple[ 0 ] ] = function() { - deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); - return this; - }; - - // deferred.notifyWith = list.fireWith - // deferred.resolveWith = list.fireWith - // deferred.rejectWith = list.fireWith - deferred[ tuple[ 0 ] + "With" ] = list.fireWith; - } ); - - // Make the deferred a promise - promise.promise( deferred ); - - // Call given func if any - if ( func ) { - func.call( deferred, deferred ); - } - - // All done! - return deferred; - }, - - // Deferred helper - when: function( singleValue ) { - var - - // count of uncompleted subordinates - remaining = arguments.length, - - // count of unprocessed arguments - i = remaining, - - // subordinate fulfillment data - resolveContexts = Array( i ), - resolveValues = slice.call( arguments ), - - // the master Deferred - master = jQuery.Deferred(), - - // subordinate callback factory - updateFunc = function( i ) { - return function( value ) { - resolveContexts[ i ] = this; - resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; - if ( !( --remaining ) ) { - master.resolveWith( resolveContexts, resolveValues ); - } - }; - }; - - // Single- and empty arguments are adopted like Promise.resolve - if ( remaining <= 1 ) { - adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject, - !remaining ); - - // Use .then() to unwrap secondary thenables (cf. gh-3000) - if ( master.state() === "pending" || - isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { - - return master.then(); - } - } - - // Multiple arguments are aggregated like Promise.all array elements - while ( i-- ) { - adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); - } - - return master.promise(); - } -} ); - - -// These usually indicate a programmer mistake during development, -// warn about them ASAP rather than swallowing them by default. -var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; - -jQuery.Deferred.exceptionHook = function( error, stack ) { - - // Support: IE 8 - 9 only - // Console exists when dev tools are open, which can happen at any time - if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { - window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); - } -}; - - - - -jQuery.readyException = function( error ) { - window.setTimeout( function() { - throw error; - } ); -}; - - - - -// The deferred used on DOM ready -var readyList = jQuery.Deferred(); - -jQuery.fn.ready = function( fn ) { - - readyList - .then( fn ) - - // Wrap jQuery.readyException in a function so that the lookup - // happens at the time of error handling instead of callback - // registration. - .catch( function( error ) { - jQuery.readyException( error ); - } ); - - return this; -}; - -jQuery.extend( { - - // Is the DOM ready to be used? Set to true once it occurs. - isReady: false, - - // A counter to track how many items to wait for before - // the ready event fires. See #6781 - readyWait: 1, - - // Handle when the DOM is ready - ready: function( wait ) { - - // Abort if there are pending holds or we're already ready - if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { - return; - } - - // Remember that the DOM is ready - jQuery.isReady = true; - - // If a normal DOM Ready event fired, decrement, and wait if need be - if ( wait !== true && --jQuery.readyWait > 0 ) { - return; - } - - // If there are functions bound, to execute - readyList.resolveWith( document, [ jQuery ] ); - } -} ); - -jQuery.ready.then = readyList.then; - -// The ready event handler and self cleanup method -function completed() { - document.removeEventListener( "DOMContentLoaded", completed ); - window.removeEventListener( "load", completed ); - jQuery.ready(); -} - -// Catch cases where $(document).ready() is called -// after the browser event has already occurred. -// Support: IE <=9 - 10 only -// Older IE sometimes signals "interactive" too soon -if ( document.readyState === "complete" || - ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { - - // Handle it asynchronously to allow scripts the opportunity to delay ready - window.setTimeout( jQuery.ready ); - -} else { - - // Use the handy event callback - document.addEventListener( "DOMContentLoaded", completed ); - - // A fallback to window.onload, that will always work - window.addEventListener( "load", completed ); -} - - - - -// Multifunctional method to get and set values of a collection -// The value/s can optionally be executed if it's a function -var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { - var i = 0, - len = elems.length, - bulk = key == null; - - // Sets many values - if ( toType( key ) === "object" ) { - chainable = true; - for ( i in key ) { - access( elems, fn, i, key[ i ], true, emptyGet, raw ); - } - - // Sets one value - } else if ( value !== undefined ) { - chainable = true; - - if ( !isFunction( value ) ) { - raw = true; - } - - if ( bulk ) { - - // Bulk operations run against the entire set - if ( raw ) { - fn.call( elems, value ); - fn = null; - - // ...except when executing function values - } else { - bulk = fn; - fn = function( elem, _key, value ) { - return bulk.call( jQuery( elem ), value ); - }; - } - } - - if ( fn ) { - for ( ; i < len; i++ ) { - fn( - elems[ i ], key, raw ? - value : - value.call( elems[ i ], i, fn( elems[ i ], key ) ) - ); - } - } - } - - if ( chainable ) { - return elems; - } - - // Gets - if ( bulk ) { - return fn.call( elems ); - } - - return len ? fn( elems[ 0 ], key ) : emptyGet; -}; - - -// Matches dashed string for camelizing -var rmsPrefix = /^-ms-/, - rdashAlpha = /-([a-z])/g; - -// Used by camelCase as callback to replace() -function fcamelCase( _all, letter ) { - return letter.toUpperCase(); -} - -// Convert dashed to camelCase; used by the css and data modules -// Support: IE <=9 - 11, Edge 12 - 15 -// Microsoft forgot to hump their vendor prefix (#9572) -function camelCase( string ) { - return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); -} -var acceptData = function( owner ) { - - // Accepts only: - // - Node - // - Node.ELEMENT_NODE - // - Node.DOCUMENT_NODE - // - Object - // - Any - return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); -}; - - - - -function Data() { - this.expando = jQuery.expando + Data.uid++; -} - -Data.uid = 1; - -Data.prototype = { - - cache: function( owner ) { - - // Check if the owner object already has a cache - var value = owner[ this.expando ]; - - // If not, create one - if ( !value ) { - value = {}; - - // We can accept data for non-element nodes in modern browsers, - // but we should not, see #8335. - // Always return an empty object. - if ( acceptData( owner ) ) { - - // If it is a node unlikely to be stringify-ed or looped over - // use plain assignment - if ( owner.nodeType ) { - owner[ this.expando ] = value; - - // Otherwise secure it in a non-enumerable property - // configurable must be true to allow the property to be - // deleted when data is removed - } else { - Object.defineProperty( owner, this.expando, { - value: value, - configurable: true - } ); - } - } - } - - return value; - }, - set: function( owner, data, value ) { - var prop, - cache = this.cache( owner ); - - // Handle: [ owner, key, value ] args - // Always use camelCase key (gh-2257) - if ( typeof data === "string" ) { - cache[ camelCase( data ) ] = value; - - // Handle: [ owner, { properties } ] args - } else { - - // Copy the properties one-by-one to the cache object - for ( prop in data ) { - cache[ camelCase( prop ) ] = data[ prop ]; - } - } - return cache; - }, - get: function( owner, key ) { - return key === undefined ? - this.cache( owner ) : - - // Always use camelCase key (gh-2257) - owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ]; - }, - access: function( owner, key, value ) { - - // In cases where either: - // - // 1. No key was specified - // 2. A string key was specified, but no value provided - // - // Take the "read" path and allow the get method to determine - // which value to return, respectively either: - // - // 1. The entire cache object - // 2. The data stored at the key - // - if ( key === undefined || - ( ( key && typeof key === "string" ) && value === undefined ) ) { - - return this.get( owner, key ); - } - - // When the key is not a string, or both a key and value - // are specified, set or extend (existing objects) with either: - // - // 1. An object of properties - // 2. A key and value - // - this.set( owner, key, value ); - - // Since the "set" path can have two possible entry points - // return the expected data based on which path was taken[*] - return value !== undefined ? value : key; - }, - remove: function( owner, key ) { - var i, - cache = owner[ this.expando ]; - - if ( cache === undefined ) { - return; - } - - if ( key !== undefined ) { - - // Support array or space separated string of keys - if ( Array.isArray( key ) ) { - - // If key is an array of keys... - // We always set camelCase keys, so remove that. - key = key.map( camelCase ); - } else { - key = camelCase( key ); - - // If a key with the spaces exists, use it. - // Otherwise, create an array by matching non-whitespace - key = key in cache ? - [ key ] : - ( key.match( rnothtmlwhite ) || [] ); - } - - i = key.length; - - while ( i-- ) { - delete cache[ key[ i ] ]; - } - } - - // Remove the expando if there's no more data - if ( key === undefined || jQuery.isEmptyObject( cache ) ) { - - // Support: Chrome <=35 - 45 - // Webkit & Blink performance suffers when deleting properties - // from DOM nodes, so set to undefined instead - // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) - if ( owner.nodeType ) { - owner[ this.expando ] = undefined; - } else { - delete owner[ this.expando ]; - } - } - }, - hasData: function( owner ) { - var cache = owner[ this.expando ]; - return cache !== undefined && !jQuery.isEmptyObject( cache ); - } -}; -var dataPriv = new Data(); - -var dataUser = new Data(); - - - -// Implementation Summary -// -// 1. Enforce API surface and semantic compatibility with 1.9.x branch -// 2. Improve the module's maintainability by reducing the storage -// paths to a single mechanism. -// 3. Use the same single mechanism to support "private" and "user" data. -// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) -// 5. Avoid exposing implementation details on user objects (eg. expando properties) -// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 - -var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, - rmultiDash = /[A-Z]/g; - -function getData( data ) { - if ( data === "true" ) { - return true; - } - - if ( data === "false" ) { - return false; - } - - if ( data === "null" ) { - return null; - } - - // Only convert to a number if it doesn't change the string - if ( data === +data + "" ) { - return +data; - } - - if ( rbrace.test( data ) ) { - return JSON.parse( data ); - } - - return data; -} - -function dataAttr( elem, key, data ) { - var name; - - // If nothing was found internally, try to fetch any - // data from the HTML5 data-* attribute - if ( data === undefined && elem.nodeType === 1 ) { - name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); - data = elem.getAttribute( name ); - - if ( typeof data === "string" ) { - try { - data = getData( data ); - } catch ( e ) {} - - // Make sure we set the data so it isn't changed later - dataUser.set( elem, key, data ); - } else { - data = undefined; - } - } - return data; -} - -jQuery.extend( { - hasData: function( elem ) { - return dataUser.hasData( elem ) || dataPriv.hasData( elem ); - }, - - data: function( elem, name, data ) { - return dataUser.access( elem, name, data ); - }, - - removeData: function( elem, name ) { - dataUser.remove( elem, name ); - }, - - // TODO: Now that all calls to _data and _removeData have been replaced - // with direct calls to dataPriv methods, these can be deprecated. - _data: function( elem, name, data ) { - return dataPriv.access( elem, name, data ); - }, - - _removeData: function( elem, name ) { - dataPriv.remove( elem, name ); - } -} ); - -jQuery.fn.extend( { - data: function( key, value ) { - var i, name, data, - elem = this[ 0 ], - attrs = elem && elem.attributes; - - // Gets all values - if ( key === undefined ) { - if ( this.length ) { - data = dataUser.get( elem ); - - if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { - i = attrs.length; - while ( i-- ) { - - // Support: IE 11 only - // The attrs elements can be null (#14894) - if ( attrs[ i ] ) { - name = attrs[ i ].name; - if ( name.indexOf( "data-" ) === 0 ) { - name = camelCase( name.slice( 5 ) ); - dataAttr( elem, name, data[ name ] ); - } - } - } - dataPriv.set( elem, "hasDataAttrs", true ); - } - } - - return data; - } - - // Sets multiple values - if ( typeof key === "object" ) { - return this.each( function() { - dataUser.set( this, key ); - } ); - } - - return access( this, function( value ) { - var data; - - // The calling jQuery object (element matches) is not empty - // (and therefore has an element appears at this[ 0 ]) and the - // `value` parameter was not undefined. An empty jQuery object - // will result in `undefined` for elem = this[ 0 ] which will - // throw an exception if an attempt to read a data cache is made. - if ( elem && value === undefined ) { - - // Attempt to get data from the cache - // The key will always be camelCased in Data - data = dataUser.get( elem, key ); - if ( data !== undefined ) { - return data; - } - - // Attempt to "discover" the data in - // HTML5 custom data-* attrs - data = dataAttr( elem, key ); - if ( data !== undefined ) { - return data; - } - - // We tried really hard, but the data doesn't exist. - return; - } - - // Set the data... - this.each( function() { - - // We always store the camelCased key - dataUser.set( this, key, value ); - } ); - }, null, value, arguments.length > 1, null, true ); - }, - - removeData: function( key ) { - return this.each( function() { - dataUser.remove( this, key ); - } ); - } -} ); - - -jQuery.extend( { - queue: function( elem, type, data ) { - var queue; - - if ( elem ) { - type = ( type || "fx" ) + "queue"; - queue = dataPriv.get( elem, type ); - - // Speed up dequeue by getting out quickly if this is just a lookup - if ( data ) { - if ( !queue || Array.isArray( data ) ) { - queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); - } else { - queue.push( data ); - } - } - return queue || []; - } - }, - - dequeue: function( elem, type ) { - type = type || "fx"; - - var queue = jQuery.queue( elem, type ), - startLength = queue.length, - fn = queue.shift(), - hooks = jQuery._queueHooks( elem, type ), - next = function() { - jQuery.dequeue( elem, type ); - }; - - // If the fx queue is dequeued, always remove the progress sentinel - if ( fn === "inprogress" ) { - fn = queue.shift(); - startLength--; - } - - if ( fn ) { - - // Add a progress sentinel to prevent the fx queue from being - // automatically dequeued - if ( type === "fx" ) { - queue.unshift( "inprogress" ); - } - - // Clear up the last queue stop function - delete hooks.stop; - fn.call( elem, next, hooks ); - } - - if ( !startLength && hooks ) { - hooks.empty.fire(); - } - }, - - // Not public - generate a queueHooks object, or return the current one - _queueHooks: function( elem, type ) { - var key = type + "queueHooks"; - return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { - empty: jQuery.Callbacks( "once memory" ).add( function() { - dataPriv.remove( elem, [ type + "queue", key ] ); - } ) - } ); - } -} ); - -jQuery.fn.extend( { - queue: function( type, data ) { - var setter = 2; - - if ( typeof type !== "string" ) { - data = type; - type = "fx"; - setter--; - } - - if ( arguments.length < setter ) { - return jQuery.queue( this[ 0 ], type ); - } - - return data === undefined ? - this : - this.each( function() { - var queue = jQuery.queue( this, type, data ); - - // Ensure a hooks for this queue - jQuery._queueHooks( this, type ); - - if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { - jQuery.dequeue( this, type ); - } - } ); - }, - dequeue: function( type ) { - return this.each( function() { - jQuery.dequeue( this, type ); - } ); - }, - clearQueue: function( type ) { - return this.queue( type || "fx", [] ); - }, - - // Get a promise resolved when queues of a certain type - // are emptied (fx is the type by default) - promise: function( type, obj ) { - var tmp, - count = 1, - defer = jQuery.Deferred(), - elements = this, - i = this.length, - resolve = function() { - if ( !( --count ) ) { - defer.resolveWith( elements, [ elements ] ); - } - }; - - if ( typeof type !== "string" ) { - obj = type; - type = undefined; - } - type = type || "fx"; - - while ( i-- ) { - tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); - if ( tmp && tmp.empty ) { - count++; - tmp.empty.add( resolve ); - } - } - resolve(); - return defer.promise( obj ); - } -} ); -var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; - -var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); - - -var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; - -var documentElement = document.documentElement; - - - - var isAttached = function( elem ) { - return jQuery.contains( elem.ownerDocument, elem ); - }, - composed = { composed: true }; - - // Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only - // Check attachment across shadow DOM boundaries when possible (gh-3504) - // Support: iOS 10.0-10.2 only - // Early iOS 10 versions support `attachShadow` but not `getRootNode`, - // leading to errors. We need to check for `getRootNode`. - if ( documentElement.getRootNode ) { - isAttached = function( elem ) { - return jQuery.contains( elem.ownerDocument, elem ) || - elem.getRootNode( composed ) === elem.ownerDocument; - }; - } -var isHiddenWithinTree = function( elem, el ) { - - // isHiddenWithinTree might be called from jQuery#filter function; - // in that case, element will be second argument - elem = el || elem; - - // Inline style trumps all - return elem.style.display === "none" || - elem.style.display === "" && - - // Otherwise, check computed style - // Support: Firefox <=43 - 45 - // Disconnected elements can have computed display: none, so first confirm that elem is - // in the document. - isAttached( elem ) && - - jQuery.css( elem, "display" ) === "none"; - }; - - - -function adjustCSS( elem, prop, valueParts, tween ) { - var adjusted, scale, - maxIterations = 20, - currentValue = tween ? - function() { - return tween.cur(); - } : - function() { - return jQuery.css( elem, prop, "" ); - }, - initial = currentValue(), - unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), - - // Starting value computation is required for potential unit mismatches - initialInUnit = elem.nodeType && - ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && - rcssNum.exec( jQuery.css( elem, prop ) ); - - if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { - - // Support: Firefox <=54 - // Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144) - initial = initial / 2; - - // Trust units reported by jQuery.css - unit = unit || initialInUnit[ 3 ]; - - // Iteratively approximate from a nonzero starting point - initialInUnit = +initial || 1; - - while ( maxIterations-- ) { - - // Evaluate and update our best guess (doubling guesses that zero out). - // Finish if the scale equals or crosses 1 (making the old*new product non-positive). - jQuery.style( elem, prop, initialInUnit + unit ); - if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) { - maxIterations = 0; - } - initialInUnit = initialInUnit / scale; - - } - - initialInUnit = initialInUnit * 2; - jQuery.style( elem, prop, initialInUnit + unit ); - - // Make sure we update the tween properties later on - valueParts = valueParts || []; - } - - if ( valueParts ) { - initialInUnit = +initialInUnit || +initial || 0; - - // Apply relative offset (+=/-=) if specified - adjusted = valueParts[ 1 ] ? - initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : - +valueParts[ 2 ]; - if ( tween ) { - tween.unit = unit; - tween.start = initialInUnit; - tween.end = adjusted; - } - } - return adjusted; -} - - -var defaultDisplayMap = {}; - -function getDefaultDisplay( elem ) { - var temp, - doc = elem.ownerDocument, - nodeName = elem.nodeName, - display = defaultDisplayMap[ nodeName ]; - - if ( display ) { - return display; - } - - temp = doc.body.appendChild( doc.createElement( nodeName ) ); - display = jQuery.css( temp, "display" ); - - temp.parentNode.removeChild( temp ); - - if ( display === "none" ) { - display = "block"; - } - defaultDisplayMap[ nodeName ] = display; - - return display; -} - -function showHide( elements, show ) { - var display, elem, - values = [], - index = 0, - length = elements.length; - - // Determine new display value for elements that need to change - for ( ; index < length; index++ ) { - elem = elements[ index ]; - if ( !elem.style ) { - continue; - } - - display = elem.style.display; - if ( show ) { - - // Since we force visibility upon cascade-hidden elements, an immediate (and slow) - // check is required in this first loop unless we have a nonempty display value (either - // inline or about-to-be-restored) - if ( display === "none" ) { - values[ index ] = dataPriv.get( elem, "display" ) || null; - if ( !values[ index ] ) { - elem.style.display = ""; - } - } - if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { - values[ index ] = getDefaultDisplay( elem ); - } - } else { - if ( display !== "none" ) { - values[ index ] = "none"; - - // Remember what we're overwriting - dataPriv.set( elem, "display", display ); - } - } - } - - // Set the display of the elements in a second loop to avoid constant reflow - for ( index = 0; index < length; index++ ) { - if ( values[ index ] != null ) { - elements[ index ].style.display = values[ index ]; - } - } - - return elements; -} - -jQuery.fn.extend( { - show: function() { - return showHide( this, true ); - }, - hide: function() { - return showHide( this ); - }, - toggle: function( state ) { - if ( typeof state === "boolean" ) { - return state ? this.show() : this.hide(); - } - - return this.each( function() { - if ( isHiddenWithinTree( this ) ) { - jQuery( this ).show(); - } else { - jQuery( this ).hide(); - } - } ); - } -} ); -var rcheckableType = ( /^(?:checkbox|radio)$/i ); - -var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i ); - -var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i ); - - - -( function() { - var fragment = document.createDocumentFragment(), - div = fragment.appendChild( document.createElement( "div" ) ), - input = document.createElement( "input" ); - - // Support: Android 4.0 - 4.3 only - // Check state lost if the name is set (#11217) - // Support: Windows Web Apps (WWA) - // `name` and `type` must use .setAttribute for WWA (#14901) - input.setAttribute( "type", "radio" ); - input.setAttribute( "checked", "checked" ); - input.setAttribute( "name", "t" ); - - div.appendChild( input ); - - // Support: Android <=4.1 only - // Older WebKit doesn't clone checked state correctly in fragments - support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; - - // Support: IE <=11 only - // Make sure textarea (and checkbox) defaultValue is properly cloned - div.innerHTML = ""; - support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; - - // Support: IE <=9 only - // IE <=9 replaces "; - support.option = !!div.lastChild; -} )(); - - -// We have to close these tags to support XHTML (#13200) -var wrapMap = { - - // XHTML parsers do not magically insert elements in the - // same way that tag soup parsers do. So we cannot shorten - // this by omitting or other required elements. - thead: [ 1, "", "
    " ], - col: [ 2, "", "
    " ], - tr: [ 2, "", "
    " ], - td: [ 3, "", "
    " ], - - _default: [ 0, "", "" ] -}; - -wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; -wrapMap.th = wrapMap.td; - -// Support: IE <=9 only -if ( !support.option ) { - wrapMap.optgroup = wrapMap.option = [ 1, "" ]; -} - - -function getAll( context, tag ) { - - // Support: IE <=9 - 11 only - // Use typeof to avoid zero-argument method invocation on host objects (#15151) - var ret; - - if ( typeof context.getElementsByTagName !== "undefined" ) { - ret = context.getElementsByTagName( tag || "*" ); - - } else if ( typeof context.querySelectorAll !== "undefined" ) { - ret = context.querySelectorAll( tag || "*" ); - - } else { - ret = []; - } - - if ( tag === undefined || tag && nodeName( context, tag ) ) { - return jQuery.merge( [ context ], ret ); - } - - return ret; -} - - -// Mark scripts as having already been evaluated -function setGlobalEval( elems, refElements ) { - var i = 0, - l = elems.length; - - for ( ; i < l; i++ ) { - dataPriv.set( - elems[ i ], - "globalEval", - !refElements || dataPriv.get( refElements[ i ], "globalEval" ) - ); - } -} - - -var rhtml = /<|&#?\w+;/; - -function buildFragment( elems, context, scripts, selection, ignored ) { - var elem, tmp, tag, wrap, attached, j, - fragment = context.createDocumentFragment(), - nodes = [], - i = 0, - l = elems.length; - - for ( ; i < l; i++ ) { - elem = elems[ i ]; - - if ( elem || elem === 0 ) { - - // Add nodes directly - if ( toType( elem ) === "object" ) { - - // Support: Android <=4.0 only, PhantomJS 1 only - // push.apply(_, arraylike) throws on ancient WebKit - jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); - - // Convert non-html into a text node - } else if ( !rhtml.test( elem ) ) { - nodes.push( context.createTextNode( elem ) ); - - // Convert html into DOM nodes - } else { - tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); - - // Deserialize a standard representation - tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); - wrap = wrapMap[ tag ] || wrapMap._default; - tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; - - // Descend through wrappers to the right content - j = wrap[ 0 ]; - while ( j-- ) { - tmp = tmp.lastChild; - } - - // Support: Android <=4.0 only, PhantomJS 1 only - // push.apply(_, arraylike) throws on ancient WebKit - jQuery.merge( nodes, tmp.childNodes ); - - // Remember the top-level container - tmp = fragment.firstChild; - - // Ensure the created nodes are orphaned (#12392) - tmp.textContent = ""; - } - } - } - - // Remove wrapper from fragment - fragment.textContent = ""; - - i = 0; - while ( ( elem = nodes[ i++ ] ) ) { - - // Skip elements already in the context collection (trac-4087) - if ( selection && jQuery.inArray( elem, selection ) > -1 ) { - if ( ignored ) { - ignored.push( elem ); - } - continue; - } - - attached = isAttached( elem ); - - // Append to fragment - tmp = getAll( fragment.appendChild( elem ), "script" ); - - // Preserve script evaluation history - if ( attached ) { - setGlobalEval( tmp ); - } - - // Capture executables - if ( scripts ) { - j = 0; - while ( ( elem = tmp[ j++ ] ) ) { - if ( rscriptType.test( elem.type || "" ) ) { - scripts.push( elem ); - } - } - } - } - - return fragment; -} - - -var - rkeyEvent = /^key/, - rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, - rtypenamespace = /^([^.]*)(?:\.(.+)|)/; - -function returnTrue() { - return true; -} - -function returnFalse() { - return false; -} - -// Support: IE <=9 - 11+ -// focus() and blur() are asynchronous, except when they are no-op. -// So expect focus to be synchronous when the element is already active, -// and blur to be synchronous when the element is not already active. -// (focus and blur are always synchronous in other supported browsers, -// this just defines when we can count on it). -function expectSync( elem, type ) { - return ( elem === safeActiveElement() ) === ( type === "focus" ); -} - -// Support: IE <=9 only -// Accessing document.activeElement can throw unexpectedly -// https://bugs.jquery.com/ticket/13393 -function safeActiveElement() { - try { - return document.activeElement; - } catch ( err ) { } -} - -function on( elem, types, selector, data, fn, one ) { - var origFn, type; - - // Types can be a map of types/handlers - if ( typeof types === "object" ) { - - // ( types-Object, selector, data ) - if ( typeof selector !== "string" ) { - - // ( types-Object, data ) - data = data || selector; - selector = undefined; - } - for ( type in types ) { - on( elem, type, selector, data, types[ type ], one ); - } - return elem; - } - - if ( data == null && fn == null ) { - - // ( types, fn ) - fn = selector; - data = selector = undefined; - } else if ( fn == null ) { - if ( typeof selector === "string" ) { - - // ( types, selector, fn ) - fn = data; - data = undefined; - } else { - - // ( types, data, fn ) - fn = data; - data = selector; - selector = undefined; - } - } - if ( fn === false ) { - fn = returnFalse; - } else if ( !fn ) { - return elem; - } - - if ( one === 1 ) { - origFn = fn; - fn = function( event ) { - - // Can use an empty set, since event contains the info - jQuery().off( event ); - return origFn.apply( this, arguments ); - }; - - // Use same guid so caller can remove using origFn - fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); - } - return elem.each( function() { - jQuery.event.add( this, types, fn, data, selector ); - } ); -} - -/* - * Helper functions for managing events -- not part of the public interface. - * Props to Dean Edwards' addEvent library for many of the ideas. - */ -jQuery.event = { - - global: {}, - - add: function( elem, types, handler, data, selector ) { - - var handleObjIn, eventHandle, tmp, - events, t, handleObj, - special, handlers, type, namespaces, origType, - elemData = dataPriv.get( elem ); - - // Only attach events to objects that accept data - if ( !acceptData( elem ) ) { - return; - } - - // Caller can pass in an object of custom data in lieu of the handler - if ( handler.handler ) { - handleObjIn = handler; - handler = handleObjIn.handler; - selector = handleObjIn.selector; - } - - // Ensure that invalid selectors throw exceptions at attach time - // Evaluate against documentElement in case elem is a non-element node (e.g., document) - if ( selector ) { - jQuery.find.matchesSelector( documentElement, selector ); - } - - // Make sure that the handler has a unique ID, used to find/remove it later - if ( !handler.guid ) { - handler.guid = jQuery.guid++; - } - - // Init the element's event structure and main handler, if this is the first - if ( !( events = elemData.events ) ) { - events = elemData.events = Object.create( null ); - } - if ( !( eventHandle = elemData.handle ) ) { - eventHandle = elemData.handle = function( e ) { - - // Discard the second event of a jQuery.event.trigger() and - // when an event is called after a page has unloaded - return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? - jQuery.event.dispatch.apply( elem, arguments ) : undefined; - }; - } - - // Handle multiple events separated by a space - types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; - t = types.length; - while ( t-- ) { - tmp = rtypenamespace.exec( types[ t ] ) || []; - type = origType = tmp[ 1 ]; - namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); - - // There *must* be a type, no attaching namespace-only handlers - if ( !type ) { - continue; - } - - // If event changes its type, use the special event handlers for the changed type - special = jQuery.event.special[ type ] || {}; - - // If selector defined, determine special event api type, otherwise given type - type = ( selector ? special.delegateType : special.bindType ) || type; - - // Update special based on newly reset type - special = jQuery.event.special[ type ] || {}; - - // handleObj is passed to all event handlers - handleObj = jQuery.extend( { - type: type, - origType: origType, - data: data, - handler: handler, - guid: handler.guid, - selector: selector, - needsContext: selector && jQuery.expr.match.needsContext.test( selector ), - namespace: namespaces.join( "." ) - }, handleObjIn ); - - // Init the event handler queue if we're the first - if ( !( handlers = events[ type ] ) ) { - handlers = events[ type ] = []; - handlers.delegateCount = 0; - - // Only use addEventListener if the special events handler returns false - if ( !special.setup || - special.setup.call( elem, data, namespaces, eventHandle ) === false ) { - - if ( elem.addEventListener ) { - elem.addEventListener( type, eventHandle ); - } - } - } - - if ( special.add ) { - special.add.call( elem, handleObj ); - - if ( !handleObj.handler.guid ) { - handleObj.handler.guid = handler.guid; - } - } - - // Add to the element's handler list, delegates in front - if ( selector ) { - handlers.splice( handlers.delegateCount++, 0, handleObj ); - } else { - handlers.push( handleObj ); - } - - // Keep track of which events have ever been used, for event optimization - jQuery.event.global[ type ] = true; - } - - }, - - // Detach an event or set of events from an element - remove: function( elem, types, handler, selector, mappedTypes ) { - - var j, origCount, tmp, - events, t, handleObj, - special, handlers, type, namespaces, origType, - elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); - - if ( !elemData || !( events = elemData.events ) ) { - return; - } - - // Once for each type.namespace in types; type may be omitted - types = ( types || "" ).match( rnothtmlwhite ) || [ "" ]; - t = types.length; - while ( t-- ) { - tmp = rtypenamespace.exec( types[ t ] ) || []; - type = origType = tmp[ 1 ]; - namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); - - // Unbind all events (on this namespace, if provided) for the element - if ( !type ) { - for ( type in events ) { - jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); - } - continue; - } - - special = jQuery.event.special[ type ] || {}; - type = ( selector ? special.delegateType : special.bindType ) || type; - handlers = events[ type ] || []; - tmp = tmp[ 2 ] && - new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); - - // Remove matching events - origCount = j = handlers.length; - while ( j-- ) { - handleObj = handlers[ j ]; - - if ( ( mappedTypes || origType === handleObj.origType ) && - ( !handler || handler.guid === handleObj.guid ) && - ( !tmp || tmp.test( handleObj.namespace ) ) && - ( !selector || selector === handleObj.selector || - selector === "**" && handleObj.selector ) ) { - handlers.splice( j, 1 ); - - if ( handleObj.selector ) { - handlers.delegateCount--; - } - if ( special.remove ) { - special.remove.call( elem, handleObj ); - } - } - } - - // Remove generic event handler if we removed something and no more handlers exist - // (avoids potential for endless recursion during removal of special event handlers) - if ( origCount && !handlers.length ) { - if ( !special.teardown || - special.teardown.call( elem, namespaces, elemData.handle ) === false ) { - - jQuery.removeEvent( elem, type, elemData.handle ); - } - - delete events[ type ]; - } - } - - // Remove data and the expando if it's no longer used - if ( jQuery.isEmptyObject( events ) ) { - dataPriv.remove( elem, "handle events" ); - } - }, - - dispatch: function( nativeEvent ) { - - var i, j, ret, matched, handleObj, handlerQueue, - args = new Array( arguments.length ), - - // Make a writable jQuery.Event from the native event object - event = jQuery.event.fix( nativeEvent ), - - handlers = ( - dataPriv.get( this, "events" ) || Object.create( null ) - )[ event.type ] || [], - special = jQuery.event.special[ event.type ] || {}; - - // Use the fix-ed jQuery.Event rather than the (read-only) native event - args[ 0 ] = event; - - for ( i = 1; i < arguments.length; i++ ) { - args[ i ] = arguments[ i ]; - } - - event.delegateTarget = this; - - // Call the preDispatch hook for the mapped type, and let it bail if desired - if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { - return; - } - - // Determine handlers - handlerQueue = jQuery.event.handlers.call( this, event, handlers ); - - // Run delegates first; they may want to stop propagation beneath us - i = 0; - while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { - event.currentTarget = matched.elem; - - j = 0; - while ( ( handleObj = matched.handlers[ j++ ] ) && - !event.isImmediatePropagationStopped() ) { - - // If the event is namespaced, then each handler is only invoked if it is - // specially universal or its namespaces are a superset of the event's. - if ( !event.rnamespace || handleObj.namespace === false || - event.rnamespace.test( handleObj.namespace ) ) { - - event.handleObj = handleObj; - event.data = handleObj.data; - - ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || - handleObj.handler ).apply( matched.elem, args ); - - if ( ret !== undefined ) { - if ( ( event.result = ret ) === false ) { - event.preventDefault(); - event.stopPropagation(); - } - } - } - } - } - - // Call the postDispatch hook for the mapped type - if ( special.postDispatch ) { - special.postDispatch.call( this, event ); - } - - return event.result; - }, - - handlers: function( event, handlers ) { - var i, handleObj, sel, matchedHandlers, matchedSelectors, - handlerQueue = [], - delegateCount = handlers.delegateCount, - cur = event.target; - - // Find delegate handlers - if ( delegateCount && - - // Support: IE <=9 - // Black-hole SVG instance trees (trac-13180) - cur.nodeType && - - // Support: Firefox <=42 - // Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861) - // https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click - // Support: IE 11 only - // ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343) - !( event.type === "click" && event.button >= 1 ) ) { - - for ( ; cur !== this; cur = cur.parentNode || this ) { - - // Don't check non-elements (#13208) - // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) - if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) { - matchedHandlers = []; - matchedSelectors = {}; - for ( i = 0; i < delegateCount; i++ ) { - handleObj = handlers[ i ]; - - // Don't conflict with Object.prototype properties (#13203) - sel = handleObj.selector + " "; - - if ( matchedSelectors[ sel ] === undefined ) { - matchedSelectors[ sel ] = handleObj.needsContext ? - jQuery( sel, this ).index( cur ) > -1 : - jQuery.find( sel, this, null, [ cur ] ).length; - } - if ( matchedSelectors[ sel ] ) { - matchedHandlers.push( handleObj ); - } - } - if ( matchedHandlers.length ) { - handlerQueue.push( { elem: cur, handlers: matchedHandlers } ); - } - } - } - } - - // Add the remaining (directly-bound) handlers - cur = this; - if ( delegateCount < handlers.length ) { - handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } ); - } - - return handlerQueue; - }, - - addProp: function( name, hook ) { - Object.defineProperty( jQuery.Event.prototype, name, { - enumerable: true, - configurable: true, - - get: isFunction( hook ) ? - function() { - if ( this.originalEvent ) { - return hook( this.originalEvent ); - } - } : - function() { - if ( this.originalEvent ) { - return this.originalEvent[ name ]; - } - }, - - set: function( value ) { - Object.defineProperty( this, name, { - enumerable: true, - configurable: true, - writable: true, - value: value - } ); - } - } ); - }, - - fix: function( originalEvent ) { - return originalEvent[ jQuery.expando ] ? - originalEvent : - new jQuery.Event( originalEvent ); - }, - - special: { - load: { - - // Prevent triggered image.load events from bubbling to window.load - noBubble: true - }, - click: { - - // Utilize native event to ensure correct state for checkable inputs - setup: function( data ) { - - // For mutual compressibility with _default, replace `this` access with a local var. - // `|| data` is dead code meant only to preserve the variable through minification. - var el = this || data; - - // Claim the first handler - if ( rcheckableType.test( el.type ) && - el.click && nodeName( el, "input" ) ) { - - // dataPriv.set( el, "click", ... ) - leverageNative( el, "click", returnTrue ); - } - - // Return false to allow normal processing in the caller - return false; - }, - trigger: function( data ) { - - // For mutual compressibility with _default, replace `this` access with a local var. - // `|| data` is dead code meant only to preserve the variable through minification. - var el = this || data; - - // Force setup before triggering a click - if ( rcheckableType.test( el.type ) && - el.click && nodeName( el, "input" ) ) { - - leverageNative( el, "click" ); - } - - // Return non-false to allow normal event-path propagation - return true; - }, - - // For cross-browser consistency, suppress native .click() on links - // Also prevent it if we're currently inside a leveraged native-event stack - _default: function( event ) { - var target = event.target; - return rcheckableType.test( target.type ) && - target.click && nodeName( target, "input" ) && - dataPriv.get( target, "click" ) || - nodeName( target, "a" ); - } - }, - - beforeunload: { - postDispatch: function( event ) { - - // Support: Firefox 20+ - // Firefox doesn't alert if the returnValue field is not set. - if ( event.result !== undefined && event.originalEvent ) { - event.originalEvent.returnValue = event.result; - } - } - } - } -}; - -// Ensure the presence of an event listener that handles manually-triggered -// synthetic events by interrupting progress until reinvoked in response to -// *native* events that it fires directly, ensuring that state changes have -// already occurred before other listeners are invoked. -function leverageNative( el, type, expectSync ) { - - // Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add - if ( !expectSync ) { - if ( dataPriv.get( el, type ) === undefined ) { - jQuery.event.add( el, type, returnTrue ); - } - return; - } - - // Register the controller as a special universal handler for all event namespaces - dataPriv.set( el, type, false ); - jQuery.event.add( el, type, { - namespace: false, - handler: function( event ) { - var notAsync, result, - saved = dataPriv.get( this, type ); - - if ( ( event.isTrigger & 1 ) && this[ type ] ) { - - // Interrupt processing of the outer synthetic .trigger()ed event - // Saved data should be false in such cases, but might be a leftover capture object - // from an async native handler (gh-4350) - if ( !saved.length ) { - - // Store arguments for use when handling the inner native event - // There will always be at least one argument (an event object), so this array - // will not be confused with a leftover capture object. - saved = slice.call( arguments ); - dataPriv.set( this, type, saved ); - - // Trigger the native event and capture its result - // Support: IE <=9 - 11+ - // focus() and blur() are asynchronous - notAsync = expectSync( this, type ); - this[ type ](); - result = dataPriv.get( this, type ); - if ( saved !== result || notAsync ) { - dataPriv.set( this, type, false ); - } else { - result = {}; - } - if ( saved !== result ) { - - // Cancel the outer synthetic event - event.stopImmediatePropagation(); - event.preventDefault(); - return result.value; - } - - // If this is an inner synthetic event for an event with a bubbling surrogate - // (focus or blur), assume that the surrogate already propagated from triggering the - // native event and prevent that from happening again here. - // This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the - // bubbling surrogate propagates *after* the non-bubbling base), but that seems - // less bad than duplication. - } else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) { - event.stopPropagation(); - } - - // If this is a native event triggered above, everything is now in order - // Fire an inner synthetic event with the original arguments - } else if ( saved.length ) { - - // ...and capture the result - dataPriv.set( this, type, { - value: jQuery.event.trigger( - - // Support: IE <=9 - 11+ - // Extend with the prototype to reset the above stopImmediatePropagation() - jQuery.extend( saved[ 0 ], jQuery.Event.prototype ), - saved.slice( 1 ), - this - ) - } ); - - // Abort handling of the native event - event.stopImmediatePropagation(); - } - } - } ); -} - -jQuery.removeEvent = function( elem, type, handle ) { - - // This "if" is needed for plain objects - if ( elem.removeEventListener ) { - elem.removeEventListener( type, handle ); - } -}; - -jQuery.Event = function( src, props ) { - - // Allow instantiation without the 'new' keyword - if ( !( this instanceof jQuery.Event ) ) { - return new jQuery.Event( src, props ); - } - - // Event object - if ( src && src.type ) { - this.originalEvent = src; - this.type = src.type; - - // Events bubbling up the document may have been marked as prevented - // by a handler lower down the tree; reflect the correct value. - this.isDefaultPrevented = src.defaultPrevented || - src.defaultPrevented === undefined && - - // Support: Android <=2.3 only - src.returnValue === false ? - returnTrue : - returnFalse; - - // Create target properties - // Support: Safari <=6 - 7 only - // Target should not be a text node (#504, #13143) - this.target = ( src.target && src.target.nodeType === 3 ) ? - src.target.parentNode : - src.target; - - this.currentTarget = src.currentTarget; - this.relatedTarget = src.relatedTarget; - - // Event type - } else { - this.type = src; - } - - // Put explicitly provided properties onto the event object - if ( props ) { - jQuery.extend( this, props ); - } - - // Create a timestamp if incoming event doesn't have one - this.timeStamp = src && src.timeStamp || Date.now(); - - // Mark it as fixed - this[ jQuery.expando ] = true; -}; - -// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding -// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html -jQuery.Event.prototype = { - constructor: jQuery.Event, - isDefaultPrevented: returnFalse, - isPropagationStopped: returnFalse, - isImmediatePropagationStopped: returnFalse, - isSimulated: false, - - preventDefault: function() { - var e = this.originalEvent; - - this.isDefaultPrevented = returnTrue; - - if ( e && !this.isSimulated ) { - e.preventDefault(); - } - }, - stopPropagation: function() { - var e = this.originalEvent; - - this.isPropagationStopped = returnTrue; - - if ( e && !this.isSimulated ) { - e.stopPropagation(); - } - }, - stopImmediatePropagation: function() { - var e = this.originalEvent; - - this.isImmediatePropagationStopped = returnTrue; - - if ( e && !this.isSimulated ) { - e.stopImmediatePropagation(); - } - - this.stopPropagation(); - } -}; - -// Includes all common event props including KeyEvent and MouseEvent specific props -jQuery.each( { - altKey: true, - bubbles: true, - cancelable: true, - changedTouches: true, - ctrlKey: true, - detail: true, - eventPhase: true, - metaKey: true, - pageX: true, - pageY: true, - shiftKey: true, - view: true, - "char": true, - code: true, - charCode: true, - key: true, - keyCode: true, - button: true, - buttons: true, - clientX: true, - clientY: true, - offsetX: true, - offsetY: true, - pointerId: true, - pointerType: true, - screenX: true, - screenY: true, - targetTouches: true, - toElement: true, - touches: true, - - which: function( event ) { - var button = event.button; - - // Add which for key events - if ( event.which == null && rkeyEvent.test( event.type ) ) { - return event.charCode != null ? event.charCode : event.keyCode; - } - - // Add which for click: 1 === left; 2 === middle; 3 === right - if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { - if ( button & 1 ) { - return 1; - } - - if ( button & 2 ) { - return 3; - } - - if ( button & 4 ) { - return 2; - } - - return 0; - } - - return event.which; - } -}, jQuery.event.addProp ); - -jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) { - jQuery.event.special[ type ] = { - - // Utilize native event if possible so blur/focus sequence is correct - setup: function() { - - // Claim the first handler - // dataPriv.set( this, "focus", ... ) - // dataPriv.set( this, "blur", ... ) - leverageNative( this, type, expectSync ); - - // Return false to allow normal processing in the caller - return false; - }, - trigger: function() { - - // Force setup before trigger - leverageNative( this, type ); - - // Return non-false to allow normal event-path propagation - return true; - }, - - delegateType: delegateType - }; -} ); - -// Create mouseenter/leave events using mouseover/out and event-time checks -// so that event delegation works in jQuery. -// Do the same for pointerenter/pointerleave and pointerover/pointerout -// -// Support: Safari 7 only -// Safari sends mouseenter too often; see: -// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 -// for the description of the bug (it existed in older Chrome versions as well). -jQuery.each( { - mouseenter: "mouseover", - mouseleave: "mouseout", - pointerenter: "pointerover", - pointerleave: "pointerout" -}, function( orig, fix ) { - jQuery.event.special[ orig ] = { - delegateType: fix, - bindType: fix, - - handle: function( event ) { - var ret, - target = this, - related = event.relatedTarget, - handleObj = event.handleObj; - - // For mouseenter/leave call the handler if related is outside the target. - // NB: No relatedTarget if the mouse left/entered the browser window - if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { - event.type = handleObj.origType; - ret = handleObj.handler.apply( this, arguments ); - event.type = fix; - } - return ret; - } - }; -} ); - -jQuery.fn.extend( { - - on: function( types, selector, data, fn ) { - return on( this, types, selector, data, fn ); - }, - one: function( types, selector, data, fn ) { - return on( this, types, selector, data, fn, 1 ); - }, - off: function( types, selector, fn ) { - var handleObj, type; - if ( types && types.preventDefault && types.handleObj ) { - - // ( event ) dispatched jQuery.Event - handleObj = types.handleObj; - jQuery( types.delegateTarget ).off( - handleObj.namespace ? - handleObj.origType + "." + handleObj.namespace : - handleObj.origType, - handleObj.selector, - handleObj.handler - ); - return this; - } - if ( typeof types === "object" ) { - - // ( types-object [, selector] ) - for ( type in types ) { - this.off( type, selector, types[ type ] ); - } - return this; - } - if ( selector === false || typeof selector === "function" ) { - - // ( types [, fn] ) - fn = selector; - selector = undefined; - } - if ( fn === false ) { - fn = returnFalse; - } - return this.each( function() { - jQuery.event.remove( this, types, fn, selector ); - } ); - } -} ); - - -var - - // Support: IE <=10 - 11, Edge 12 - 13 only - // In IE/Edge using regex groups here causes severe slowdowns. - // See https://connect.microsoft.com/IE/feedback/details/1736512/ - rnoInnerhtml = /\s*$/g; - -// Prefer a tbody over its parent table for containing new rows -function manipulationTarget( elem, content ) { - if ( nodeName( elem, "table" ) && - nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { - - return jQuery( elem ).children( "tbody" )[ 0 ] || elem; - } - - return elem; -} - -// Replace/restore the type attribute of script elements for safe DOM manipulation -function disableScript( elem ) { - elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; - return elem; -} -function restoreScript( elem ) { - if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) { - elem.type = elem.type.slice( 5 ); - } else { - elem.removeAttribute( "type" ); - } - - return elem; -} - -function cloneCopyEvent( src, dest ) { - var i, l, type, pdataOld, udataOld, udataCur, events; - - if ( dest.nodeType !== 1 ) { - return; - } - - // 1. Copy private data: events, handlers, etc. - if ( dataPriv.hasData( src ) ) { - pdataOld = dataPriv.get( src ); - events = pdataOld.events; - - if ( events ) { - dataPriv.remove( dest, "handle events" ); - - for ( type in events ) { - for ( i = 0, l = events[ type ].length; i < l; i++ ) { - jQuery.event.add( dest, type, events[ type ][ i ] ); - } - } - } - } - - // 2. Copy user data - if ( dataUser.hasData( src ) ) { - udataOld = dataUser.access( src ); - udataCur = jQuery.extend( {}, udataOld ); - - dataUser.set( dest, udataCur ); - } -} - -// Fix IE bugs, see support tests -function fixInput( src, dest ) { - var nodeName = dest.nodeName.toLowerCase(); - - // Fails to persist the checked state of a cloned checkbox or radio button. - if ( nodeName === "input" && rcheckableType.test( src.type ) ) { - dest.checked = src.checked; - - // Fails to return the selected option to the default selected state when cloning options - } else if ( nodeName === "input" || nodeName === "textarea" ) { - dest.defaultValue = src.defaultValue; - } -} - -function domManip( collection, args, callback, ignored ) { - - // Flatten any nested arrays - args = flat( args ); - - var fragment, first, scripts, hasScripts, node, doc, - i = 0, - l = collection.length, - iNoClone = l - 1, - value = args[ 0 ], - valueIsFunction = isFunction( value ); - - // We can't cloneNode fragments that contain checked, in WebKit - if ( valueIsFunction || - ( l > 1 && typeof value === "string" && - !support.checkClone && rchecked.test( value ) ) ) { - return collection.each( function( index ) { - var self = collection.eq( index ); - if ( valueIsFunction ) { - args[ 0 ] = value.call( this, index, self.html() ); - } - domManip( self, args, callback, ignored ); - } ); - } - - if ( l ) { - fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); - first = fragment.firstChild; - - if ( fragment.childNodes.length === 1 ) { - fragment = first; - } - - // Require either new content or an interest in ignored elements to invoke the callback - if ( first || ignored ) { - scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); - hasScripts = scripts.length; - - // Use the original fragment for the last item - // instead of the first because it can end up - // being emptied incorrectly in certain situations (#8070). - for ( ; i < l; i++ ) { - node = fragment; - - if ( i !== iNoClone ) { - node = jQuery.clone( node, true, true ); - - // Keep references to cloned scripts for later restoration - if ( hasScripts ) { - - // Support: Android <=4.0 only, PhantomJS 1 only - // push.apply(_, arraylike) throws on ancient WebKit - jQuery.merge( scripts, getAll( node, "script" ) ); - } - } - - callback.call( collection[ i ], node, i ); - } - - if ( hasScripts ) { - doc = scripts[ scripts.length - 1 ].ownerDocument; - - // Reenable scripts - jQuery.map( scripts, restoreScript ); - - // Evaluate executable scripts on first document insertion - for ( i = 0; i < hasScripts; i++ ) { - node = scripts[ i ]; - if ( rscriptType.test( node.type || "" ) && - !dataPriv.access( node, "globalEval" ) && - jQuery.contains( doc, node ) ) { - - if ( node.src && ( node.type || "" ).toLowerCase() !== "module" ) { - - // Optional AJAX dependency, but won't run scripts if not present - if ( jQuery._evalUrl && !node.noModule ) { - jQuery._evalUrl( node.src, { - nonce: node.nonce || node.getAttribute( "nonce" ) - }, doc ); - } - } else { - DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc ); - } - } - } - } - } - } - - return collection; -} - -function remove( elem, selector, keepData ) { - var node, - nodes = selector ? jQuery.filter( selector, elem ) : elem, - i = 0; - - for ( ; ( node = nodes[ i ] ) != null; i++ ) { - if ( !keepData && node.nodeType === 1 ) { - jQuery.cleanData( getAll( node ) ); - } - - if ( node.parentNode ) { - if ( keepData && isAttached( node ) ) { - setGlobalEval( getAll( node, "script" ) ); - } - node.parentNode.removeChild( node ); - } - } - - return elem; -} - -jQuery.extend( { - htmlPrefilter: function( html ) { - return html; - }, - - clone: function( elem, dataAndEvents, deepDataAndEvents ) { - var i, l, srcElements, destElements, - clone = elem.cloneNode( true ), - inPage = isAttached( elem ); - - // Fix IE cloning issues - if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && - !jQuery.isXMLDoc( elem ) ) { - - // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 - destElements = getAll( clone ); - srcElements = getAll( elem ); - - for ( i = 0, l = srcElements.length; i < l; i++ ) { - fixInput( srcElements[ i ], destElements[ i ] ); - } - } - - // Copy the events from the original to the clone - if ( dataAndEvents ) { - if ( deepDataAndEvents ) { - srcElements = srcElements || getAll( elem ); - destElements = destElements || getAll( clone ); - - for ( i = 0, l = srcElements.length; i < l; i++ ) { - cloneCopyEvent( srcElements[ i ], destElements[ i ] ); - } - } else { - cloneCopyEvent( elem, clone ); - } - } - - // Preserve script evaluation history - destElements = getAll( clone, "script" ); - if ( destElements.length > 0 ) { - setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); - } - - // Return the cloned set - return clone; - }, - - cleanData: function( elems ) { - var data, elem, type, - special = jQuery.event.special, - i = 0; - - for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { - if ( acceptData( elem ) ) { - if ( ( data = elem[ dataPriv.expando ] ) ) { - if ( data.events ) { - for ( type in data.events ) { - if ( special[ type ] ) { - jQuery.event.remove( elem, type ); - - // This is a shortcut to avoid jQuery.event.remove's overhead - } else { - jQuery.removeEvent( elem, type, data.handle ); - } - } - } - - // Support: Chrome <=35 - 45+ - // Assign undefined instead of using delete, see Data#remove - elem[ dataPriv.expando ] = undefined; - } - if ( elem[ dataUser.expando ] ) { - - // Support: Chrome <=35 - 45+ - // Assign undefined instead of using delete, see Data#remove - elem[ dataUser.expando ] = undefined; - } - } - } - } -} ); - -jQuery.fn.extend( { - detach: function( selector ) { - return remove( this, selector, true ); - }, - - remove: function( selector ) { - return remove( this, selector ); - }, - - text: function( value ) { - return access( this, function( value ) { - return value === undefined ? - jQuery.text( this ) : - this.empty().each( function() { - if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { - this.textContent = value; - } - } ); - }, null, value, arguments.length ); - }, - - append: function() { - return domManip( this, arguments, function( elem ) { - if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { - var target = manipulationTarget( this, elem ); - target.appendChild( elem ); - } - } ); - }, - - prepend: function() { - return domManip( this, arguments, function( elem ) { - if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { - var target = manipulationTarget( this, elem ); - target.insertBefore( elem, target.firstChild ); - } - } ); - }, - - before: function() { - return domManip( this, arguments, function( elem ) { - if ( this.parentNode ) { - this.parentNode.insertBefore( elem, this ); - } - } ); - }, - - after: function() { - return domManip( this, arguments, function( elem ) { - if ( this.parentNode ) { - this.parentNode.insertBefore( elem, this.nextSibling ); - } - } ); - }, - - empty: function() { - var elem, - i = 0; - - for ( ; ( elem = this[ i ] ) != null; i++ ) { - if ( elem.nodeType === 1 ) { - - // Prevent memory leaks - jQuery.cleanData( getAll( elem, false ) ); - - // Remove any remaining nodes - elem.textContent = ""; - } - } - - return this; - }, - - clone: function( dataAndEvents, deepDataAndEvents ) { - dataAndEvents = dataAndEvents == null ? false : dataAndEvents; - deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; - - return this.map( function() { - return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); - } ); - }, - - html: function( value ) { - return access( this, function( value ) { - var elem = this[ 0 ] || {}, - i = 0, - l = this.length; - - if ( value === undefined && elem.nodeType === 1 ) { - return elem.innerHTML; - } - - // See if we can take a shortcut and just use innerHTML - if ( typeof value === "string" && !rnoInnerhtml.test( value ) && - !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { - - value = jQuery.htmlPrefilter( value ); - - try { - for ( ; i < l; i++ ) { - elem = this[ i ] || {}; - - // Remove element nodes and prevent memory leaks - if ( elem.nodeType === 1 ) { - jQuery.cleanData( getAll( elem, false ) ); - elem.innerHTML = value; - } - } - - elem = 0; - - // If using innerHTML throws an exception, use the fallback method - } catch ( e ) {} - } - - if ( elem ) { - this.empty().append( value ); - } - }, null, value, arguments.length ); - }, - - replaceWith: function() { - var ignored = []; - - // Make the changes, replacing each non-ignored context element with the new content - return domManip( this, arguments, function( elem ) { - var parent = this.parentNode; - - if ( jQuery.inArray( this, ignored ) < 0 ) { - jQuery.cleanData( getAll( this ) ); - if ( parent ) { - parent.replaceChild( elem, this ); - } - } - - // Force callback invocation - }, ignored ); - } -} ); - -jQuery.each( { - appendTo: "append", - prependTo: "prepend", - insertBefore: "before", - insertAfter: "after", - replaceAll: "replaceWith" -}, function( name, original ) { - jQuery.fn[ name ] = function( selector ) { - var elems, - ret = [], - insert = jQuery( selector ), - last = insert.length - 1, - i = 0; - - for ( ; i <= last; i++ ) { - elems = i === last ? this : this.clone( true ); - jQuery( insert[ i ] )[ original ]( elems ); - - // Support: Android <=4.0 only, PhantomJS 1 only - // .get() because push.apply(_, arraylike) throws on ancient WebKit - push.apply( ret, elems.get() ); - } - - return this.pushStack( ret ); - }; -} ); -var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); - -var getStyles = function( elem ) { - - // Support: IE <=11 only, Firefox <=30 (#15098, #14150) - // IE throws on elements created in popups - // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" - var view = elem.ownerDocument.defaultView; - - if ( !view || !view.opener ) { - view = window; - } - - return view.getComputedStyle( elem ); - }; - -var swap = function( elem, options, callback ) { - var ret, name, - old = {}; - - // Remember the old values, and insert the new ones - for ( name in options ) { - old[ name ] = elem.style[ name ]; - elem.style[ name ] = options[ name ]; - } - - ret = callback.call( elem ); - - // Revert the old values - for ( name in options ) { - elem.style[ name ] = old[ name ]; - } - - return ret; -}; - - -var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" ); - - - -( function() { - - // Executing both pixelPosition & boxSizingReliable tests require only one layout - // so they're executed at the same time to save the second computation. - function computeStyleTests() { - - // This is a singleton, we need to execute it only once - if ( !div ) { - return; - } - - container.style.cssText = "position:absolute;left:-11111px;width:60px;" + - "margin-top:1px;padding:0;border:0"; - div.style.cssText = - "position:relative;display:block;box-sizing:border-box;overflow:scroll;" + - "margin:auto;border:1px;padding:1px;" + - "width:60%;top:1%"; - documentElement.appendChild( container ).appendChild( div ); - - var divStyle = window.getComputedStyle( div ); - pixelPositionVal = divStyle.top !== "1%"; - - // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 - reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12; - - // Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3 - // Some styles come back with percentage values, even though they shouldn't - div.style.right = "60%"; - pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36; - - // Support: IE 9 - 11 only - // Detect misreporting of content dimensions for box-sizing:border-box elements - boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36; - - // Support: IE 9 only - // Detect overflow:scroll screwiness (gh-3699) - // Support: Chrome <=64 - // Don't get tricked when zoom affects offsetWidth (gh-4029) - div.style.position = "absolute"; - scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12; - - documentElement.removeChild( container ); - - // Nullify the div so it wouldn't be stored in the memory and - // it will also be a sign that checks already performed - div = null; - } - - function roundPixelMeasures( measure ) { - return Math.round( parseFloat( measure ) ); - } - - var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal, - reliableTrDimensionsVal, reliableMarginLeftVal, - container = document.createElement( "div" ), - div = document.createElement( "div" ); - - // Finish early in limited (non-browser) environments - if ( !div.style ) { - return; - } - - // Support: IE <=9 - 11 only - // Style of cloned element affects source element cloned (#8908) - div.style.backgroundClip = "content-box"; - div.cloneNode( true ).style.backgroundClip = ""; - support.clearCloneStyle = div.style.backgroundClip === "content-box"; - - jQuery.extend( support, { - boxSizingReliable: function() { - computeStyleTests(); - return boxSizingReliableVal; - }, - pixelBoxStyles: function() { - computeStyleTests(); - return pixelBoxStylesVal; - }, - pixelPosition: function() { - computeStyleTests(); - return pixelPositionVal; - }, - reliableMarginLeft: function() { - computeStyleTests(); - return reliableMarginLeftVal; - }, - scrollboxSize: function() { - computeStyleTests(); - return scrollboxSizeVal; - }, - - // Support: IE 9 - 11+, Edge 15 - 18+ - // IE/Edge misreport `getComputedStyle` of table rows with width/height - // set in CSS while `offset*` properties report correct values. - // Behavior in IE 9 is more subtle than in newer versions & it passes - // some versions of this test; make sure not to make it pass there! - reliableTrDimensions: function() { - var table, tr, trChild, trStyle; - if ( reliableTrDimensionsVal == null ) { - table = document.createElement( "table" ); - tr = document.createElement( "tr" ); - trChild = document.createElement( "div" ); - - table.style.cssText = "position:absolute;left:-11111px"; - tr.style.height = "1px"; - trChild.style.height = "9px"; - - documentElement - .appendChild( table ) - .appendChild( tr ) - .appendChild( trChild ); - - trStyle = window.getComputedStyle( tr ); - reliableTrDimensionsVal = parseInt( trStyle.height ) > 3; - - documentElement.removeChild( table ); - } - return reliableTrDimensionsVal; - } - } ); -} )(); - - -function curCSS( elem, name, computed ) { - var width, minWidth, maxWidth, ret, - - // Support: Firefox 51+ - // Retrieving style before computed somehow - // fixes an issue with getting wrong values - // on detached elements - style = elem.style; - - computed = computed || getStyles( elem ); - - // getPropertyValue is needed for: - // .css('filter') (IE 9 only, #12537) - // .css('--customProperty) (#3144) - if ( computed ) { - ret = computed.getPropertyValue( name ) || computed[ name ]; - - if ( ret === "" && !isAttached( elem ) ) { - ret = jQuery.style( elem, name ); - } - - // A tribute to the "awesome hack by Dean Edwards" - // Android Browser returns percentage for some values, - // but width seems to be reliably pixels. - // This is against the CSSOM draft spec: - // https://drafts.csswg.org/cssom/#resolved-values - if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) { - - // Remember the original values - width = style.width; - minWidth = style.minWidth; - maxWidth = style.maxWidth; - - // Put in the new values to get a computed value out - style.minWidth = style.maxWidth = style.width = ret; - ret = computed.width; - - // Revert the changed values - style.width = width; - style.minWidth = minWidth; - style.maxWidth = maxWidth; - } - } - - return ret !== undefined ? - - // Support: IE <=9 - 11 only - // IE returns zIndex value as an integer. - ret + "" : - ret; -} - - -function addGetHookIf( conditionFn, hookFn ) { - - // Define the hook, we'll check on the first run if it's really needed. - return { - get: function() { - if ( conditionFn() ) { - - // Hook not needed (or it's not possible to use it due - // to missing dependency), remove it. - delete this.get; - return; - } - - // Hook needed; redefine it so that the support test is not executed again. - return ( this.get = hookFn ).apply( this, arguments ); - } - }; -} - - -var cssPrefixes = [ "Webkit", "Moz", "ms" ], - emptyStyle = document.createElement( "div" ).style, - vendorProps = {}; - -// Return a vendor-prefixed property or undefined -function vendorPropName( name ) { - - // Check for vendor prefixed names - var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), - i = cssPrefixes.length; - - while ( i-- ) { - name = cssPrefixes[ i ] + capName; - if ( name in emptyStyle ) { - return name; - } - } -} - -// Return a potentially-mapped jQuery.cssProps or vendor prefixed property -function finalPropName( name ) { - var final = jQuery.cssProps[ name ] || vendorProps[ name ]; - - if ( final ) { - return final; - } - if ( name in emptyStyle ) { - return name; - } - return vendorProps[ name ] = vendorPropName( name ) || name; -} - - -var - - // Swappable if display is none or starts with table - // except "table", "table-cell", or "table-caption" - // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display - rdisplayswap = /^(none|table(?!-c[ea]).+)/, - rcustomProp = /^--/, - cssShow = { position: "absolute", visibility: "hidden", display: "block" }, - cssNormalTransform = { - letterSpacing: "0", - fontWeight: "400" - }; - -function setPositiveNumber( _elem, value, subtract ) { - - // Any relative (+/-) values have already been - // normalized at this point - var matches = rcssNum.exec( value ); - return matches ? - - // Guard against undefined "subtract", e.g., when used as in cssHooks - Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : - value; -} - -function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) { - var i = dimension === "width" ? 1 : 0, - extra = 0, - delta = 0; - - // Adjustment may not be necessary - if ( box === ( isBorderBox ? "border" : "content" ) ) { - return 0; - } - - for ( ; i < 4; i += 2 ) { - - // Both box models exclude margin - if ( box === "margin" ) { - delta += jQuery.css( elem, box + cssExpand[ i ], true, styles ); - } - - // If we get here with a content-box, we're seeking "padding" or "border" or "margin" - if ( !isBorderBox ) { - - // Add padding - delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); - - // For "border" or "margin", add border - if ( box !== "padding" ) { - delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); - - // But still keep track of it otherwise - } else { - extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); - } - - // If we get here with a border-box (content + padding + border), we're seeking "content" or - // "padding" or "margin" - } else { - - // For "content", subtract padding - if ( box === "content" ) { - delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); - } - - // For "content" or "padding", subtract border - if ( box !== "margin" ) { - delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); - } - } - } - - // Account for positive content-box scroll gutter when requested by providing computedVal - if ( !isBorderBox && computedVal >= 0 ) { - - // offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border - // Assuming integer scroll gutter, subtract the rest and round down - delta += Math.max( 0, Math.ceil( - elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - - computedVal - - delta - - extra - - 0.5 - - // If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter - // Use an explicit zero to avoid NaN (gh-3964) - ) ) || 0; - } - - return delta; -} - -function getWidthOrHeight( elem, dimension, extra ) { - - // Start with computed style - var styles = getStyles( elem ), - - // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322). - // Fake content-box until we know it's needed to know the true value. - boxSizingNeeded = !support.boxSizingReliable() || extra, - isBorderBox = boxSizingNeeded && - jQuery.css( elem, "boxSizing", false, styles ) === "border-box", - valueIsBorderBox = isBorderBox, - - val = curCSS( elem, dimension, styles ), - offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ); - - // Support: Firefox <=54 - // Return a confounding non-pixel value or feign ignorance, as appropriate. - if ( rnumnonpx.test( val ) ) { - if ( !extra ) { - return val; - } - val = "auto"; - } - - - // Support: IE 9 - 11 only - // Use offsetWidth/offsetHeight for when box sizing is unreliable. - // In those cases, the computed value can be trusted to be border-box. - if ( ( !support.boxSizingReliable() && isBorderBox || - - // Support: IE 10 - 11+, Edge 15 - 18+ - // IE/Edge misreport `getComputedStyle` of table rows with width/height - // set in CSS while `offset*` properties report correct values. - // Interestingly, in some cases IE 9 doesn't suffer from this issue. - !support.reliableTrDimensions() && nodeName( elem, "tr" ) || - - // Fall back to offsetWidth/offsetHeight when value is "auto" - // This happens for inline elements with no explicit setting (gh-3571) - val === "auto" || - - // Support: Android <=4.1 - 4.3 only - // Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602) - !parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) && - - // Make sure the element is visible & connected - elem.getClientRects().length ) { - - isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; - - // Where available, offsetWidth/offsetHeight approximate border box dimensions. - // Where not available (e.g., SVG), assume unreliable box-sizing and interpret the - // retrieved value as a content box dimension. - valueIsBorderBox = offsetProp in elem; - if ( valueIsBorderBox ) { - val = elem[ offsetProp ]; - } - } - - // Normalize "" and auto - val = parseFloat( val ) || 0; - - // Adjust for the element's box model - return ( val + - boxModelAdjustment( - elem, - dimension, - extra || ( isBorderBox ? "border" : "content" ), - valueIsBorderBox, - styles, - - // Provide the current computed size to request scroll gutter calculation (gh-3589) - val - ) - ) + "px"; -} - -jQuery.extend( { - - // Add in style property hooks for overriding the default - // behavior of getting and setting a style property - cssHooks: { - opacity: { - get: function( elem, computed ) { - if ( computed ) { - - // We should always get a number back from opacity - var ret = curCSS( elem, "opacity" ); - return ret === "" ? "1" : ret; - } - } - } - }, - - // Don't automatically add "px" to these possibly-unitless properties - cssNumber: { - "animationIterationCount": true, - "columnCount": true, - "fillOpacity": true, - "flexGrow": true, - "flexShrink": true, - "fontWeight": true, - "gridArea": true, - "gridColumn": true, - "gridColumnEnd": true, - "gridColumnStart": true, - "gridRow": true, - "gridRowEnd": true, - "gridRowStart": true, - "lineHeight": true, - "opacity": true, - "order": true, - "orphans": true, - "widows": true, - "zIndex": true, - "zoom": true - }, - - // Add in properties whose names you wish to fix before - // setting or getting the value - cssProps: {}, - - // Get and set the style property on a DOM Node - style: function( elem, name, value, extra ) { - - // Don't set styles on text and comment nodes - if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { - return; - } - - // Make sure that we're working with the right name - var ret, type, hooks, - origName = camelCase( name ), - isCustomProp = rcustomProp.test( name ), - style = elem.style; - - // Make sure that we're working with the right name. We don't - // want to query the value if it is a CSS custom property - // since they are user-defined. - if ( !isCustomProp ) { - name = finalPropName( origName ); - } - - // Gets hook for the prefixed version, then unprefixed version - hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; - - // Check if we're setting a value - if ( value !== undefined ) { - type = typeof value; - - // Convert "+=" or "-=" to relative numbers (#7345) - if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { - value = adjustCSS( elem, name, ret ); - - // Fixes bug #9237 - type = "number"; - } - - // Make sure that null and NaN values aren't set (#7116) - if ( value == null || value !== value ) { - return; - } - - // If a number was passed in, add the unit (except for certain CSS properties) - // The isCustomProp check can be removed in jQuery 4.0 when we only auto-append - // "px" to a few hardcoded values. - if ( type === "number" && !isCustomProp ) { - value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); - } - - // background-* props affect original clone's values - if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { - style[ name ] = "inherit"; - } - - // If a hook was provided, use that value, otherwise just set the specified value - if ( !hooks || !( "set" in hooks ) || - ( value = hooks.set( elem, value, extra ) ) !== undefined ) { - - if ( isCustomProp ) { - style.setProperty( name, value ); - } else { - style[ name ] = value; - } - } - - } else { - - // If a hook was provided get the non-computed value from there - if ( hooks && "get" in hooks && - ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { - - return ret; - } - - // Otherwise just get the value from the style object - return style[ name ]; - } - }, - - css: function( elem, name, extra, styles ) { - var val, num, hooks, - origName = camelCase( name ), - isCustomProp = rcustomProp.test( name ); - - // Make sure that we're working with the right name. We don't - // want to modify the value if it is a CSS custom property - // since they are user-defined. - if ( !isCustomProp ) { - name = finalPropName( origName ); - } - - // Try prefixed name followed by the unprefixed name - hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; - - // If a hook was provided get the computed value from there - if ( hooks && "get" in hooks ) { - val = hooks.get( elem, true, extra ); - } - - // Otherwise, if a way to get the computed value exists, use that - if ( val === undefined ) { - val = curCSS( elem, name, styles ); - } - - // Convert "normal" to computed value - if ( val === "normal" && name in cssNormalTransform ) { - val = cssNormalTransform[ name ]; - } - - // Make numeric if forced or a qualifier was provided and val looks numeric - if ( extra === "" || extra ) { - num = parseFloat( val ); - return extra === true || isFinite( num ) ? num || 0 : val; - } - - return val; - } -} ); - -jQuery.each( [ "height", "width" ], function( _i, dimension ) { - jQuery.cssHooks[ dimension ] = { - get: function( elem, computed, extra ) { - if ( computed ) { - - // Certain elements can have dimension info if we invisibly show them - // but it must have a current display style that would benefit - return rdisplayswap.test( jQuery.css( elem, "display" ) ) && - - // Support: Safari 8+ - // Table columns in Safari have non-zero offsetWidth & zero - // getBoundingClientRect().width unless display is changed. - // Support: IE <=11 only - // Running getBoundingClientRect on a disconnected node - // in IE throws an error. - ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? - swap( elem, cssShow, function() { - return getWidthOrHeight( elem, dimension, extra ); - } ) : - getWidthOrHeight( elem, dimension, extra ); - } - }, - - set: function( elem, value, extra ) { - var matches, - styles = getStyles( elem ), - - // Only read styles.position if the test has a chance to fail - // to avoid forcing a reflow. - scrollboxSizeBuggy = !support.scrollboxSize() && - styles.position === "absolute", - - // To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991) - boxSizingNeeded = scrollboxSizeBuggy || extra, - isBorderBox = boxSizingNeeded && - jQuery.css( elem, "boxSizing", false, styles ) === "border-box", - subtract = extra ? - boxModelAdjustment( - elem, - dimension, - extra, - isBorderBox, - styles - ) : - 0; - - // Account for unreliable border-box dimensions by comparing offset* to computed and - // faking a content-box to get border and padding (gh-3699) - if ( isBorderBox && scrollboxSizeBuggy ) { - subtract -= Math.ceil( - elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] - - parseFloat( styles[ dimension ] ) - - boxModelAdjustment( elem, dimension, "border", false, styles ) - - 0.5 - ); - } - - // Convert to pixels if value adjustment is needed - if ( subtract && ( matches = rcssNum.exec( value ) ) && - ( matches[ 3 ] || "px" ) !== "px" ) { - - elem.style[ dimension ] = value; - value = jQuery.css( elem, dimension ); - } - - return setPositiveNumber( elem, value, subtract ); - } - }; -} ); - -jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, - function( elem, computed ) { - if ( computed ) { - return ( parseFloat( curCSS( elem, "marginLeft" ) ) || - elem.getBoundingClientRect().left - - swap( elem, { marginLeft: 0 }, function() { - return elem.getBoundingClientRect().left; - } ) - ) + "px"; - } - } -); - -// These hooks are used by animate to expand properties -jQuery.each( { - margin: "", - padding: "", - border: "Width" -}, function( prefix, suffix ) { - jQuery.cssHooks[ prefix + suffix ] = { - expand: function( value ) { - var i = 0, - expanded = {}, - - // Assumes a single number if not a string - parts = typeof value === "string" ? value.split( " " ) : [ value ]; - - for ( ; i < 4; i++ ) { - expanded[ prefix + cssExpand[ i ] + suffix ] = - parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; - } - - return expanded; - } - }; - - if ( prefix !== "margin" ) { - jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; - } -} ); - -jQuery.fn.extend( { - css: function( name, value ) { - return access( this, function( elem, name, value ) { - var styles, len, - map = {}, - i = 0; - - if ( Array.isArray( name ) ) { - styles = getStyles( elem ); - len = name.length; - - for ( ; i < len; i++ ) { - map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); - } - - return map; - } - - return value !== undefined ? - jQuery.style( elem, name, value ) : - jQuery.css( elem, name ); - }, name, value, arguments.length > 1 ); - } -} ); - - -function Tween( elem, options, prop, end, easing ) { - return new Tween.prototype.init( elem, options, prop, end, easing ); -} -jQuery.Tween = Tween; - -Tween.prototype = { - constructor: Tween, - init: function( elem, options, prop, end, easing, unit ) { - this.elem = elem; - this.prop = prop; - this.easing = easing || jQuery.easing._default; - this.options = options; - this.start = this.now = this.cur(); - this.end = end; - this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); - }, - cur: function() { - var hooks = Tween.propHooks[ this.prop ]; - - return hooks && hooks.get ? - hooks.get( this ) : - Tween.propHooks._default.get( this ); - }, - run: function( percent ) { - var eased, - hooks = Tween.propHooks[ this.prop ]; - - if ( this.options.duration ) { - this.pos = eased = jQuery.easing[ this.easing ]( - percent, this.options.duration * percent, 0, 1, this.options.duration - ); - } else { - this.pos = eased = percent; - } - this.now = ( this.end - this.start ) * eased + this.start; - - if ( this.options.step ) { - this.options.step.call( this.elem, this.now, this ); - } - - if ( hooks && hooks.set ) { - hooks.set( this ); - } else { - Tween.propHooks._default.set( this ); - } - return this; - } -}; - -Tween.prototype.init.prototype = Tween.prototype; - -Tween.propHooks = { - _default: { - get: function( tween ) { - var result; - - // Use a property on the element directly when it is not a DOM element, - // or when there is no matching style property that exists. - if ( tween.elem.nodeType !== 1 || - tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { - return tween.elem[ tween.prop ]; - } - - // Passing an empty string as a 3rd parameter to .css will automatically - // attempt a parseFloat and fallback to a string if the parse fails. - // Simple values such as "10px" are parsed to Float; - // complex values such as "rotate(1rad)" are returned as-is. - result = jQuery.css( tween.elem, tween.prop, "" ); - - // Empty strings, null, undefined and "auto" are converted to 0. - return !result || result === "auto" ? 0 : result; - }, - set: function( tween ) { - - // Use step hook for back compat. - // Use cssHook if its there. - // Use .style if available and use plain properties where available. - if ( jQuery.fx.step[ tween.prop ] ) { - jQuery.fx.step[ tween.prop ]( tween ); - } else if ( tween.elem.nodeType === 1 && ( - jQuery.cssHooks[ tween.prop ] || - tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) { - jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); - } else { - tween.elem[ tween.prop ] = tween.now; - } - } - } -}; - -// Support: IE <=9 only -// Panic based approach to setting things on disconnected nodes -Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { - set: function( tween ) { - if ( tween.elem.nodeType && tween.elem.parentNode ) { - tween.elem[ tween.prop ] = tween.now; - } - } -}; - -jQuery.easing = { - linear: function( p ) { - return p; - }, - swing: function( p ) { - return 0.5 - Math.cos( p * Math.PI ) / 2; - }, - _default: "swing" -}; - -jQuery.fx = Tween.prototype.init; - -// Back compat <1.8 extension point -jQuery.fx.step = {}; - - - - -var - fxNow, inProgress, - rfxtypes = /^(?:toggle|show|hide)$/, - rrun = /queueHooks$/; - -function schedule() { - if ( inProgress ) { - if ( document.hidden === false && window.requestAnimationFrame ) { - window.requestAnimationFrame( schedule ); - } else { - window.setTimeout( schedule, jQuery.fx.interval ); - } - - jQuery.fx.tick(); - } -} - -// Animations created synchronously will run synchronously -function createFxNow() { - window.setTimeout( function() { - fxNow = undefined; - } ); - return ( fxNow = Date.now() ); -} - -// Generate parameters to create a standard animation -function genFx( type, includeWidth ) { - var which, - i = 0, - attrs = { height: type }; - - // If we include width, step value is 1 to do all cssExpand values, - // otherwise step value is 2 to skip over Left and Right - includeWidth = includeWidth ? 1 : 0; - for ( ; i < 4; i += 2 - includeWidth ) { - which = cssExpand[ i ]; - attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; - } - - if ( includeWidth ) { - attrs.opacity = attrs.width = type; - } - - return attrs; -} - -function createTween( value, prop, animation ) { - var tween, - collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), - index = 0, - length = collection.length; - for ( ; index < length; index++ ) { - if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { - - // We're done with this property - return tween; - } - } -} - -function defaultPrefilter( elem, props, opts ) { - var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, - isBox = "width" in props || "height" in props, - anim = this, - orig = {}, - style = elem.style, - hidden = elem.nodeType && isHiddenWithinTree( elem ), - dataShow = dataPriv.get( elem, "fxshow" ); - - // Queue-skipping animations hijack the fx hooks - if ( !opts.queue ) { - hooks = jQuery._queueHooks( elem, "fx" ); - if ( hooks.unqueued == null ) { - hooks.unqueued = 0; - oldfire = hooks.empty.fire; - hooks.empty.fire = function() { - if ( !hooks.unqueued ) { - oldfire(); - } - }; - } - hooks.unqueued++; - - anim.always( function() { - - // Ensure the complete handler is called before this completes - anim.always( function() { - hooks.unqueued--; - if ( !jQuery.queue( elem, "fx" ).length ) { - hooks.empty.fire(); - } - } ); - } ); - } - - // Detect show/hide animations - for ( prop in props ) { - value = props[ prop ]; - if ( rfxtypes.test( value ) ) { - delete props[ prop ]; - toggle = toggle || value === "toggle"; - if ( value === ( hidden ? "hide" : "show" ) ) { - - // Pretend to be hidden if this is a "show" and - // there is still data from a stopped show/hide - if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { - hidden = true; - - // Ignore all other no-op show/hide data - } else { - continue; - } - } - orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); - } - } - - // Bail out if this is a no-op like .hide().hide() - propTween = !jQuery.isEmptyObject( props ); - if ( !propTween && jQuery.isEmptyObject( orig ) ) { - return; - } - - // Restrict "overflow" and "display" styles during box animations - if ( isBox && elem.nodeType === 1 ) { - - // Support: IE <=9 - 11, Edge 12 - 15 - // Record all 3 overflow attributes because IE does not infer the shorthand - // from identically-valued overflowX and overflowY and Edge just mirrors - // the overflowX value there. - opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; - - // Identify a display type, preferring old show/hide data over the CSS cascade - restoreDisplay = dataShow && dataShow.display; - if ( restoreDisplay == null ) { - restoreDisplay = dataPriv.get( elem, "display" ); - } - display = jQuery.css( elem, "display" ); - if ( display === "none" ) { - if ( restoreDisplay ) { - display = restoreDisplay; - } else { - - // Get nonempty value(s) by temporarily forcing visibility - showHide( [ elem ], true ); - restoreDisplay = elem.style.display || restoreDisplay; - display = jQuery.css( elem, "display" ); - showHide( [ elem ] ); - } - } - - // Animate inline elements as inline-block - if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { - if ( jQuery.css( elem, "float" ) === "none" ) { - - // Restore the original display value at the end of pure show/hide animations - if ( !propTween ) { - anim.done( function() { - style.display = restoreDisplay; - } ); - if ( restoreDisplay == null ) { - display = style.display; - restoreDisplay = display === "none" ? "" : display; - } - } - style.display = "inline-block"; - } - } - } - - if ( opts.overflow ) { - style.overflow = "hidden"; - anim.always( function() { - style.overflow = opts.overflow[ 0 ]; - style.overflowX = opts.overflow[ 1 ]; - style.overflowY = opts.overflow[ 2 ]; - } ); - } - - // Implement show/hide animations - propTween = false; - for ( prop in orig ) { - - // General show/hide setup for this element animation - if ( !propTween ) { - if ( dataShow ) { - if ( "hidden" in dataShow ) { - hidden = dataShow.hidden; - } - } else { - dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); - } - - // Store hidden/visible for toggle so `.stop().toggle()` "reverses" - if ( toggle ) { - dataShow.hidden = !hidden; - } - - // Show elements before animating them - if ( hidden ) { - showHide( [ elem ], true ); - } - - /* eslint-disable no-loop-func */ - - anim.done( function() { - - /* eslint-enable no-loop-func */ - - // The final step of a "hide" animation is actually hiding the element - if ( !hidden ) { - showHide( [ elem ] ); - } - dataPriv.remove( elem, "fxshow" ); - for ( prop in orig ) { - jQuery.style( elem, prop, orig[ prop ] ); - } - } ); - } - - // Per-property setup - propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); - if ( !( prop in dataShow ) ) { - dataShow[ prop ] = propTween.start; - if ( hidden ) { - propTween.end = propTween.start; - propTween.start = 0; - } - } - } -} - -function propFilter( props, specialEasing ) { - var index, name, easing, value, hooks; - - // camelCase, specialEasing and expand cssHook pass - for ( index in props ) { - name = camelCase( index ); - easing = specialEasing[ name ]; - value = props[ index ]; - if ( Array.isArray( value ) ) { - easing = value[ 1 ]; - value = props[ index ] = value[ 0 ]; - } - - if ( index !== name ) { - props[ name ] = value; - delete props[ index ]; - } - - hooks = jQuery.cssHooks[ name ]; - if ( hooks && "expand" in hooks ) { - value = hooks.expand( value ); - delete props[ name ]; - - // Not quite $.extend, this won't overwrite existing keys. - // Reusing 'index' because we have the correct "name" - for ( index in value ) { - if ( !( index in props ) ) { - props[ index ] = value[ index ]; - specialEasing[ index ] = easing; - } - } - } else { - specialEasing[ name ] = easing; - } - } -} - -function Animation( elem, properties, options ) { - var result, - stopped, - index = 0, - length = Animation.prefilters.length, - deferred = jQuery.Deferred().always( function() { - - // Don't match elem in the :animated selector - delete tick.elem; - } ), - tick = function() { - if ( stopped ) { - return false; - } - var currentTime = fxNow || createFxNow(), - remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), - - // Support: Android 2.3 only - // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) - temp = remaining / animation.duration || 0, - percent = 1 - temp, - index = 0, - length = animation.tweens.length; - - for ( ; index < length; index++ ) { - animation.tweens[ index ].run( percent ); - } - - deferred.notifyWith( elem, [ animation, percent, remaining ] ); - - // If there's more to do, yield - if ( percent < 1 && length ) { - return remaining; - } - - // If this was an empty animation, synthesize a final progress notification - if ( !length ) { - deferred.notifyWith( elem, [ animation, 1, 0 ] ); - } - - // Resolve the animation and report its conclusion - deferred.resolveWith( elem, [ animation ] ); - return false; - }, - animation = deferred.promise( { - elem: elem, - props: jQuery.extend( {}, properties ), - opts: jQuery.extend( true, { - specialEasing: {}, - easing: jQuery.easing._default - }, options ), - originalProperties: properties, - originalOptions: options, - startTime: fxNow || createFxNow(), - duration: options.duration, - tweens: [], - createTween: function( prop, end ) { - var tween = jQuery.Tween( elem, animation.opts, prop, end, - animation.opts.specialEasing[ prop ] || animation.opts.easing ); - animation.tweens.push( tween ); - return tween; - }, - stop: function( gotoEnd ) { - var index = 0, - - // If we are going to the end, we want to run all the tweens - // otherwise we skip this part - length = gotoEnd ? animation.tweens.length : 0; - if ( stopped ) { - return this; - } - stopped = true; - for ( ; index < length; index++ ) { - animation.tweens[ index ].run( 1 ); - } - - // Resolve when we played the last frame; otherwise, reject - if ( gotoEnd ) { - deferred.notifyWith( elem, [ animation, 1, 0 ] ); - deferred.resolveWith( elem, [ animation, gotoEnd ] ); - } else { - deferred.rejectWith( elem, [ animation, gotoEnd ] ); - } - return this; - } - } ), - props = animation.props; - - propFilter( props, animation.opts.specialEasing ); - - for ( ; index < length; index++ ) { - result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); - if ( result ) { - if ( isFunction( result.stop ) ) { - jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = - result.stop.bind( result ); - } - return result; - } - } - - jQuery.map( props, createTween, animation ); - - if ( isFunction( animation.opts.start ) ) { - animation.opts.start.call( elem, animation ); - } - - // Attach callbacks from options - animation - .progress( animation.opts.progress ) - .done( animation.opts.done, animation.opts.complete ) - .fail( animation.opts.fail ) - .always( animation.opts.always ); - - jQuery.fx.timer( - jQuery.extend( tick, { - elem: elem, - anim: animation, - queue: animation.opts.queue - } ) - ); - - return animation; -} - -jQuery.Animation = jQuery.extend( Animation, { - - tweeners: { - "*": [ function( prop, value ) { - var tween = this.createTween( prop, value ); - adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); - return tween; - } ] - }, - - tweener: function( props, callback ) { - if ( isFunction( props ) ) { - callback = props; - props = [ "*" ]; - } else { - props = props.match( rnothtmlwhite ); - } - - var prop, - index = 0, - length = props.length; - - for ( ; index < length; index++ ) { - prop = props[ index ]; - Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; - Animation.tweeners[ prop ].unshift( callback ); - } - }, - - prefilters: [ defaultPrefilter ], - - prefilter: function( callback, prepend ) { - if ( prepend ) { - Animation.prefilters.unshift( callback ); - } else { - Animation.prefilters.push( callback ); - } - } -} ); - -jQuery.speed = function( speed, easing, fn ) { - var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { - complete: fn || !fn && easing || - isFunction( speed ) && speed, - duration: speed, - easing: fn && easing || easing && !isFunction( easing ) && easing - }; - - // Go to the end state if fx are off - if ( jQuery.fx.off ) { - opt.duration = 0; - - } else { - if ( typeof opt.duration !== "number" ) { - if ( opt.duration in jQuery.fx.speeds ) { - opt.duration = jQuery.fx.speeds[ opt.duration ]; - - } else { - opt.duration = jQuery.fx.speeds._default; - } - } - } - - // Normalize opt.queue - true/undefined/null -> "fx" - if ( opt.queue == null || opt.queue === true ) { - opt.queue = "fx"; - } - - // Queueing - opt.old = opt.complete; - - opt.complete = function() { - if ( isFunction( opt.old ) ) { - opt.old.call( this ); - } - - if ( opt.queue ) { - jQuery.dequeue( this, opt.queue ); - } - }; - - return opt; -}; - -jQuery.fn.extend( { - fadeTo: function( speed, to, easing, callback ) { - - // Show any hidden elements after setting opacity to 0 - return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() - - // Animate to the value specified - .end().animate( { opacity: to }, speed, easing, callback ); - }, - animate: function( prop, speed, easing, callback ) { - var empty = jQuery.isEmptyObject( prop ), - optall = jQuery.speed( speed, easing, callback ), - doAnimation = function() { - - // Operate on a copy of prop so per-property easing won't be lost - var anim = Animation( this, jQuery.extend( {}, prop ), optall ); - - // Empty animations, or finishing resolves immediately - if ( empty || dataPriv.get( this, "finish" ) ) { - anim.stop( true ); - } - }; - doAnimation.finish = doAnimation; - - return empty || optall.queue === false ? - this.each( doAnimation ) : - this.queue( optall.queue, doAnimation ); - }, - stop: function( type, clearQueue, gotoEnd ) { - var stopQueue = function( hooks ) { - var stop = hooks.stop; - delete hooks.stop; - stop( gotoEnd ); - }; - - if ( typeof type !== "string" ) { - gotoEnd = clearQueue; - clearQueue = type; - type = undefined; - } - if ( clearQueue ) { - this.queue( type || "fx", [] ); - } - - return this.each( function() { - var dequeue = true, - index = type != null && type + "queueHooks", - timers = jQuery.timers, - data = dataPriv.get( this ); - - if ( index ) { - if ( data[ index ] && data[ index ].stop ) { - stopQueue( data[ index ] ); - } - } else { - for ( index in data ) { - if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { - stopQueue( data[ index ] ); - } - } - } - - for ( index = timers.length; index--; ) { - if ( timers[ index ].elem === this && - ( type == null || timers[ index ].queue === type ) ) { - - timers[ index ].anim.stop( gotoEnd ); - dequeue = false; - timers.splice( index, 1 ); - } - } - - // Start the next in the queue if the last step wasn't forced. - // Timers currently will call their complete callbacks, which - // will dequeue but only if they were gotoEnd. - if ( dequeue || !gotoEnd ) { - jQuery.dequeue( this, type ); - } - } ); - }, - finish: function( type ) { - if ( type !== false ) { - type = type || "fx"; - } - return this.each( function() { - var index, - data = dataPriv.get( this ), - queue = data[ type + "queue" ], - hooks = data[ type + "queueHooks" ], - timers = jQuery.timers, - length = queue ? queue.length : 0; - - // Enable finishing flag on private data - data.finish = true; - - // Empty the queue first - jQuery.queue( this, type, [] ); - - if ( hooks && hooks.stop ) { - hooks.stop.call( this, true ); - } - - // Look for any active animations, and finish them - for ( index = timers.length; index--; ) { - if ( timers[ index ].elem === this && timers[ index ].queue === type ) { - timers[ index ].anim.stop( true ); - timers.splice( index, 1 ); - } - } - - // Look for any animations in the old queue and finish them - for ( index = 0; index < length; index++ ) { - if ( queue[ index ] && queue[ index ].finish ) { - queue[ index ].finish.call( this ); - } - } - - // Turn off finishing flag - delete data.finish; - } ); - } -} ); - -jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) { - var cssFn = jQuery.fn[ name ]; - jQuery.fn[ name ] = function( speed, easing, callback ) { - return speed == null || typeof speed === "boolean" ? - cssFn.apply( this, arguments ) : - this.animate( genFx( name, true ), speed, easing, callback ); - }; -} ); - -// Generate shortcuts for custom animations -jQuery.each( { - slideDown: genFx( "show" ), - slideUp: genFx( "hide" ), - slideToggle: genFx( "toggle" ), - fadeIn: { opacity: "show" }, - fadeOut: { opacity: "hide" }, - fadeToggle: { opacity: "toggle" } -}, function( name, props ) { - jQuery.fn[ name ] = function( speed, easing, callback ) { - return this.animate( props, speed, easing, callback ); - }; -} ); - -jQuery.timers = []; -jQuery.fx.tick = function() { - var timer, - i = 0, - timers = jQuery.timers; - - fxNow = Date.now(); - - for ( ; i < timers.length; i++ ) { - timer = timers[ i ]; - - // Run the timer and safely remove it when done (allowing for external removal) - if ( !timer() && timers[ i ] === timer ) { - timers.splice( i--, 1 ); - } - } - - if ( !timers.length ) { - jQuery.fx.stop(); - } - fxNow = undefined; -}; - -jQuery.fx.timer = function( timer ) { - jQuery.timers.push( timer ); - jQuery.fx.start(); -}; - -jQuery.fx.interval = 13; -jQuery.fx.start = function() { - if ( inProgress ) { - return; - } - - inProgress = true; - schedule(); -}; - -jQuery.fx.stop = function() { - inProgress = null; -}; - -jQuery.fx.speeds = { - slow: 600, - fast: 200, - - // Default speed - _default: 400 -}; - - -// Based off of the plugin by Clint Helfers, with permission. -// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ -jQuery.fn.delay = function( time, type ) { - time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; - type = type || "fx"; - - return this.queue( type, function( next, hooks ) { - var timeout = window.setTimeout( next, time ); - hooks.stop = function() { - window.clearTimeout( timeout ); - }; - } ); -}; - - -( function() { - var input = document.createElement( "input" ), - select = document.createElement( "select" ), - opt = select.appendChild( document.createElement( "option" ) ); - - input.type = "checkbox"; - - // Support: Android <=4.3 only - // Default value for a checkbox should be "on" - support.checkOn = input.value !== ""; - - // Support: IE <=11 only - // Must access selectedIndex to make default options select - support.optSelected = opt.selected; - - // Support: IE <=11 only - // An input loses its value after becoming a radio - input = document.createElement( "input" ); - input.value = "t"; - input.type = "radio"; - support.radioValue = input.value === "t"; -} )(); - - -var boolHook, - attrHandle = jQuery.expr.attrHandle; - -jQuery.fn.extend( { - attr: function( name, value ) { - return access( this, jQuery.attr, name, value, arguments.length > 1 ); - }, - - removeAttr: function( name ) { - return this.each( function() { - jQuery.removeAttr( this, name ); - } ); - } -} ); - -jQuery.extend( { - attr: function( elem, name, value ) { - var ret, hooks, - nType = elem.nodeType; - - // Don't get/set attributes on text, comment and attribute nodes - if ( nType === 3 || nType === 8 || nType === 2 ) { - return; - } - - // Fallback to prop when attributes are not supported - if ( typeof elem.getAttribute === "undefined" ) { - return jQuery.prop( elem, name, value ); - } - - // Attribute hooks are determined by the lowercase version - // Grab necessary hook if one is defined - if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { - hooks = jQuery.attrHooks[ name.toLowerCase() ] || - ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); - } - - if ( value !== undefined ) { - if ( value === null ) { - jQuery.removeAttr( elem, name ); - return; - } - - if ( hooks && "set" in hooks && - ( ret = hooks.set( elem, value, name ) ) !== undefined ) { - return ret; - } - - elem.setAttribute( name, value + "" ); - return value; - } - - if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { - return ret; - } - - ret = jQuery.find.attr( elem, name ); - - // Non-existent attributes return null, we normalize to undefined - return ret == null ? undefined : ret; - }, - - attrHooks: { - type: { - set: function( elem, value ) { - if ( !support.radioValue && value === "radio" && - nodeName( elem, "input" ) ) { - var val = elem.value; - elem.setAttribute( "type", value ); - if ( val ) { - elem.value = val; - } - return value; - } - } - } - }, - - removeAttr: function( elem, value ) { - var name, - i = 0, - - // Attribute names can contain non-HTML whitespace characters - // https://html.spec.whatwg.org/multipage/syntax.html#attributes-2 - attrNames = value && value.match( rnothtmlwhite ); - - if ( attrNames && elem.nodeType === 1 ) { - while ( ( name = attrNames[ i++ ] ) ) { - elem.removeAttribute( name ); - } - } - } -} ); - -// Hooks for boolean attributes -boolHook = { - set: function( elem, value, name ) { - if ( value === false ) { - - // Remove boolean attributes when set to false - jQuery.removeAttr( elem, name ); - } else { - elem.setAttribute( name, name ); - } - return name; - } -}; - -jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) { - var getter = attrHandle[ name ] || jQuery.find.attr; - - attrHandle[ name ] = function( elem, name, isXML ) { - var ret, handle, - lowercaseName = name.toLowerCase(); - - if ( !isXML ) { - - // Avoid an infinite loop by temporarily removing this function from the getter - handle = attrHandle[ lowercaseName ]; - attrHandle[ lowercaseName ] = ret; - ret = getter( elem, name, isXML ) != null ? - lowercaseName : - null; - attrHandle[ lowercaseName ] = handle; - } - return ret; - }; -} ); - - - - -var rfocusable = /^(?:input|select|textarea|button)$/i, - rclickable = /^(?:a|area)$/i; - -jQuery.fn.extend( { - prop: function( name, value ) { - return access( this, jQuery.prop, name, value, arguments.length > 1 ); - }, - - removeProp: function( name ) { - return this.each( function() { - delete this[ jQuery.propFix[ name ] || name ]; - } ); - } -} ); - -jQuery.extend( { - prop: function( elem, name, value ) { - var ret, hooks, - nType = elem.nodeType; - - // Don't get/set properties on text, comment and attribute nodes - if ( nType === 3 || nType === 8 || nType === 2 ) { - return; - } - - if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { - - // Fix name and attach hooks - name = jQuery.propFix[ name ] || name; - hooks = jQuery.propHooks[ name ]; - } - - if ( value !== undefined ) { - if ( hooks && "set" in hooks && - ( ret = hooks.set( elem, value, name ) ) !== undefined ) { - return ret; - } - - return ( elem[ name ] = value ); - } - - if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { - return ret; - } - - return elem[ name ]; - }, - - propHooks: { - tabIndex: { - get: function( elem ) { - - // Support: IE <=9 - 11 only - // elem.tabIndex doesn't always return the - // correct value when it hasn't been explicitly set - // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ - // Use proper attribute retrieval(#12072) - var tabindex = jQuery.find.attr( elem, "tabindex" ); - - if ( tabindex ) { - return parseInt( tabindex, 10 ); - } - - if ( - rfocusable.test( elem.nodeName ) || - rclickable.test( elem.nodeName ) && - elem.href - ) { - return 0; - } - - return -1; - } - } - }, - - propFix: { - "for": "htmlFor", - "class": "className" - } -} ); - -// Support: IE <=11 only -// Accessing the selectedIndex property -// forces the browser to respect setting selected -// on the option -// The getter ensures a default option is selected -// when in an optgroup -// eslint rule "no-unused-expressions" is disabled for this code -// since it considers such accessions noop -if ( !support.optSelected ) { - jQuery.propHooks.selected = { - get: function( elem ) { - - /* eslint no-unused-expressions: "off" */ - - var parent = elem.parentNode; - if ( parent && parent.parentNode ) { - parent.parentNode.selectedIndex; - } - return null; - }, - set: function( elem ) { - - /* eslint no-unused-expressions: "off" */ - - var parent = elem.parentNode; - if ( parent ) { - parent.selectedIndex; - - if ( parent.parentNode ) { - parent.parentNode.selectedIndex; - } - } - } - }; -} - -jQuery.each( [ - "tabIndex", - "readOnly", - "maxLength", - "cellSpacing", - "cellPadding", - "rowSpan", - "colSpan", - "useMap", - "frameBorder", - "contentEditable" -], function() { - jQuery.propFix[ this.toLowerCase() ] = this; -} ); - - - - - // Strip and collapse whitespace according to HTML spec - // https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace - function stripAndCollapse( value ) { - var tokens = value.match( rnothtmlwhite ) || []; - return tokens.join( " " ); - } - - -function getClass( elem ) { - return elem.getAttribute && elem.getAttribute( "class" ) || ""; -} - -function classesToArray( value ) { - if ( Array.isArray( value ) ) { - return value; - } - if ( typeof value === "string" ) { - return value.match( rnothtmlwhite ) || []; - } - return []; -} - -jQuery.fn.extend( { - addClass: function( value ) { - var classes, elem, cur, curValue, clazz, j, finalValue, - i = 0; - - if ( isFunction( value ) ) { - return this.each( function( j ) { - jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); - } ); - } - - classes = classesToArray( value ); - - if ( classes.length ) { - while ( ( elem = this[ i++ ] ) ) { - curValue = getClass( elem ); - cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); - - if ( cur ) { - j = 0; - while ( ( clazz = classes[ j++ ] ) ) { - if ( cur.indexOf( " " + clazz + " " ) < 0 ) { - cur += clazz + " "; - } - } - - // Only assign if different to avoid unneeded rendering. - finalValue = stripAndCollapse( cur ); - if ( curValue !== finalValue ) { - elem.setAttribute( "class", finalValue ); - } - } - } - } - - return this; - }, - - removeClass: function( value ) { - var classes, elem, cur, curValue, clazz, j, finalValue, - i = 0; - - if ( isFunction( value ) ) { - return this.each( function( j ) { - jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); - } ); - } - - if ( !arguments.length ) { - return this.attr( "class", "" ); - } - - classes = classesToArray( value ); - - if ( classes.length ) { - while ( ( elem = this[ i++ ] ) ) { - curValue = getClass( elem ); - - // This expression is here for better compressibility (see addClass) - cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " ); - - if ( cur ) { - j = 0; - while ( ( clazz = classes[ j++ ] ) ) { - - // Remove *all* instances - while ( cur.indexOf( " " + clazz + " " ) > -1 ) { - cur = cur.replace( " " + clazz + " ", " " ); - } - } - - // Only assign if different to avoid unneeded rendering. - finalValue = stripAndCollapse( cur ); - if ( curValue !== finalValue ) { - elem.setAttribute( "class", finalValue ); - } - } - } - } - - return this; - }, - - toggleClass: function( value, stateVal ) { - var type = typeof value, - isValidValue = type === "string" || Array.isArray( value ); - - if ( typeof stateVal === "boolean" && isValidValue ) { - return stateVal ? this.addClass( value ) : this.removeClass( value ); - } - - if ( isFunction( value ) ) { - return this.each( function( i ) { - jQuery( this ).toggleClass( - value.call( this, i, getClass( this ), stateVal ), - stateVal - ); - } ); - } - - return this.each( function() { - var className, i, self, classNames; - - if ( isValidValue ) { - - // Toggle individual class names - i = 0; - self = jQuery( this ); - classNames = classesToArray( value ); - - while ( ( className = classNames[ i++ ] ) ) { - - // Check each className given, space separated list - if ( self.hasClass( className ) ) { - self.removeClass( className ); - } else { - self.addClass( className ); - } - } - - // Toggle whole class name - } else if ( value === undefined || type === "boolean" ) { - className = getClass( this ); - if ( className ) { - - // Store className if set - dataPriv.set( this, "__className__", className ); - } - - // If the element has a class name or if we're passed `false`, - // then remove the whole classname (if there was one, the above saved it). - // Otherwise bring back whatever was previously saved (if anything), - // falling back to the empty string if nothing was stored. - if ( this.setAttribute ) { - this.setAttribute( "class", - className || value === false ? - "" : - dataPriv.get( this, "__className__" ) || "" - ); - } - } - } ); - }, - - hasClass: function( selector ) { - var className, elem, - i = 0; - - className = " " + selector + " "; - while ( ( elem = this[ i++ ] ) ) { - if ( elem.nodeType === 1 && - ( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) { - return true; - } - } - - return false; - } -} ); - - - - -var rreturn = /\r/g; - -jQuery.fn.extend( { - val: function( value ) { - var hooks, ret, valueIsFunction, - elem = this[ 0 ]; - - if ( !arguments.length ) { - if ( elem ) { - hooks = jQuery.valHooks[ elem.type ] || - jQuery.valHooks[ elem.nodeName.toLowerCase() ]; - - if ( hooks && - "get" in hooks && - ( ret = hooks.get( elem, "value" ) ) !== undefined - ) { - return ret; - } - - ret = elem.value; - - // Handle most common string cases - if ( typeof ret === "string" ) { - return ret.replace( rreturn, "" ); - } - - // Handle cases where value is null/undef or number - return ret == null ? "" : ret; - } - - return; - } - - valueIsFunction = isFunction( value ); - - return this.each( function( i ) { - var val; - - if ( this.nodeType !== 1 ) { - return; - } - - if ( valueIsFunction ) { - val = value.call( this, i, jQuery( this ).val() ); - } else { - val = value; - } - - // Treat null/undefined as ""; convert numbers to string - if ( val == null ) { - val = ""; - - } else if ( typeof val === "number" ) { - val += ""; - - } else if ( Array.isArray( val ) ) { - val = jQuery.map( val, function( value ) { - return value == null ? "" : value + ""; - } ); - } - - hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; - - // If set returns undefined, fall back to normal setting - if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { - this.value = val; - } - } ); - } -} ); - -jQuery.extend( { - valHooks: { - option: { - get: function( elem ) { - - var val = jQuery.find.attr( elem, "value" ); - return val != null ? - val : - - // Support: IE <=10 - 11 only - // option.text throws exceptions (#14686, #14858) - // Strip and collapse whitespace - // https://html.spec.whatwg.org/#strip-and-collapse-whitespace - stripAndCollapse( jQuery.text( elem ) ); - } - }, - select: { - get: function( elem ) { - var value, option, i, - options = elem.options, - index = elem.selectedIndex, - one = elem.type === "select-one", - values = one ? null : [], - max = one ? index + 1 : options.length; - - if ( index < 0 ) { - i = max; - - } else { - i = one ? index : 0; - } - - // Loop through all the selected options - for ( ; i < max; i++ ) { - option = options[ i ]; - - // Support: IE <=9 only - // IE8-9 doesn't update selected after form reset (#2551) - if ( ( option.selected || i === index ) && - - // Don't return options that are disabled or in a disabled optgroup - !option.disabled && - ( !option.parentNode.disabled || - !nodeName( option.parentNode, "optgroup" ) ) ) { - - // Get the specific value for the option - value = jQuery( option ).val(); - - // We don't need an array for one selects - if ( one ) { - return value; - } - - // Multi-Selects return an array - values.push( value ); - } - } - - return values; - }, - - set: function( elem, value ) { - var optionSet, option, - options = elem.options, - values = jQuery.makeArray( value ), - i = options.length; - - while ( i-- ) { - option = options[ i ]; - - /* eslint-disable no-cond-assign */ - - if ( option.selected = - jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 - ) { - optionSet = true; - } - - /* eslint-enable no-cond-assign */ - } - - // Force browsers to behave consistently when non-matching value is set - if ( !optionSet ) { - elem.selectedIndex = -1; - } - return values; - } - } - } -} ); - -// Radios and checkboxes getter/setter -jQuery.each( [ "radio", "checkbox" ], function() { - jQuery.valHooks[ this ] = { - set: function( elem, value ) { - if ( Array.isArray( value ) ) { - return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); - } - } - }; - if ( !support.checkOn ) { - jQuery.valHooks[ this ].get = function( elem ) { - return elem.getAttribute( "value" ) === null ? "on" : elem.value; - }; - } -} ); - - - - -// Return jQuery for attributes-only inclusion - - -support.focusin = "onfocusin" in window; - - -var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/, - stopPropagationCallback = function( e ) { - e.stopPropagation(); - }; - -jQuery.extend( jQuery.event, { - - trigger: function( event, data, elem, onlyHandlers ) { - - var i, cur, tmp, bubbleType, ontype, handle, special, lastElement, - eventPath = [ elem || document ], - type = hasOwn.call( event, "type" ) ? event.type : event, - namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; - - cur = lastElement = tmp = elem = elem || document; - - // Don't do events on text and comment nodes - if ( elem.nodeType === 3 || elem.nodeType === 8 ) { - return; - } - - // focus/blur morphs to focusin/out; ensure we're not firing them right now - if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { - return; - } - - if ( type.indexOf( "." ) > -1 ) { - - // Namespaced trigger; create a regexp to match event type in handle() - namespaces = type.split( "." ); - type = namespaces.shift(); - namespaces.sort(); - } - ontype = type.indexOf( ":" ) < 0 && "on" + type; - - // Caller can pass in a jQuery.Event object, Object, or just an event type string - event = event[ jQuery.expando ] ? - event : - new jQuery.Event( type, typeof event === "object" && event ); - - // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) - event.isTrigger = onlyHandlers ? 2 : 3; - event.namespace = namespaces.join( "." ); - event.rnamespace = event.namespace ? - new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : - null; - - // Clean up the event in case it is being reused - event.result = undefined; - if ( !event.target ) { - event.target = elem; - } - - // Clone any incoming data and prepend the event, creating the handler arg list - data = data == null ? - [ event ] : - jQuery.makeArray( data, [ event ] ); - - // Allow special events to draw outside the lines - special = jQuery.event.special[ type ] || {}; - if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { - return; - } - - // Determine event propagation path in advance, per W3C events spec (#9951) - // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) - if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) { - - bubbleType = special.delegateType || type; - if ( !rfocusMorph.test( bubbleType + type ) ) { - cur = cur.parentNode; - } - for ( ; cur; cur = cur.parentNode ) { - eventPath.push( cur ); - tmp = cur; - } - - // Only add window if we got to document (e.g., not plain obj or detached DOM) - if ( tmp === ( elem.ownerDocument || document ) ) { - eventPath.push( tmp.defaultView || tmp.parentWindow || window ); - } - } - - // Fire handlers on the event path - i = 0; - while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { - lastElement = cur; - event.type = i > 1 ? - bubbleType : - special.bindType || type; - - // jQuery handler - handle = ( - dataPriv.get( cur, "events" ) || Object.create( null ) - )[ event.type ] && - dataPriv.get( cur, "handle" ); - if ( handle ) { - handle.apply( cur, data ); - } - - // Native handler - handle = ontype && cur[ ontype ]; - if ( handle && handle.apply && acceptData( cur ) ) { - event.result = handle.apply( cur, data ); - if ( event.result === false ) { - event.preventDefault(); - } - } - } - event.type = type; - - // If nobody prevented the default action, do it now - if ( !onlyHandlers && !event.isDefaultPrevented() ) { - - if ( ( !special._default || - special._default.apply( eventPath.pop(), data ) === false ) && - acceptData( elem ) ) { - - // Call a native DOM method on the target with the same name as the event. - // Don't do default actions on window, that's where global variables be (#6170) - if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) { - - // Don't re-trigger an onFOO event when we call its FOO() method - tmp = elem[ ontype ]; - - if ( tmp ) { - elem[ ontype ] = null; - } - - // Prevent re-triggering of the same event, since we already bubbled it above - jQuery.event.triggered = type; - - if ( event.isPropagationStopped() ) { - lastElement.addEventListener( type, stopPropagationCallback ); - } - - elem[ type ](); - - if ( event.isPropagationStopped() ) { - lastElement.removeEventListener( type, stopPropagationCallback ); - } - - jQuery.event.triggered = undefined; - - if ( tmp ) { - elem[ ontype ] = tmp; - } - } - } - } - - return event.result; - }, - - // Piggyback on a donor event to simulate a different one - // Used only for `focus(in | out)` events - simulate: function( type, elem, event ) { - var e = jQuery.extend( - new jQuery.Event(), - event, - { - type: type, - isSimulated: true - } - ); - - jQuery.event.trigger( e, null, elem ); - } - -} ); - -jQuery.fn.extend( { - - trigger: function( type, data ) { - return this.each( function() { - jQuery.event.trigger( type, data, this ); - } ); - }, - triggerHandler: function( type, data ) { - var elem = this[ 0 ]; - if ( elem ) { - return jQuery.event.trigger( type, data, elem, true ); - } - } -} ); - - -// Support: Firefox <=44 -// Firefox doesn't have focus(in | out) events -// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 -// -// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 -// focus(in | out) events fire after focus & blur events, -// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order -// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 -if ( !support.focusin ) { - jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { - - // Attach a single capturing handler on the document while someone wants focusin/focusout - var handler = function( event ) { - jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); - }; - - jQuery.event.special[ fix ] = { - setup: function() { - - // Handle: regular nodes (via `this.ownerDocument`), window - // (via `this.document`) & document (via `this`). - var doc = this.ownerDocument || this.document || this, - attaches = dataPriv.access( doc, fix ); - - if ( !attaches ) { - doc.addEventListener( orig, handler, true ); - } - dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); - }, - teardown: function() { - var doc = this.ownerDocument || this.document || this, - attaches = dataPriv.access( doc, fix ) - 1; - - if ( !attaches ) { - doc.removeEventListener( orig, handler, true ); - dataPriv.remove( doc, fix ); - - } else { - dataPriv.access( doc, fix, attaches ); - } - } - }; - } ); -} -var location = window.location; - -var nonce = { guid: Date.now() }; - -var rquery = ( /\?/ ); - - - -// Cross-browser xml parsing -jQuery.parseXML = function( data ) { - var xml; - if ( !data || typeof data !== "string" ) { - return null; - } - - // Support: IE 9 - 11 only - // IE throws on parseFromString with invalid input. - try { - xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); - } catch ( e ) { - xml = undefined; - } - - if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { - jQuery.error( "Invalid XML: " + data ); - } - return xml; -}; - - -var - rbracket = /\[\]$/, - rCRLF = /\r?\n/g, - rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, - rsubmittable = /^(?:input|select|textarea|keygen)/i; - -function buildParams( prefix, obj, traditional, add ) { - var name; - - if ( Array.isArray( obj ) ) { - - // Serialize array item. - jQuery.each( obj, function( i, v ) { - if ( traditional || rbracket.test( prefix ) ) { - - // Treat each array item as a scalar. - add( prefix, v ); - - } else { - - // Item is non-scalar (array or object), encode its numeric index. - buildParams( - prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", - v, - traditional, - add - ); - } - } ); - - } else if ( !traditional && toType( obj ) === "object" ) { - - // Serialize object item. - for ( name in obj ) { - buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); - } - - } else { - - // Serialize scalar item. - add( prefix, obj ); - } -} - -// Serialize an array of form elements or a set of -// key/values into a query string -jQuery.param = function( a, traditional ) { - var prefix, - s = [], - add = function( key, valueOrFunction ) { - - // If value is a function, invoke it and use its return value - var value = isFunction( valueOrFunction ) ? - valueOrFunction() : - valueOrFunction; - - s[ s.length ] = encodeURIComponent( key ) + "=" + - encodeURIComponent( value == null ? "" : value ); - }; - - if ( a == null ) { - return ""; - } - - // If an array was passed in, assume that it is an array of form elements. - if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { - - // Serialize the form elements - jQuery.each( a, function() { - add( this.name, this.value ); - } ); - - } else { - - // If traditional, encode the "old" way (the way 1.3.2 or older - // did it), otherwise encode params recursively. - for ( prefix in a ) { - buildParams( prefix, a[ prefix ], traditional, add ); - } - } - - // Return the resulting serialization - return s.join( "&" ); -}; - -jQuery.fn.extend( { - serialize: function() { - return jQuery.param( this.serializeArray() ); - }, - serializeArray: function() { - return this.map( function() { - - // Can add propHook for "elements" to filter or add form elements - var elements = jQuery.prop( this, "elements" ); - return elements ? jQuery.makeArray( elements ) : this; - } ) - .filter( function() { - var type = this.type; - - // Use .is( ":disabled" ) so that fieldset[disabled] works - return this.name && !jQuery( this ).is( ":disabled" ) && - rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && - ( this.checked || !rcheckableType.test( type ) ); - } ) - .map( function( _i, elem ) { - var val = jQuery( this ).val(); - - if ( val == null ) { - return null; - } - - if ( Array.isArray( val ) ) { - return jQuery.map( val, function( val ) { - return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; - } ); - } - - return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; - } ).get(); - } -} ); - - -var - r20 = /%20/g, - rhash = /#.*$/, - rantiCache = /([?&])_=[^&]*/, - rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, - - // #7653, #8125, #8152: local protocol detection - rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, - rnoContent = /^(?:GET|HEAD)$/, - rprotocol = /^\/\//, - - /* Prefilters - * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) - * 2) These are called: - * - BEFORE asking for a transport - * - AFTER param serialization (s.data is a string if s.processData is true) - * 3) key is the dataType - * 4) the catchall symbol "*" can be used - * 5) execution will start with transport dataType and THEN continue down to "*" if needed - */ - prefilters = {}, - - /* Transports bindings - * 1) key is the dataType - * 2) the catchall symbol "*" can be used - * 3) selection will start with transport dataType and THEN go to "*" if needed - */ - transports = {}, - - // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression - allTypes = "*/".concat( "*" ), - - // Anchor tag for parsing the document origin - originAnchor = document.createElement( "a" ); - originAnchor.href = location.href; - -// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport -function addToPrefiltersOrTransports( structure ) { - - // dataTypeExpression is optional and defaults to "*" - return function( dataTypeExpression, func ) { - - if ( typeof dataTypeExpression !== "string" ) { - func = dataTypeExpression; - dataTypeExpression = "*"; - } - - var dataType, - i = 0, - dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || []; - - if ( isFunction( func ) ) { - - // For each dataType in the dataTypeExpression - while ( ( dataType = dataTypes[ i++ ] ) ) { - - // Prepend if requested - if ( dataType[ 0 ] === "+" ) { - dataType = dataType.slice( 1 ) || "*"; - ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); - - // Otherwise append - } else { - ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); - } - } - } - }; -} - -// Base inspection function for prefilters and transports -function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { - - var inspected = {}, - seekingTransport = ( structure === transports ); - - function inspect( dataType ) { - var selected; - inspected[ dataType ] = true; - jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { - var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); - if ( typeof dataTypeOrTransport === "string" && - !seekingTransport && !inspected[ dataTypeOrTransport ] ) { - - options.dataTypes.unshift( dataTypeOrTransport ); - inspect( dataTypeOrTransport ); - return false; - } else if ( seekingTransport ) { - return !( selected = dataTypeOrTransport ); - } - } ); - return selected; - } - - return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); -} - -// A special extend for ajax options -// that takes "flat" options (not to be deep extended) -// Fixes #9887 -function ajaxExtend( target, src ) { - var key, deep, - flatOptions = jQuery.ajaxSettings.flatOptions || {}; - - for ( key in src ) { - if ( src[ key ] !== undefined ) { - ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; - } - } - if ( deep ) { - jQuery.extend( true, target, deep ); - } - - return target; -} - -/* Handles responses to an ajax request: - * - finds the right dataType (mediates between content-type and expected dataType) - * - returns the corresponding response - */ -function ajaxHandleResponses( s, jqXHR, responses ) { - - var ct, type, finalDataType, firstDataType, - contents = s.contents, - dataTypes = s.dataTypes; - - // Remove auto dataType and get content-type in the process - while ( dataTypes[ 0 ] === "*" ) { - dataTypes.shift(); - if ( ct === undefined ) { - ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); - } - } - - // Check if we're dealing with a known content-type - if ( ct ) { - for ( type in contents ) { - if ( contents[ type ] && contents[ type ].test( ct ) ) { - dataTypes.unshift( type ); - break; - } - } - } - - // Check to see if we have a response for the expected dataType - if ( dataTypes[ 0 ] in responses ) { - finalDataType = dataTypes[ 0 ]; - } else { - - // Try convertible dataTypes - for ( type in responses ) { - if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { - finalDataType = type; - break; - } - if ( !firstDataType ) { - firstDataType = type; - } - } - - // Or just use first one - finalDataType = finalDataType || firstDataType; - } - - // If we found a dataType - // We add the dataType to the list if needed - // and return the corresponding response - if ( finalDataType ) { - if ( finalDataType !== dataTypes[ 0 ] ) { - dataTypes.unshift( finalDataType ); - } - return responses[ finalDataType ]; - } -} - -/* Chain conversions given the request and the original response - * Also sets the responseXXX fields on the jqXHR instance - */ -function ajaxConvert( s, response, jqXHR, isSuccess ) { - var conv2, current, conv, tmp, prev, - converters = {}, - - // Work with a copy of dataTypes in case we need to modify it for conversion - dataTypes = s.dataTypes.slice(); - - // Create converters map with lowercased keys - if ( dataTypes[ 1 ] ) { - for ( conv in s.converters ) { - converters[ conv.toLowerCase() ] = s.converters[ conv ]; - } - } - - current = dataTypes.shift(); - - // Convert to each sequential dataType - while ( current ) { - - if ( s.responseFields[ current ] ) { - jqXHR[ s.responseFields[ current ] ] = response; - } - - // Apply the dataFilter if provided - if ( !prev && isSuccess && s.dataFilter ) { - response = s.dataFilter( response, s.dataType ); - } - - prev = current; - current = dataTypes.shift(); - - if ( current ) { - - // There's only work to do if current dataType is non-auto - if ( current === "*" ) { - - current = prev; - - // Convert response if prev dataType is non-auto and differs from current - } else if ( prev !== "*" && prev !== current ) { - - // Seek a direct converter - conv = converters[ prev + " " + current ] || converters[ "* " + current ]; - - // If none found, seek a pair - if ( !conv ) { - for ( conv2 in converters ) { - - // If conv2 outputs current - tmp = conv2.split( " " ); - if ( tmp[ 1 ] === current ) { - - // If prev can be converted to accepted input - conv = converters[ prev + " " + tmp[ 0 ] ] || - converters[ "* " + tmp[ 0 ] ]; - if ( conv ) { - - // Condense equivalence converters - if ( conv === true ) { - conv = converters[ conv2 ]; - - // Otherwise, insert the intermediate dataType - } else if ( converters[ conv2 ] !== true ) { - current = tmp[ 0 ]; - dataTypes.unshift( tmp[ 1 ] ); - } - break; - } - } - } - } - - // Apply converter (if not an equivalence) - if ( conv !== true ) { - - // Unless errors are allowed to bubble, catch and return them - if ( conv && s.throws ) { - response = conv( response ); - } else { - try { - response = conv( response ); - } catch ( e ) { - return { - state: "parsererror", - error: conv ? e : "No conversion from " + prev + " to " + current - }; - } - } - } - } - } - } - - return { state: "success", data: response }; -} - -jQuery.extend( { - - // Counter for holding the number of active queries - active: 0, - - // Last-Modified header cache for next request - lastModified: {}, - etag: {}, - - ajaxSettings: { - url: location.href, - type: "GET", - isLocal: rlocalProtocol.test( location.protocol ), - global: true, - processData: true, - async: true, - contentType: "application/x-www-form-urlencoded; charset=UTF-8", - - /* - timeout: 0, - data: null, - dataType: null, - username: null, - password: null, - cache: null, - throws: false, - traditional: false, - headers: {}, - */ - - accepts: { - "*": allTypes, - text: "text/plain", - html: "text/html", - xml: "application/xml, text/xml", - json: "application/json, text/javascript" - }, - - contents: { - xml: /\bxml\b/, - html: /\bhtml/, - json: /\bjson\b/ - }, - - responseFields: { - xml: "responseXML", - text: "responseText", - json: "responseJSON" - }, - - // Data converters - // Keys separate source (or catchall "*") and destination types with a single space - converters: { - - // Convert anything to text - "* text": String, - - // Text to html (true = no transformation) - "text html": true, - - // Evaluate text as a json expression - "text json": JSON.parse, - - // Parse text as xml - "text xml": jQuery.parseXML - }, - - // For options that shouldn't be deep extended: - // you can add your own custom options here if - // and when you create one that shouldn't be - // deep extended (see ajaxExtend) - flatOptions: { - url: true, - context: true - } - }, - - // Creates a full fledged settings object into target - // with both ajaxSettings and settings fields. - // If target is omitted, writes into ajaxSettings. - ajaxSetup: function( target, settings ) { - return settings ? - - // Building a settings object - ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : - - // Extending ajaxSettings - ajaxExtend( jQuery.ajaxSettings, target ); - }, - - ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), - ajaxTransport: addToPrefiltersOrTransports( transports ), - - // Main method - ajax: function( url, options ) { - - // If url is an object, simulate pre-1.5 signature - if ( typeof url === "object" ) { - options = url; - url = undefined; - } - - // Force options to be an object - options = options || {}; - - var transport, - - // URL without anti-cache param - cacheURL, - - // Response headers - responseHeadersString, - responseHeaders, - - // timeout handle - timeoutTimer, - - // Url cleanup var - urlAnchor, - - // Request state (becomes false upon send and true upon completion) - completed, - - // To know if global events are to be dispatched - fireGlobals, - - // Loop variable - i, - - // uncached part of the url - uncached, - - // Create the final options object - s = jQuery.ajaxSetup( {}, options ), - - // Callbacks context - callbackContext = s.context || s, - - // Context for global events is callbackContext if it is a DOM node or jQuery collection - globalEventContext = s.context && - ( callbackContext.nodeType || callbackContext.jquery ) ? - jQuery( callbackContext ) : - jQuery.event, - - // Deferreds - deferred = jQuery.Deferred(), - completeDeferred = jQuery.Callbacks( "once memory" ), - - // Status-dependent callbacks - statusCode = s.statusCode || {}, - - // Headers (they are sent all at once) - requestHeaders = {}, - requestHeadersNames = {}, - - // Default abort message - strAbort = "canceled", - - // Fake xhr - jqXHR = { - readyState: 0, - - // Builds headers hashtable if needed - getResponseHeader: function( key ) { - var match; - if ( completed ) { - if ( !responseHeaders ) { - responseHeaders = {}; - while ( ( match = rheaders.exec( responseHeadersString ) ) ) { - responseHeaders[ match[ 1 ].toLowerCase() + " " ] = - ( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] ) - .concat( match[ 2 ] ); - } - } - match = responseHeaders[ key.toLowerCase() + " " ]; - } - return match == null ? null : match.join( ", " ); - }, - - // Raw string - getAllResponseHeaders: function() { - return completed ? responseHeadersString : null; - }, - - // Caches the header - setRequestHeader: function( name, value ) { - if ( completed == null ) { - name = requestHeadersNames[ name.toLowerCase() ] = - requestHeadersNames[ name.toLowerCase() ] || name; - requestHeaders[ name ] = value; - } - return this; - }, - - // Overrides response content-type header - overrideMimeType: function( type ) { - if ( completed == null ) { - s.mimeType = type; - } - return this; - }, - - // Status-dependent callbacks - statusCode: function( map ) { - var code; - if ( map ) { - if ( completed ) { - - // Execute the appropriate callbacks - jqXHR.always( map[ jqXHR.status ] ); - } else { - - // Lazy-add the new callbacks in a way that preserves old ones - for ( code in map ) { - statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; - } - } - } - return this; - }, - - // Cancel the request - abort: function( statusText ) { - var finalText = statusText || strAbort; - if ( transport ) { - transport.abort( finalText ); - } - done( 0, finalText ); - return this; - } - }; - - // Attach deferreds - deferred.promise( jqXHR ); - - // Add protocol if not provided (prefilters might expect it) - // Handle falsy url in the settings object (#10093: consistency with old signature) - // We also use the url parameter if available - s.url = ( ( url || s.url || location.href ) + "" ) - .replace( rprotocol, location.protocol + "//" ); - - // Alias method option to type as per ticket #12004 - s.type = options.method || options.type || s.method || s.type; - - // Extract dataTypes list - s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ]; - - // A cross-domain request is in order when the origin doesn't match the current origin. - if ( s.crossDomain == null ) { - urlAnchor = document.createElement( "a" ); - - // Support: IE <=8 - 11, Edge 12 - 15 - // IE throws exception on accessing the href property if url is malformed, - // e.g. http://example.com:80x/ - try { - urlAnchor.href = s.url; - - // Support: IE <=8 - 11 only - // Anchor's host property isn't correctly set when s.url is relative - urlAnchor.href = urlAnchor.href; - s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== - urlAnchor.protocol + "//" + urlAnchor.host; - } catch ( e ) { - - // If there is an error parsing the URL, assume it is crossDomain, - // it can be rejected by the transport if it is invalid - s.crossDomain = true; - } - } - - // Convert data if not already a string - if ( s.data && s.processData && typeof s.data !== "string" ) { - s.data = jQuery.param( s.data, s.traditional ); - } - - // Apply prefilters - inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); - - // If request was aborted inside a prefilter, stop there - if ( completed ) { - return jqXHR; - } - - // We can fire global events as of now if asked to - // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) - fireGlobals = jQuery.event && s.global; - - // Watch for a new set of requests - if ( fireGlobals && jQuery.active++ === 0 ) { - jQuery.event.trigger( "ajaxStart" ); - } - - // Uppercase the type - s.type = s.type.toUpperCase(); - - // Determine if request has content - s.hasContent = !rnoContent.test( s.type ); - - // Save the URL in case we're toying with the If-Modified-Since - // and/or If-None-Match header later on - // Remove hash to simplify url manipulation - cacheURL = s.url.replace( rhash, "" ); - - // More options handling for requests with no content - if ( !s.hasContent ) { - - // Remember the hash so we can put it back - uncached = s.url.slice( cacheURL.length ); - - // If data is available and should be processed, append data to url - if ( s.data && ( s.processData || typeof s.data === "string" ) ) { - cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; - - // #9682: remove data so that it's not used in an eventual retry - delete s.data; - } - - // Add or update anti-cache param if needed - if ( s.cache === false ) { - cacheURL = cacheURL.replace( rantiCache, "$1" ); - uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) + - uncached; - } - - // Put hash and anti-cache on the URL that will be requested (gh-1732) - s.url = cacheURL + uncached; - - // Change '%20' to '+' if this is encoded form body content (gh-2658) - } else if ( s.data && s.processData && - ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { - s.data = s.data.replace( r20, "+" ); - } - - // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. - if ( s.ifModified ) { - if ( jQuery.lastModified[ cacheURL ] ) { - jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); - } - if ( jQuery.etag[ cacheURL ] ) { - jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); - } - } - - // Set the correct header, if data is being sent - if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { - jqXHR.setRequestHeader( "Content-Type", s.contentType ); - } - - // Set the Accepts header for the server, depending on the dataType - jqXHR.setRequestHeader( - "Accept", - s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? - s.accepts[ s.dataTypes[ 0 ] ] + - ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : - s.accepts[ "*" ] - ); - - // Check for headers option - for ( i in s.headers ) { - jqXHR.setRequestHeader( i, s.headers[ i ] ); - } - - // Allow custom headers/mimetypes and early abort - if ( s.beforeSend && - ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { - - // Abort if not done already and return - return jqXHR.abort(); - } - - // Aborting is no longer a cancellation - strAbort = "abort"; - - // Install callbacks on deferreds - completeDeferred.add( s.complete ); - jqXHR.done( s.success ); - jqXHR.fail( s.error ); - - // Get transport - transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); - - // If no transport, we auto-abort - if ( !transport ) { - done( -1, "No Transport" ); - } else { - jqXHR.readyState = 1; - - // Send global event - if ( fireGlobals ) { - globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); - } - - // If request was aborted inside ajaxSend, stop there - if ( completed ) { - return jqXHR; - } - - // Timeout - if ( s.async && s.timeout > 0 ) { - timeoutTimer = window.setTimeout( function() { - jqXHR.abort( "timeout" ); - }, s.timeout ); - } - - try { - completed = false; - transport.send( requestHeaders, done ); - } catch ( e ) { - - // Rethrow post-completion exceptions - if ( completed ) { - throw e; - } - - // Propagate others as results - done( -1, e ); - } - } - - // Callback for when everything is done - function done( status, nativeStatusText, responses, headers ) { - var isSuccess, success, error, response, modified, - statusText = nativeStatusText; - - // Ignore repeat invocations - if ( completed ) { - return; - } - - completed = true; - - // Clear timeout if it exists - if ( timeoutTimer ) { - window.clearTimeout( timeoutTimer ); - } - - // Dereference transport for early garbage collection - // (no matter how long the jqXHR object will be used) - transport = undefined; - - // Cache response headers - responseHeadersString = headers || ""; - - // Set readyState - jqXHR.readyState = status > 0 ? 4 : 0; - - // Determine if successful - isSuccess = status >= 200 && status < 300 || status === 304; - - // Get response data - if ( responses ) { - response = ajaxHandleResponses( s, jqXHR, responses ); - } - - // Use a noop converter for missing script - if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) { - s.converters[ "text script" ] = function() {}; - } - - // Convert no matter what (that way responseXXX fields are always set) - response = ajaxConvert( s, response, jqXHR, isSuccess ); - - // If successful, handle type chaining - if ( isSuccess ) { - - // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. - if ( s.ifModified ) { - modified = jqXHR.getResponseHeader( "Last-Modified" ); - if ( modified ) { - jQuery.lastModified[ cacheURL ] = modified; - } - modified = jqXHR.getResponseHeader( "etag" ); - if ( modified ) { - jQuery.etag[ cacheURL ] = modified; - } - } - - // if no content - if ( status === 204 || s.type === "HEAD" ) { - statusText = "nocontent"; - - // if not modified - } else if ( status === 304 ) { - statusText = "notmodified"; - - // If we have data, let's convert it - } else { - statusText = response.state; - success = response.data; - error = response.error; - isSuccess = !error; - } - } else { - - // Extract error from statusText and normalize for non-aborts - error = statusText; - if ( status || !statusText ) { - statusText = "error"; - if ( status < 0 ) { - status = 0; - } - } - } - - // Set data for the fake xhr object - jqXHR.status = status; - jqXHR.statusText = ( nativeStatusText || statusText ) + ""; - - // Success/Error - if ( isSuccess ) { - deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); - } else { - deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); - } - - // Status-dependent callbacks - jqXHR.statusCode( statusCode ); - statusCode = undefined; - - if ( fireGlobals ) { - globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", - [ jqXHR, s, isSuccess ? success : error ] ); - } - - // Complete - completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); - - if ( fireGlobals ) { - globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); - - // Handle the global AJAX counter - if ( !( --jQuery.active ) ) { - jQuery.event.trigger( "ajaxStop" ); - } - } - } - - return jqXHR; - }, - - getJSON: function( url, data, callback ) { - return jQuery.get( url, data, callback, "json" ); - }, - - getScript: function( url, callback ) { - return jQuery.get( url, undefined, callback, "script" ); - } -} ); - -jQuery.each( [ "get", "post" ], function( _i, method ) { - jQuery[ method ] = function( url, data, callback, type ) { - - // Shift arguments if data argument was omitted - if ( isFunction( data ) ) { - type = type || callback; - callback = data; - data = undefined; - } - - // The url can be an options object (which then must have .url) - return jQuery.ajax( jQuery.extend( { - url: url, - type: method, - dataType: type, - data: data, - success: callback - }, jQuery.isPlainObject( url ) && url ) ); - }; -} ); - -jQuery.ajaxPrefilter( function( s ) { - var i; - for ( i in s.headers ) { - if ( i.toLowerCase() === "content-type" ) { - s.contentType = s.headers[ i ] || ""; - } - } -} ); - - -jQuery._evalUrl = function( url, options, doc ) { - return jQuery.ajax( { - url: url, - - // Make this explicit, since user can override this through ajaxSetup (#11264) - type: "GET", - dataType: "script", - cache: true, - async: false, - global: false, - - // Only evaluate the response if it is successful (gh-4126) - // dataFilter is not invoked for failure responses, so using it instead - // of the default converter is kludgy but it works. - converters: { - "text script": function() {} - }, - dataFilter: function( response ) { - jQuery.globalEval( response, options, doc ); - } - } ); -}; - - -jQuery.fn.extend( { - wrapAll: function( html ) { - var wrap; - - if ( this[ 0 ] ) { - if ( isFunction( html ) ) { - html = html.call( this[ 0 ] ); - } - - // The elements to wrap the target around - wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); - - if ( this[ 0 ].parentNode ) { - wrap.insertBefore( this[ 0 ] ); - } - - wrap.map( function() { - var elem = this; - - while ( elem.firstElementChild ) { - elem = elem.firstElementChild; - } - - return elem; - } ).append( this ); - } - - return this; - }, - - wrapInner: function( html ) { - if ( isFunction( html ) ) { - return this.each( function( i ) { - jQuery( this ).wrapInner( html.call( this, i ) ); - } ); - } - - return this.each( function() { - var self = jQuery( this ), - contents = self.contents(); - - if ( contents.length ) { - contents.wrapAll( html ); - - } else { - self.append( html ); - } - } ); - }, - - wrap: function( html ) { - var htmlIsFunction = isFunction( html ); - - return this.each( function( i ) { - jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html ); - } ); - }, - - unwrap: function( selector ) { - this.parent( selector ).not( "body" ).each( function() { - jQuery( this ).replaceWith( this.childNodes ); - } ); - return this; - } -} ); - - -jQuery.expr.pseudos.hidden = function( elem ) { - return !jQuery.expr.pseudos.visible( elem ); -}; -jQuery.expr.pseudos.visible = function( elem ) { - return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); -}; - - - - -jQuery.ajaxSettings.xhr = function() { - try { - return new window.XMLHttpRequest(); - } catch ( e ) {} -}; - -var xhrSuccessStatus = { - - // File protocol always yields status code 0, assume 200 - 0: 200, - - // Support: IE <=9 only - // #1450: sometimes IE returns 1223 when it should be 204 - 1223: 204 - }, - xhrSupported = jQuery.ajaxSettings.xhr(); - -support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); -support.ajax = xhrSupported = !!xhrSupported; - -jQuery.ajaxTransport( function( options ) { - var callback, errorCallback; - - // Cross domain only allowed if supported through XMLHttpRequest - if ( support.cors || xhrSupported && !options.crossDomain ) { - return { - send: function( headers, complete ) { - var i, - xhr = options.xhr(); - - xhr.open( - options.type, - options.url, - options.async, - options.username, - options.password - ); - - // Apply custom fields if provided - if ( options.xhrFields ) { - for ( i in options.xhrFields ) { - xhr[ i ] = options.xhrFields[ i ]; - } - } - - // Override mime type if needed - if ( options.mimeType && xhr.overrideMimeType ) { - xhr.overrideMimeType( options.mimeType ); - } - - // X-Requested-With header - // For cross-domain requests, seeing as conditions for a preflight are - // akin to a jigsaw puzzle, we simply never set it to be sure. - // (it can always be set on a per-request basis or even using ajaxSetup) - // For same-domain requests, won't change header if already provided. - if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { - headers[ "X-Requested-With" ] = "XMLHttpRequest"; - } - - // Set headers - for ( i in headers ) { - xhr.setRequestHeader( i, headers[ i ] ); - } - - // Callback - callback = function( type ) { - return function() { - if ( callback ) { - callback = errorCallback = xhr.onload = - xhr.onerror = xhr.onabort = xhr.ontimeout = - xhr.onreadystatechange = null; - - if ( type === "abort" ) { - xhr.abort(); - } else if ( type === "error" ) { - - // Support: IE <=9 only - // On a manual native abort, IE9 throws - // errors on any property access that is not readyState - if ( typeof xhr.status !== "number" ) { - complete( 0, "error" ); - } else { - complete( - - // File: protocol always yields status 0; see #8605, #14207 - xhr.status, - xhr.statusText - ); - } - } else { - complete( - xhrSuccessStatus[ xhr.status ] || xhr.status, - xhr.statusText, - - // Support: IE <=9 only - // IE9 has no XHR2 but throws on binary (trac-11426) - // For XHR2 non-text, let the caller handle it (gh-2498) - ( xhr.responseType || "text" ) !== "text" || - typeof xhr.responseText !== "string" ? - { binary: xhr.response } : - { text: xhr.responseText }, - xhr.getAllResponseHeaders() - ); - } - } - }; - }; - - // Listen to events - xhr.onload = callback(); - errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" ); - - // Support: IE 9 only - // Use onreadystatechange to replace onabort - // to handle uncaught aborts - if ( xhr.onabort !== undefined ) { - xhr.onabort = errorCallback; - } else { - xhr.onreadystatechange = function() { - - // Check readyState before timeout as it changes - if ( xhr.readyState === 4 ) { - - // Allow onerror to be called first, - // but that will not handle a native abort - // Also, save errorCallback to a variable - // as xhr.onerror cannot be accessed - window.setTimeout( function() { - if ( callback ) { - errorCallback(); - } - } ); - } - }; - } - - // Create the abort callback - callback = callback( "abort" ); - - try { - - // Do send the request (this may raise an exception) - xhr.send( options.hasContent && options.data || null ); - } catch ( e ) { - - // #14683: Only rethrow if this hasn't been notified as an error yet - if ( callback ) { - throw e; - } - } - }, - - abort: function() { - if ( callback ) { - callback(); - } - } - }; - } -} ); - - - - -// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) -jQuery.ajaxPrefilter( function( s ) { - if ( s.crossDomain ) { - s.contents.script = false; - } -} ); - -// Install script dataType -jQuery.ajaxSetup( { - accepts: { - script: "text/javascript, application/javascript, " + - "application/ecmascript, application/x-ecmascript" - }, - contents: { - script: /\b(?:java|ecma)script\b/ - }, - converters: { - "text script": function( text ) { - jQuery.globalEval( text ); - return text; - } - } -} ); - -// Handle cache's special case and crossDomain -jQuery.ajaxPrefilter( "script", function( s ) { - if ( s.cache === undefined ) { - s.cache = false; - } - if ( s.crossDomain ) { - s.type = "GET"; - } -} ); - -// Bind script tag hack transport -jQuery.ajaxTransport( "script", function( s ) { - - // This transport only deals with cross domain or forced-by-attrs requests - if ( s.crossDomain || s.scriptAttrs ) { - var script, callback; - return { - send: function( _, complete ) { - script = jQuery( "\r\n"; - -// inject VBScript -document.write(IEBinaryToArray_ByteStr_Script); - -global.JSZipUtils._getBinaryFromXHR = function (xhr) { - var binary = xhr.responseBody; - var byteMapping = {}; - for ( var i = 0; i < 256; i++ ) { - for ( var j = 0; j < 256; j++ ) { - byteMapping[ String.fromCharCode( i + (j << 8) ) ] = - String.fromCharCode(i) + String.fromCharCode(j); - } - } - var rawBytes = IEBinaryToArray_ByteStr(binary); - var lastChr = IEBinaryToArray_ByteStr_Last(binary); - return rawBytes.replace(/[\s\S]/g, function( match ) { - return byteMapping[match]; - }) + lastChr; -}; - -// enforcing Stuk's coding style -// vim: set shiftwidth=4 softtabstop=4: - -},{}]},{},[1]) -; diff --git a/docs/jquery/jszip-utils/dist/jszip-utils-ie.min.js b/docs/jquery/jszip-utils/dist/jszip-utils-ie.min.js deleted file mode 100644 index 93d8bc8..0000000 --- a/docs/jquery/jszip-utils/dist/jszip-utils-ie.min.js +++ /dev/null @@ -1,10 +0,0 @@ -/*! - -JSZipUtils - A collection of cross-browser utilities to go along with JSZip. - - -(c) 2014 Stuart Knightley, David Duponchel -Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown. - -*/ -!function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);throw new Error("Cannot find module '"+g+"'")}var j=c[g]={exports:{}};b[g][0].call(j.exports,function(a){var c=b[g][1][a];return e(c?c:a)},j,j.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g\r\n";document.write(b),a.JSZipUtils._getBinaryFromXHR=function(a){for(var b=a.responseBody,c={},d=0;256>d;d++)for(var e=0;256>e;e++)c[String.fromCharCode(d+(e<<8))]=String.fromCharCode(d)+String.fromCharCode(e);var f=IEBinaryToArray_ByteStr(b),g=IEBinaryToArray_ByteStr_Last(b);return f.replace(/[\s\S]/g,function(a){return c[a]})+g}},{}]},{},[1]); diff --git a/docs/jquery/jszip-utils/dist/jszip-utils.js b/docs/jquery/jszip-utils/dist/jszip-utils.js deleted file mode 100644 index 775895e..0000000 --- a/docs/jquery/jszip-utils/dist/jszip-utils.js +++ /dev/null @@ -1,118 +0,0 @@ -/*! - -JSZipUtils - A collection of cross-browser utilities to go along with JSZip. - - -(c) 2014 Stuart Knightley, David Duponchel -Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown. - -*/ -!function(e){"object"==typeof exports?module.exports=e():"function"==typeof define&&define.amd?define(e):"undefined"!=typeof window?window.JSZipUtils=e():"undefined"!=typeof global?global.JSZipUtils=e():"undefined"!=typeof self&&(self.JSZipUtils=e())}(function(){var define,module,exports;return (function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);throw new Error("Cannot find module '"+o+"'")}var f=n[o]={exports:{}};t[o][0].call(f.exports,function(e){var n=t[o][1][e];return s(n?n:e)},f,f.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o - -(c) 2014 Stuart Knightley, David Duponchel -Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown. - -*/ -!function(a){"object"==typeof exports?module.exports=a():"function"==typeof define&&define.amd?define(a):"undefined"!=typeof window?window.JSZipUtils=a():"undefined"!=typeof global?global.JSZipUtils=a():"undefined"!=typeof self&&(self.JSZipUtils=a())}(function(){return function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);throw new Error("Cannot find module '"+g+"'")}var j=c[g]={exports:{}};b[g][0].call(j.exports,function(a){var c=b[g][1][a];return e(c?c:a)},j,j.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g - -(c) 2009-2016 Stuart Knightley -Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip/master/LICENSE.markdown. - -JSZip uses the library pako released under the MIT license : -https://github.com/nodeca/pako/blob/master/LICENSE -*/ - -(function(f){if(typeof exports==="object"&&typeof module!=="undefined"){module.exports=f()}else if(typeof define==="function"&&define.amd){define([],f)}else{var g;if(typeof window!=="undefined"){g=window}else if(typeof global!=="undefined"){g=global}else if(typeof self!=="undefined"){g=self}else{g=this}g.JSZip = f()}})(function(){var define,module,exports;return (function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);var f=new Error("Cannot find module '"+o+"'");throw f.code="MODULE_NOT_FOUND",f}var l=n[o]={exports:{}};t[o][0].call(l.exports,function(e){var n=t[o][1][e];return s(n?n:e)},l,l.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o> 2; - enc2 = ((chr1 & 3) << 4) | (chr2 >> 4); - enc3 = remainingBytes > 1 ? (((chr2 & 15) << 2) | (chr3 >> 6)) : 64; - enc4 = remainingBytes > 2 ? (chr3 & 63) : 64; - - output.push(_keyStr.charAt(enc1) + _keyStr.charAt(enc2) + _keyStr.charAt(enc3) + _keyStr.charAt(enc4)); - - } - - return output.join(""); -}; - -// public method for decoding -exports.decode = function(input) { - var chr1, chr2, chr3; - var enc1, enc2, enc3, enc4; - var i = 0, resultIndex = 0; - - var dataUrlPrefix = "data:"; - - if (input.substr(0, dataUrlPrefix.length) === dataUrlPrefix) { - // This is a common error: people give a data url - // (data:image/png;base64,iVBOR...) with a {base64: true} and - // wonders why things don't work. - // We can detect that the string input looks like a data url but we - // *can't* be sure it is one: removing everything up to the comma would - // be too dangerous. - throw new Error("Invalid base64 input, it looks like a data url."); - } - - input = input.replace(/[^A-Za-z0-9\+\/\=]/g, ""); - - var totalLength = input.length * 3 / 4; - if(input.charAt(input.length - 1) === _keyStr.charAt(64)) { - totalLength--; - } - if(input.charAt(input.length - 2) === _keyStr.charAt(64)) { - totalLength--; - } - if (totalLength % 1 !== 0) { - // totalLength is not an integer, the length does not match a valid - // base64 content. That can happen if: - // - the input is not a base64 content - // - the input is *almost* a base64 content, with a extra chars at the - // beginning or at the end - // - the input uses a base64 variant (base64url for example) - throw new Error("Invalid base64 input, bad content length."); - } - var output; - if (support.uint8array) { - output = new Uint8Array(totalLength|0); - } else { - output = new Array(totalLength|0); - } - - while (i < input.length) { - - enc1 = _keyStr.indexOf(input.charAt(i++)); - enc2 = _keyStr.indexOf(input.charAt(i++)); - enc3 = _keyStr.indexOf(input.charAt(i++)); - enc4 = _keyStr.indexOf(input.charAt(i++)); - - chr1 = (enc1 << 2) | (enc2 >> 4); - chr2 = ((enc2 & 15) << 4) | (enc3 >> 2); - chr3 = ((enc3 & 3) << 6) | enc4; - - output[resultIndex++] = chr1; - - if (enc3 !== 64) { - output[resultIndex++] = chr2; - } - if (enc4 !== 64) { - output[resultIndex++] = chr3; - } - - } - - return output; -}; - -},{"./support":30,"./utils":32}],2:[function(require,module,exports){ -'use strict'; - -var external = require("./external"); -var DataWorker = require('./stream/DataWorker'); -var Crc32Probe = require('./stream/Crc32Probe'); -var DataLengthProbe = require('./stream/DataLengthProbe'); - -/** - * Represent a compressed object, with everything needed to decompress it. - * @constructor - * @param {number} compressedSize the size of the data compressed. - * @param {number} uncompressedSize the size of the data after decompression. - * @param {number} crc32 the crc32 of the decompressed file. - * @param {object} compression the type of compression, see lib/compressions.js. - * @param {String|ArrayBuffer|Uint8Array|Buffer} data the compressed data. - */ -function CompressedObject(compressedSize, uncompressedSize, crc32, compression, data) { - this.compressedSize = compressedSize; - this.uncompressedSize = uncompressedSize; - this.crc32 = crc32; - this.compression = compression; - this.compressedContent = data; -} - -CompressedObject.prototype = { - /** - * Create a worker to get the uncompressed content. - * @return {GenericWorker} the worker. - */ - getContentWorker: function () { - var worker = new DataWorker(external.Promise.resolve(this.compressedContent)) - .pipe(this.compression.uncompressWorker()) - .pipe(new DataLengthProbe("data_length")); - - var that = this; - worker.on("end", function () { - if (this.streamInfo['data_length'] !== that.uncompressedSize) { - throw new Error("Bug : uncompressed data size mismatch"); - } - }); - return worker; - }, - /** - * Create a worker to get the compressed content. - * @return {GenericWorker} the worker. - */ - getCompressedWorker: function () { - return new DataWorker(external.Promise.resolve(this.compressedContent)) - .withStreamInfo("compressedSize", this.compressedSize) - .withStreamInfo("uncompressedSize", this.uncompressedSize) - .withStreamInfo("crc32", this.crc32) - .withStreamInfo("compression", this.compression) - ; - } -}; - -/** - * Chain the given worker with other workers to compress the content with the - * given compression. - * @param {GenericWorker} uncompressedWorker the worker to pipe. - * @param {Object} compression the compression object. - * @param {Object} compressionOptions the options to use when compressing. - * @return {GenericWorker} the new worker compressing the content. - */ -CompressedObject.createWorkerFrom = function (uncompressedWorker, compression, compressionOptions) { - return uncompressedWorker - .pipe(new Crc32Probe()) - .pipe(new DataLengthProbe("uncompressedSize")) - .pipe(compression.compressWorker(compressionOptions)) - .pipe(new DataLengthProbe("compressedSize")) - .withStreamInfo("compression", compression); -}; - -module.exports = CompressedObject; - -},{"./external":6,"./stream/Crc32Probe":25,"./stream/DataLengthProbe":26,"./stream/DataWorker":27}],3:[function(require,module,exports){ -'use strict'; - -var GenericWorker = require("./stream/GenericWorker"); - -exports.STORE = { - magic: "\x00\x00", - compressWorker : function (compressionOptions) { - return new GenericWorker("STORE compression"); - }, - uncompressWorker : function () { - return new GenericWorker("STORE decompression"); - } -}; -exports.DEFLATE = require('./flate'); - -},{"./flate":7,"./stream/GenericWorker":28}],4:[function(require,module,exports){ -'use strict'; - -var utils = require('./utils'); - -/** - * The following functions come from pako, from pako/lib/zlib/crc32.js - * released under the MIT license, see pako https://github.com/nodeca/pako/ - */ - -// Use ordinary array, since untyped makes no boost here -function makeTable() { - var c, table = []; - - for(var n =0; n < 256; n++){ - c = n; - for(var k =0; k < 8; k++){ - c = ((c&1) ? (0xEDB88320 ^ (c >>> 1)) : (c >>> 1)); - } - table[n] = c; - } - - return table; -} - -// Create table on load. Just 255 signed longs. Not a problem. -var crcTable = makeTable(); - - -function crc32(crc, buf, len, pos) { - var t = crcTable, end = pos + len; - - crc = crc ^ (-1); - - for (var i = pos; i < end; i++ ) { - crc = (crc >>> 8) ^ t[(crc ^ buf[i]) & 0xFF]; - } - - return (crc ^ (-1)); // >>> 0; -} - -// That's all for the pako functions. - -/** - * Compute the crc32 of a string. - * This is almost the same as the function crc32, but for strings. Using the - * same function for the two use cases leads to horrible performances. - * @param {Number} crc the starting value of the crc. - * @param {String} str the string to use. - * @param {Number} len the length of the string. - * @param {Number} pos the starting position for the crc32 computation. - * @return {Number} the computed crc32. - */ -function crc32str(crc, str, len, pos) { - var t = crcTable, end = pos + len; - - crc = crc ^ (-1); - - for (var i = pos; i < end; i++ ) { - crc = (crc >>> 8) ^ t[(crc ^ str.charCodeAt(i)) & 0xFF]; - } - - return (crc ^ (-1)); // >>> 0; -} - -module.exports = function crc32wrapper(input, crc) { - if (typeof input === "undefined" || !input.length) { - return 0; - } - - var isArray = utils.getTypeOf(input) !== "string"; - - if(isArray) { - return crc32(crc|0, input, input.length, 0); - } else { - return crc32str(crc|0, input, input.length, 0); - } -}; - -},{"./utils":32}],5:[function(require,module,exports){ -'use strict'; -exports.base64 = false; -exports.binary = false; -exports.dir = false; -exports.createFolders = true; -exports.date = null; -exports.compression = null; -exports.compressionOptions = null; -exports.comment = null; -exports.unixPermissions = null; -exports.dosPermissions = null; - -},{}],6:[function(require,module,exports){ -/* global Promise */ -'use strict'; - -// load the global object first: -// - it should be better integrated in the system (unhandledRejection in node) -// - the environment may have a custom Promise implementation (see zone.js) -var ES6Promise = null; -if (typeof Promise !== "undefined") { - ES6Promise = Promise; -} else { - ES6Promise = require("lie"); -} - -/** - * Let the user use/change some implementations. - */ -module.exports = { - Promise: ES6Promise -}; - -},{"lie":37}],7:[function(require,module,exports){ -'use strict'; -var USE_TYPEDARRAY = (typeof Uint8Array !== 'undefined') && (typeof Uint16Array !== 'undefined') && (typeof Uint32Array !== 'undefined'); - -var pako = require("pako"); -var utils = require("./utils"); -var GenericWorker = require("./stream/GenericWorker"); - -var ARRAY_TYPE = USE_TYPEDARRAY ? "uint8array" : "array"; - -exports.magic = "\x08\x00"; - -/** - * Create a worker that uses pako to inflate/deflate. - * @constructor - * @param {String} action the name of the pako function to call : either "Deflate" or "Inflate". - * @param {Object} options the options to use when (de)compressing. - */ -function FlateWorker(action, options) { - GenericWorker.call(this, "FlateWorker/" + action); - - this._pako = null; - this._pakoAction = action; - this._pakoOptions = options; - // the `meta` object from the last chunk received - // this allow this worker to pass around metadata - this.meta = {}; -} - -utils.inherits(FlateWorker, GenericWorker); - -/** - * @see GenericWorker.processChunk - */ -FlateWorker.prototype.processChunk = function (chunk) { - this.meta = chunk.meta; - if (this._pako === null) { - this._createPako(); - } - this._pako.push(utils.transformTo(ARRAY_TYPE, chunk.data), false); -}; - -/** - * @see GenericWorker.flush - */ -FlateWorker.prototype.flush = function () { - GenericWorker.prototype.flush.call(this); - if (this._pako === null) { - this._createPako(); - } - this._pako.push([], true); -}; -/** - * @see GenericWorker.cleanUp - */ -FlateWorker.prototype.cleanUp = function () { - GenericWorker.prototype.cleanUp.call(this); - this._pako = null; -}; - -/** - * Create the _pako object. - * TODO: lazy-loading this object isn't the best solution but it's the - * quickest. The best solution is to lazy-load the worker list. See also the - * issue #446. - */ -FlateWorker.prototype._createPako = function () { - this._pako = new pako[this._pakoAction]({ - raw: true, - level: this._pakoOptions.level || -1 // default compression - }); - var self = this; - this._pako.onData = function(data) { - self.push({ - data : data, - meta : self.meta - }); - }; -}; - -exports.compressWorker = function (compressionOptions) { - return new FlateWorker("Deflate", compressionOptions); -}; -exports.uncompressWorker = function () { - return new FlateWorker("Inflate", {}); -}; - -},{"./stream/GenericWorker":28,"./utils":32,"pako":38}],8:[function(require,module,exports){ -'use strict'; - -var utils = require('../utils'); -var GenericWorker = require('../stream/GenericWorker'); -var utf8 = require('../utf8'); -var crc32 = require('../crc32'); -var signature = require('../signature'); - -/** - * Transform an integer into a string in hexadecimal. - * @private - * @param {number} dec the number to convert. - * @param {number} bytes the number of bytes to generate. - * @returns {string} the result. - */ -var decToHex = function(dec, bytes) { - var hex = "", i; - for (i = 0; i < bytes; i++) { - hex += String.fromCharCode(dec & 0xff); - dec = dec >>> 8; - } - return hex; -}; - -/** - * Generate the UNIX part of the external file attributes. - * @param {Object} unixPermissions the unix permissions or null. - * @param {Boolean} isDir true if the entry is a directory, false otherwise. - * @return {Number} a 32 bit integer. - * - * adapted from http://unix.stackexchange.com/questions/14705/the-zip-formats-external-file-attribute : - * - * TTTTsstrwxrwxrwx0000000000ADVSHR - * ^^^^____________________________ file type, see zipinfo.c (UNX_*) - * ^^^_________________________ setuid, setgid, sticky - * ^^^^^^^^^________________ permissions - * ^^^^^^^^^^______ not used ? - * ^^^^^^ DOS attribute bits : Archive, Directory, Volume label, System file, Hidden, Read only - */ -var generateUnixExternalFileAttr = function (unixPermissions, isDir) { - - var result = unixPermissions; - if (!unixPermissions) { - // I can't use octal values in strict mode, hence the hexa. - // 040775 => 0x41fd - // 0100664 => 0x81b4 - result = isDir ? 0x41fd : 0x81b4; - } - return (result & 0xFFFF) << 16; -}; - -/** - * Generate the DOS part of the external file attributes. - * @param {Object} dosPermissions the dos permissions or null. - * @param {Boolean} isDir true if the entry is a directory, false otherwise. - * @return {Number} a 32 bit integer. - * - * Bit 0 Read-Only - * Bit 1 Hidden - * Bit 2 System - * Bit 3 Volume Label - * Bit 4 Directory - * Bit 5 Archive - */ -var generateDosExternalFileAttr = function (dosPermissions, isDir) { - - // the dir flag is already set for compatibility - return (dosPermissions || 0) & 0x3F; -}; - -/** - * Generate the various parts used in the construction of the final zip file. - * @param {Object} streamInfo the hash with information about the compressed file. - * @param {Boolean} streamedContent is the content streamed ? - * @param {Boolean} streamingEnded is the stream finished ? - * @param {number} offset the current offset from the start of the zip file. - * @param {String} platform let's pretend we are this platform (change platform dependents fields) - * @param {Function} encodeFileName the function to encode the file name / comment. - * @return {Object} the zip parts. - */ -var generateZipParts = function(streamInfo, streamedContent, streamingEnded, offset, platform, encodeFileName) { - var file = streamInfo['file'], - compression = streamInfo['compression'], - useCustomEncoding = encodeFileName !== utf8.utf8encode, - encodedFileName = utils.transformTo("string", encodeFileName(file.name)), - utfEncodedFileName = utils.transformTo("string", utf8.utf8encode(file.name)), - comment = file.comment, - encodedComment = utils.transformTo("string", encodeFileName(comment)), - utfEncodedComment = utils.transformTo("string", utf8.utf8encode(comment)), - useUTF8ForFileName = utfEncodedFileName.length !== file.name.length, - useUTF8ForComment = utfEncodedComment.length !== comment.length, - dosTime, - dosDate, - extraFields = "", - unicodePathExtraField = "", - unicodeCommentExtraField = "", - dir = file.dir, - date = file.date; - - - var dataInfo = { - crc32 : 0, - compressedSize : 0, - uncompressedSize : 0 - }; - - // if the content is streamed, the sizes/crc32 are only available AFTER - // the end of the stream. - if (!streamedContent || streamingEnded) { - dataInfo.crc32 = streamInfo['crc32']; - dataInfo.compressedSize = streamInfo['compressedSize']; - dataInfo.uncompressedSize = streamInfo['uncompressedSize']; - } - - var bitflag = 0; - if (streamedContent) { - // Bit 3: the sizes/crc32 are set to zero in the local header. - // The correct values are put in the data descriptor immediately - // following the compressed data. - bitflag |= 0x0008; - } - if (!useCustomEncoding && (useUTF8ForFileName || useUTF8ForComment)) { - // Bit 11: Language encoding flag (EFS). - bitflag |= 0x0800; - } - - - var extFileAttr = 0; - var versionMadeBy = 0; - if (dir) { - // dos or unix, we set the dos dir flag - extFileAttr |= 0x00010; - } - if(platform === "UNIX") { - versionMadeBy = 0x031E; // UNIX, version 3.0 - extFileAttr |= generateUnixExternalFileAttr(file.unixPermissions, dir); - } else { // DOS or other, fallback to DOS - versionMadeBy = 0x0014; // DOS, version 2.0 - extFileAttr |= generateDosExternalFileAttr(file.dosPermissions, dir); - } - - // date - // @see http://www.delorie.com/djgpp/doc/rbinter/it/52/13.html - // @see http://www.delorie.com/djgpp/doc/rbinter/it/65/16.html - // @see http://www.delorie.com/djgpp/doc/rbinter/it/66/16.html - - dosTime = date.getUTCHours(); - dosTime = dosTime << 6; - dosTime = dosTime | date.getUTCMinutes(); - dosTime = dosTime << 5; - dosTime = dosTime | date.getUTCSeconds() / 2; - - dosDate = date.getUTCFullYear() - 1980; - dosDate = dosDate << 4; - dosDate = dosDate | (date.getUTCMonth() + 1); - dosDate = dosDate << 5; - dosDate = dosDate | date.getUTCDate(); - - if (useUTF8ForFileName) { - // set the unicode path extra field. unzip needs at least one extra - // field to correctly handle unicode path, so using the path is as good - // as any other information. This could improve the situation with - // other archive managers too. - // This field is usually used without the utf8 flag, with a non - // unicode path in the header (winrar, winzip). This helps (a bit) - // with the messy Windows' default compressed folders feature but - // breaks on p7zip which doesn't seek the unicode path extra field. - // So for now, UTF-8 everywhere ! - unicodePathExtraField = - // Version - decToHex(1, 1) + - // NameCRC32 - decToHex(crc32(encodedFileName), 4) + - // UnicodeName - utfEncodedFileName; - - extraFields += - // Info-ZIP Unicode Path Extra Field - "\x75\x70" + - // size - decToHex(unicodePathExtraField.length, 2) + - // content - unicodePathExtraField; - } - - if(useUTF8ForComment) { - - unicodeCommentExtraField = - // Version - decToHex(1, 1) + - // CommentCRC32 - decToHex(crc32(encodedComment), 4) + - // UnicodeName - utfEncodedComment; - - extraFields += - // Info-ZIP Unicode Path Extra Field - "\x75\x63" + - // size - decToHex(unicodeCommentExtraField.length, 2) + - // content - unicodeCommentExtraField; - } - - var header = ""; - - // version needed to extract - header += "\x0A\x00"; - // general purpose bit flag - header += decToHex(bitflag, 2); - // compression method - header += compression.magic; - // last mod file time - header += decToHex(dosTime, 2); - // last mod file date - header += decToHex(dosDate, 2); - // crc-32 - header += decToHex(dataInfo.crc32, 4); - // compressed size - header += decToHex(dataInfo.compressedSize, 4); - // uncompressed size - header += decToHex(dataInfo.uncompressedSize, 4); - // file name length - header += decToHex(encodedFileName.length, 2); - // extra field length - header += decToHex(extraFields.length, 2); - - - var fileRecord = signature.LOCAL_FILE_HEADER + header + encodedFileName + extraFields; - - var dirRecord = signature.CENTRAL_FILE_HEADER + - // version made by (00: DOS) - decToHex(versionMadeBy, 2) + - // file header (common to file and central directory) - header + - // file comment length - decToHex(encodedComment.length, 2) + - // disk number start - "\x00\x00" + - // internal file attributes TODO - "\x00\x00" + - // external file attributes - decToHex(extFileAttr, 4) + - // relative offset of local header - decToHex(offset, 4) + - // file name - encodedFileName + - // extra field - extraFields + - // file comment - encodedComment; - - return { - fileRecord: fileRecord, - dirRecord: dirRecord - }; -}; - -/** - * Generate the EOCD record. - * @param {Number} entriesCount the number of entries in the zip file. - * @param {Number} centralDirLength the length (in bytes) of the central dir. - * @param {Number} localDirLength the length (in bytes) of the local dir. - * @param {String} comment the zip file comment as a binary string. - * @param {Function} encodeFileName the function to encode the comment. - * @return {String} the EOCD record. - */ -var generateCentralDirectoryEnd = function (entriesCount, centralDirLength, localDirLength, comment, encodeFileName) { - var dirEnd = ""; - var encodedComment = utils.transformTo("string", encodeFileName(comment)); - - // end of central dir signature - dirEnd = signature.CENTRAL_DIRECTORY_END + - // number of this disk - "\x00\x00" + - // number of the disk with the start of the central directory - "\x00\x00" + - // total number of entries in the central directory on this disk - decToHex(entriesCount, 2) + - // total number of entries in the central directory - decToHex(entriesCount, 2) + - // size of the central directory 4 bytes - decToHex(centralDirLength, 4) + - // offset of start of central directory with respect to the starting disk number - decToHex(localDirLength, 4) + - // .ZIP file comment length - decToHex(encodedComment.length, 2) + - // .ZIP file comment - encodedComment; - - return dirEnd; -}; - -/** - * Generate data descriptors for a file entry. - * @param {Object} streamInfo the hash generated by a worker, containing information - * on the file entry. - * @return {String} the data descriptors. - */ -var generateDataDescriptors = function (streamInfo) { - var descriptor = ""; - descriptor = signature.DATA_DESCRIPTOR + - // crc-32 4 bytes - decToHex(streamInfo['crc32'], 4) + - // compressed size 4 bytes - decToHex(streamInfo['compressedSize'], 4) + - // uncompressed size 4 bytes - decToHex(streamInfo['uncompressedSize'], 4); - - return descriptor; -}; - - -/** - * A worker to concatenate other workers to create a zip file. - * @param {Boolean} streamFiles `true` to stream the content of the files, - * `false` to accumulate it. - * @param {String} comment the comment to use. - * @param {String} platform the platform to use, "UNIX" or "DOS". - * @param {Function} encodeFileName the function to encode file names and comments. - */ -function ZipFileWorker(streamFiles, comment, platform, encodeFileName) { - GenericWorker.call(this, "ZipFileWorker"); - // The number of bytes written so far. This doesn't count accumulated chunks. - this.bytesWritten = 0; - // The comment of the zip file - this.zipComment = comment; - // The platform "generating" the zip file. - this.zipPlatform = platform; - // the function to encode file names and comments. - this.encodeFileName = encodeFileName; - // Should we stream the content of the files ? - this.streamFiles = streamFiles; - // If `streamFiles` is false, we will need to accumulate the content of the - // files to calculate sizes / crc32 (and write them *before* the content). - // This boolean indicates if we are accumulating chunks (it will change a lot - // during the lifetime of this worker). - this.accumulate = false; - // The buffer receiving chunks when accumulating content. - this.contentBuffer = []; - // The list of generated directory records. - this.dirRecords = []; - // The offset (in bytes) from the beginning of the zip file for the current source. - this.currentSourceOffset = 0; - // The total number of entries in this zip file. - this.entriesCount = 0; - // the name of the file currently being added, null when handling the end of the zip file. - // Used for the emitted metadata. - this.currentFile = null; - - - - this._sources = []; -} -utils.inherits(ZipFileWorker, GenericWorker); - -/** - * @see GenericWorker.push - */ -ZipFileWorker.prototype.push = function (chunk) { - - var currentFilePercent = chunk.meta.percent || 0; - var entriesCount = this.entriesCount; - var remainingFiles = this._sources.length; - - if(this.accumulate) { - this.contentBuffer.push(chunk); - } else { - this.bytesWritten += chunk.data.length; - - GenericWorker.prototype.push.call(this, { - data : chunk.data, - meta : { - currentFile : this.currentFile, - percent : entriesCount ? (currentFilePercent + 100 * (entriesCount - remainingFiles - 1)) / entriesCount : 100 - } - }); - } -}; - -/** - * The worker started a new source (an other worker). - * @param {Object} streamInfo the streamInfo object from the new source. - */ -ZipFileWorker.prototype.openedSource = function (streamInfo) { - this.currentSourceOffset = this.bytesWritten; - this.currentFile = streamInfo['file'].name; - - var streamedContent = this.streamFiles && !streamInfo['file'].dir; - - // don't stream folders (because they don't have any content) - if(streamedContent) { - var record = generateZipParts(streamInfo, streamedContent, false, this.currentSourceOffset, this.zipPlatform, this.encodeFileName); - this.push({ - data : record.fileRecord, - meta : {percent:0} - }); - } else { - // we need to wait for the whole file before pushing anything - this.accumulate = true; - } -}; - -/** - * The worker finished a source (an other worker). - * @param {Object} streamInfo the streamInfo object from the finished source. - */ -ZipFileWorker.prototype.closedSource = function (streamInfo) { - this.accumulate = false; - var streamedContent = this.streamFiles && !streamInfo['file'].dir; - var record = generateZipParts(streamInfo, streamedContent, true, this.currentSourceOffset, this.zipPlatform, this.encodeFileName); - - this.dirRecords.push(record.dirRecord); - if(streamedContent) { - // after the streamed file, we put data descriptors - this.push({ - data : generateDataDescriptors(streamInfo), - meta : {percent:100} - }); - } else { - // the content wasn't streamed, we need to push everything now - // first the file record, then the content - this.push({ - data : record.fileRecord, - meta : {percent:0} - }); - while(this.contentBuffer.length) { - this.push(this.contentBuffer.shift()); - } - } - this.currentFile = null; -}; - -/** - * @see GenericWorker.flush - */ -ZipFileWorker.prototype.flush = function () { - - var localDirLength = this.bytesWritten; - for(var i = 0; i < this.dirRecords.length; i++) { - this.push({ - data : this.dirRecords[i], - meta : {percent:100} - }); - } - var centralDirLength = this.bytesWritten - localDirLength; - - var dirEnd = generateCentralDirectoryEnd(this.dirRecords.length, centralDirLength, localDirLength, this.zipComment, this.encodeFileName); - - this.push({ - data : dirEnd, - meta : {percent:100} - }); -}; - -/** - * Prepare the next source to be read. - */ -ZipFileWorker.prototype.prepareNextSource = function () { - this.previous = this._sources.shift(); - this.openedSource(this.previous.streamInfo); - if (this.isPaused) { - this.previous.pause(); - } else { - this.previous.resume(); - } -}; - -/** - * @see GenericWorker.registerPrevious - */ -ZipFileWorker.prototype.registerPrevious = function (previous) { - this._sources.push(previous); - var self = this; - - previous.on('data', function (chunk) { - self.processChunk(chunk); - }); - previous.on('end', function () { - self.closedSource(self.previous.streamInfo); - if(self._sources.length) { - self.prepareNextSource(); - } else { - self.end(); - } - }); - previous.on('error', function (e) { - self.error(e); - }); - return this; -}; - -/** - * @see GenericWorker.resume - */ -ZipFileWorker.prototype.resume = function () { - if(!GenericWorker.prototype.resume.call(this)) { - return false; - } - - if (!this.previous && this._sources.length) { - this.prepareNextSource(); - return true; - } - if (!this.previous && !this._sources.length && !this.generatedError) { - this.end(); - return true; - } -}; - -/** - * @see GenericWorker.error - */ -ZipFileWorker.prototype.error = function (e) { - var sources = this._sources; - if(!GenericWorker.prototype.error.call(this, e)) { - return false; - } - for(var i = 0; i < sources.length; i++) { - try { - sources[i].error(e); - } catch(e) { - // the `error` exploded, nothing to do - } - } - return true; -}; - -/** - * @see GenericWorker.lock - */ -ZipFileWorker.prototype.lock = function () { - GenericWorker.prototype.lock.call(this); - var sources = this._sources; - for(var i = 0; i < sources.length; i++) { - sources[i].lock(); - } -}; - -module.exports = ZipFileWorker; - -},{"../crc32":4,"../signature":23,"../stream/GenericWorker":28,"../utf8":31,"../utils":32}],9:[function(require,module,exports){ -'use strict'; - -var compressions = require('../compressions'); -var ZipFileWorker = require('./ZipFileWorker'); - -/** - * Find the compression to use. - * @param {String} fileCompression the compression defined at the file level, if any. - * @param {String} zipCompression the compression defined at the load() level. - * @return {Object} the compression object to use. - */ -var getCompression = function (fileCompression, zipCompression) { - - var compressionName = fileCompression || zipCompression; - var compression = compressions[compressionName]; - if (!compression) { - throw new Error(compressionName + " is not a valid compression method !"); - } - return compression; -}; - -/** - * Create a worker to generate a zip file. - * @param {JSZip} zip the JSZip instance at the right root level. - * @param {Object} options to generate the zip file. - * @param {String} comment the comment to use. - */ -exports.generateWorker = function (zip, options, comment) { - - var zipFileWorker = new ZipFileWorker(options.streamFiles, comment, options.platform, options.encodeFileName); - var entriesCount = 0; - try { - - zip.forEach(function (relativePath, file) { - entriesCount++; - var compression = getCompression(file.options.compression, options.compression); - var compressionOptions = file.options.compressionOptions || options.compressionOptions || {}; - var dir = file.dir, date = file.date; - - file._compressWorker(compression, compressionOptions) - .withStreamInfo("file", { - name : relativePath, - dir : dir, - date : date, - comment : file.comment || "", - unixPermissions : file.unixPermissions, - dosPermissions : file.dosPermissions - }) - .pipe(zipFileWorker); - }); - zipFileWorker.entriesCount = entriesCount; - } catch (e) { - zipFileWorker.error(e); - } - - return zipFileWorker; -}; - -},{"../compressions":3,"./ZipFileWorker":8}],10:[function(require,module,exports){ -'use strict'; - -/** - * Representation a of zip file in js - * @constructor - */ -function JSZip() { - // if this constructor is used without `new`, it adds `new` before itself: - if(!(this instanceof JSZip)) { - return new JSZip(); - } - - if(arguments.length) { - throw new Error("The constructor with parameters has been removed in JSZip 3.0, please check the upgrade guide."); - } - - // object containing the files : - // { - // "folder/" : {...}, - // "folder/data.txt" : {...} - // } - // NOTE: we use a null prototype because we do not - // want filenames like "toString" coming from a zip file - // to overwrite methods and attributes in a normal Object. - this.files = Object.create(null); - - this.comment = null; - - // Where we are in the hierarchy - this.root = ""; - this.clone = function() { - var newObj = new JSZip(); - for (var i in this) { - if (typeof this[i] !== "function") { - newObj[i] = this[i]; - } - } - return newObj; - }; -} -JSZip.prototype = require('./object'); -JSZip.prototype.loadAsync = require('./load'); -JSZip.support = require('./support'); -JSZip.defaults = require('./defaults'); - -// TODO find a better way to handle this version, -// a require('package.json').version doesn't work with webpack, see #327 -JSZip.version = "3.7.1"; - -JSZip.loadAsync = function (content, options) { - return new JSZip().loadAsync(content, options); -}; - -JSZip.external = require("./external"); -module.exports = JSZip; - -},{"./defaults":5,"./external":6,"./load":11,"./object":15,"./support":30}],11:[function(require,module,exports){ -'use strict'; -var utils = require('./utils'); -var external = require("./external"); -var utf8 = require('./utf8'); -var ZipEntries = require('./zipEntries'); -var Crc32Probe = require('./stream/Crc32Probe'); -var nodejsUtils = require("./nodejsUtils"); - -/** - * Check the CRC32 of an entry. - * @param {ZipEntry} zipEntry the zip entry to check. - * @return {Promise} the result. - */ -function checkEntryCRC32(zipEntry) { - return new external.Promise(function (resolve, reject) { - var worker = zipEntry.decompressed.getContentWorker().pipe(new Crc32Probe()); - worker.on("error", function (e) { - reject(e); - }) - .on("end", function () { - if (worker.streamInfo.crc32 !== zipEntry.decompressed.crc32) { - reject(new Error("Corrupted zip : CRC32 mismatch")); - } else { - resolve(); - } - }) - .resume(); - }); -} - -module.exports = function (data, options) { - var zip = this; - options = utils.extend(options || {}, { - base64: false, - checkCRC32: false, - optimizedBinaryString: false, - createFolders: false, - decodeFileName: utf8.utf8decode - }); - - if (nodejsUtils.isNode && nodejsUtils.isStream(data)) { - return external.Promise.reject(new Error("JSZip can't accept a stream when loading a zip file.")); - } - - return utils.prepareContent("the loaded zip file", data, true, options.optimizedBinaryString, options.base64) - .then(function (data) { - var zipEntries = new ZipEntries(options); - zipEntries.load(data); - return zipEntries; - }).then(function checkCRC32(zipEntries) { - var promises = [external.Promise.resolve(zipEntries)]; - var files = zipEntries.files; - if (options.checkCRC32) { - for (var i = 0; i < files.length; i++) { - promises.push(checkEntryCRC32(files[i])); - } - } - return external.Promise.all(promises); - }).then(function addFiles(results) { - var zipEntries = results.shift(); - var files = zipEntries.files; - for (var i = 0; i < files.length; i++) { - var input = files[i]; - zip.file(input.fileNameStr, input.decompressed, { - binary: true, - optimizedBinaryString: true, - date: input.date, - dir: input.dir, - comment: input.fileCommentStr.length ? input.fileCommentStr : null, - unixPermissions: input.unixPermissions, - dosPermissions: input.dosPermissions, - createFolders: options.createFolders - }); - } - if (zipEntries.zipComment.length) { - zip.comment = zipEntries.zipComment; - } - - return zip; - }); -}; - -},{"./external":6,"./nodejsUtils":14,"./stream/Crc32Probe":25,"./utf8":31,"./utils":32,"./zipEntries":33}],12:[function(require,module,exports){ -"use strict"; - -var utils = require('../utils'); -var GenericWorker = require('../stream/GenericWorker'); - -/** - * A worker that use a nodejs stream as source. - * @constructor - * @param {String} filename the name of the file entry for this stream. - * @param {Readable} stream the nodejs stream. - */ -function NodejsStreamInputAdapter(filename, stream) { - GenericWorker.call(this, "Nodejs stream input adapter for " + filename); - this._upstreamEnded = false; - this._bindStream(stream); -} - -utils.inherits(NodejsStreamInputAdapter, GenericWorker); - -/** - * Prepare the stream and bind the callbacks on it. - * Do this ASAP on node 0.10 ! A lazy binding doesn't always work. - * @param {Stream} stream the nodejs stream to use. - */ -NodejsStreamInputAdapter.prototype._bindStream = function (stream) { - var self = this; - this._stream = stream; - stream.pause(); - stream - .on("data", function (chunk) { - self.push({ - data: chunk, - meta : { - percent : 0 - } - }); - }) - .on("error", function (e) { - if(self.isPaused) { - this.generatedError = e; - } else { - self.error(e); - } - }) - .on("end", function () { - if(self.isPaused) { - self._upstreamEnded = true; - } else { - self.end(); - } - }); -}; -NodejsStreamInputAdapter.prototype.pause = function () { - if(!GenericWorker.prototype.pause.call(this)) { - return false; - } - this._stream.pause(); - return true; -}; -NodejsStreamInputAdapter.prototype.resume = function () { - if(!GenericWorker.prototype.resume.call(this)) { - return false; - } - - if(this._upstreamEnded) { - this.end(); - } else { - this._stream.resume(); - } - - return true; -}; - -module.exports = NodejsStreamInputAdapter; - -},{"../stream/GenericWorker":28,"../utils":32}],13:[function(require,module,exports){ -'use strict'; - -var Readable = require('readable-stream').Readable; - -var utils = require('../utils'); -utils.inherits(NodejsStreamOutputAdapter, Readable); - -/** -* A nodejs stream using a worker as source. -* @see the SourceWrapper in http://nodejs.org/api/stream.html -* @constructor -* @param {StreamHelper} helper the helper wrapping the worker -* @param {Object} options the nodejs stream options -* @param {Function} updateCb the update callback. -*/ -function NodejsStreamOutputAdapter(helper, options, updateCb) { - Readable.call(this, options); - this._helper = helper; - - var self = this; - helper.on("data", function (data, meta) { - if (!self.push(data)) { - self._helper.pause(); - } - if(updateCb) { - updateCb(meta); - } - }) - .on("error", function(e) { - self.emit('error', e); - }) - .on("end", function () { - self.push(null); - }); -} - - -NodejsStreamOutputAdapter.prototype._read = function() { - this._helper.resume(); -}; - -module.exports = NodejsStreamOutputAdapter; - -},{"../utils":32,"readable-stream":16}],14:[function(require,module,exports){ -'use strict'; - -module.exports = { - /** - * True if this is running in Nodejs, will be undefined in a browser. - * In a browser, browserify won't include this file and the whole module - * will be resolved an empty object. - */ - isNode : typeof Buffer !== "undefined", - /** - * Create a new nodejs Buffer from an existing content. - * @param {Object} data the data to pass to the constructor. - * @param {String} encoding the encoding to use. - * @return {Buffer} a new Buffer. - */ - newBufferFrom: function(data, encoding) { - if (Buffer.from && Buffer.from !== Uint8Array.from) { - return Buffer.from(data, encoding); - } else { - if (typeof data === "number") { - // Safeguard for old Node.js versions. On newer versions, - // Buffer.from(number) / Buffer(number, encoding) already throw. - throw new Error("The \"data\" argument must not be a number"); - } - return new Buffer(data, encoding); - } - }, - /** - * Create a new nodejs Buffer with the specified size. - * @param {Integer} size the size of the buffer. - * @return {Buffer} a new Buffer. - */ - allocBuffer: function (size) { - if (Buffer.alloc) { - return Buffer.alloc(size); - } else { - var buf = new Buffer(size); - buf.fill(0); - return buf; - } - }, - /** - * Find out if an object is a Buffer. - * @param {Object} b the object to test. - * @return {Boolean} true if the object is a Buffer, false otherwise. - */ - isBuffer : function(b){ - return Buffer.isBuffer(b); - }, - - isStream : function (obj) { - return obj && - typeof obj.on === "function" && - typeof obj.pause === "function" && - typeof obj.resume === "function"; - } -}; - -},{}],15:[function(require,module,exports){ -'use strict'; -var utf8 = require('./utf8'); -var utils = require('./utils'); -var GenericWorker = require('./stream/GenericWorker'); -var StreamHelper = require('./stream/StreamHelper'); -var defaults = require('./defaults'); -var CompressedObject = require('./compressedObject'); -var ZipObject = require('./zipObject'); -var generate = require("./generate"); -var nodejsUtils = require("./nodejsUtils"); -var NodejsStreamInputAdapter = require("./nodejs/NodejsStreamInputAdapter"); - - -/** - * Add a file in the current folder. - * @private - * @param {string} name the name of the file - * @param {String|ArrayBuffer|Uint8Array|Buffer} data the data of the file - * @param {Object} originalOptions the options of the file - * @return {Object} the new file. - */ -var fileAdd = function(name, data, originalOptions) { - // be sure sub folders exist - var dataType = utils.getTypeOf(data), - parent; - - - /* - * Correct options. - */ - - var o = utils.extend(originalOptions || {}, defaults); - o.date = o.date || new Date(); - if (o.compression !== null) { - o.compression = o.compression.toUpperCase(); - } - - if (typeof o.unixPermissions === "string") { - o.unixPermissions = parseInt(o.unixPermissions, 8); - } - - // UNX_IFDIR 0040000 see zipinfo.c - if (o.unixPermissions && (o.unixPermissions & 0x4000)) { - o.dir = true; - } - // Bit 4 Directory - if (o.dosPermissions && (o.dosPermissions & 0x0010)) { - o.dir = true; - } - - if (o.dir) { - name = forceTrailingSlash(name); - } - if (o.createFolders && (parent = parentFolder(name))) { - folderAdd.call(this, parent, true); - } - - var isUnicodeString = dataType === "string" && o.binary === false && o.base64 === false; - if (!originalOptions || typeof originalOptions.binary === "undefined") { - o.binary = !isUnicodeString; - } - - - var isCompressedEmpty = (data instanceof CompressedObject) && data.uncompressedSize === 0; - - if (isCompressedEmpty || o.dir || !data || data.length === 0) { - o.base64 = false; - o.binary = true; - data = ""; - o.compression = "STORE"; - dataType = "string"; - } - - /* - * Convert content to fit. - */ - - var zipObjectContent = null; - if (data instanceof CompressedObject || data instanceof GenericWorker) { - zipObjectContent = data; - } else if (nodejsUtils.isNode && nodejsUtils.isStream(data)) { - zipObjectContent = new NodejsStreamInputAdapter(name, data); - } else { - zipObjectContent = utils.prepareContent(name, data, o.binary, o.optimizedBinaryString, o.base64); - } - - var object = new ZipObject(name, zipObjectContent, o); - this.files[name] = object; - /* - TODO: we can't throw an exception because we have async promises - (we can have a promise of a Date() for example) but returning a - promise is useless because file(name, data) returns the JSZip - object for chaining. Should we break that to allow the user - to catch the error ? - - return external.Promise.resolve(zipObjectContent) - .then(function () { - return object; - }); - */ -}; - -/** - * Find the parent folder of the path. - * @private - * @param {string} path the path to use - * @return {string} the parent folder, or "" - */ -var parentFolder = function (path) { - if (path.slice(-1) === '/') { - path = path.substring(0, path.length - 1); - } - var lastSlash = path.lastIndexOf('/'); - return (lastSlash > 0) ? path.substring(0, lastSlash) : ""; -}; - -/** - * Returns the path with a slash at the end. - * @private - * @param {String} path the path to check. - * @return {String} the path with a trailing slash. - */ -var forceTrailingSlash = function(path) { - // Check the name ends with a / - if (path.slice(-1) !== "/") { - path += "/"; // IE doesn't like substr(-1) - } - return path; -}; - -/** - * Add a (sub) folder in the current folder. - * @private - * @param {string} name the folder's name - * @param {boolean=} [createFolders] If true, automatically create sub - * folders. Defaults to false. - * @return {Object} the new folder. - */ -var folderAdd = function(name, createFolders) { - createFolders = (typeof createFolders !== 'undefined') ? createFolders : defaults.createFolders; - - name = forceTrailingSlash(name); - - // Does this folder already exist? - if (!this.files[name]) { - fileAdd.call(this, name, null, { - dir: true, - createFolders: createFolders - }); - } - return this.files[name]; -}; - -/** -* Cross-window, cross-Node-context regular expression detection -* @param {Object} object Anything -* @return {Boolean} true if the object is a regular expression, -* false otherwise -*/ -function isRegExp(object) { - return Object.prototype.toString.call(object) === "[object RegExp]"; -} - -// return the actual prototype of JSZip -var out = { - /** - * @see loadAsync - */ - load: function() { - throw new Error("This method has been removed in JSZip 3.0, please check the upgrade guide."); - }, - - - /** - * Call a callback function for each entry at this folder level. - * @param {Function} cb the callback function: - * function (relativePath, file) {...} - * It takes 2 arguments : the relative path and the file. - */ - forEach: function(cb) { - var filename, relativePath, file; - /* jshint ignore:start */ - // ignore warning about unwanted properties because this.files is a null prototype object - for (filename in this.files) { - file = this.files[filename]; - relativePath = filename.slice(this.root.length, filename.length); - if (relativePath && filename.slice(0, this.root.length) === this.root) { // the file is in the current root - cb(relativePath, file); // TODO reverse the parameters ? need to be clean AND consistent with the filter search fn... - } - } - /* jshint ignore:end */ - }, - - /** - * Filter nested files/folders with the specified function. - * @param {Function} search the predicate to use : - * function (relativePath, file) {...} - * It takes 2 arguments : the relative path and the file. - * @return {Array} An array of matching elements. - */ - filter: function(search) { - var result = []; - this.forEach(function (relativePath, entry) { - if (search(relativePath, entry)) { // the file matches the function - result.push(entry); - } - - }); - return result; - }, - - /** - * Add a file to the zip file, or search a file. - * @param {string|RegExp} name The name of the file to add (if data is defined), - * the name of the file to find (if no data) or a regex to match files. - * @param {String|ArrayBuffer|Uint8Array|Buffer} data The file data, either raw or base64 encoded - * @param {Object} o File options - * @return {JSZip|Object|Array} this JSZip object (when adding a file), - * a file (when searching by string) or an array of files (when searching by regex). - */ - file: function(name, data, o) { - if (arguments.length === 1) { - if (isRegExp(name)) { - var regexp = name; - return this.filter(function(relativePath, file) { - return !file.dir && regexp.test(relativePath); - }); - } - else { // text - var obj = this.files[this.root + name]; - if (obj && !obj.dir) { - return obj; - } else { - return null; - } - } - } - else { // more than one argument : we have data ! - name = this.root + name; - fileAdd.call(this, name, data, o); - } - return this; - }, - - /** - * Add a directory to the zip file, or search. - * @param {String|RegExp} arg The name of the directory to add, or a regex to search folders. - * @return {JSZip} an object with the new directory as the root, or an array containing matching folders. - */ - folder: function(arg) { - if (!arg) { - return this; - } - - if (isRegExp(arg)) { - return this.filter(function(relativePath, file) { - return file.dir && arg.test(relativePath); - }); - } - - // else, name is a new folder - var name = this.root + arg; - var newFolder = folderAdd.call(this, name); - - // Allow chaining by returning a new object with this folder as the root - var ret = this.clone(); - ret.root = newFolder.name; - return ret; - }, - - /** - * Delete a file, or a directory and all sub-files, from the zip - * @param {string} name the name of the file to delete - * @return {JSZip} this JSZip object - */ - remove: function(name) { - name = this.root + name; - var file = this.files[name]; - if (!file) { - // Look for any folders - if (name.slice(-1) !== "/") { - name += "/"; - } - file = this.files[name]; - } - - if (file && !file.dir) { - // file - delete this.files[name]; - } else { - // maybe a folder, delete recursively - var kids = this.filter(function(relativePath, file) { - return file.name.slice(0, name.length) === name; - }); - for (var i = 0; i < kids.length; i++) { - delete this.files[kids[i].name]; - } - } - - return this; - }, - - /** - * Generate the complete zip file - * @param {Object} options the options to generate the zip file : - * - compression, "STORE" by default. - * - type, "base64" by default. Values are : string, base64, uint8array, arraybuffer, blob. - * @return {String|Uint8Array|ArrayBuffer|Buffer|Blob} the zip file - */ - generate: function(options) { - throw new Error("This method has been removed in JSZip 3.0, please check the upgrade guide."); - }, - - /** - * Generate the complete zip file as an internal stream. - * @param {Object} options the options to generate the zip file : - * - compression, "STORE" by default. - * - type, "base64" by default. Values are : string, base64, uint8array, arraybuffer, blob. - * @return {StreamHelper} the streamed zip file. - */ - generateInternalStream: function(options) { - var worker, opts = {}; - try { - opts = utils.extend(options || {}, { - streamFiles: false, - compression: "STORE", - compressionOptions : null, - type: "", - platform: "DOS", - comment: null, - mimeType: 'application/zip', - encodeFileName: utf8.utf8encode - }); - - opts.type = opts.type.toLowerCase(); - opts.compression = opts.compression.toUpperCase(); - - // "binarystring" is preferred but the internals use "string". - if(opts.type === "binarystring") { - opts.type = "string"; - } - - if (!opts.type) { - throw new Error("No output type specified."); - } - - utils.checkSupport(opts.type); - - // accept nodejs `process.platform` - if( - opts.platform === 'darwin' || - opts.platform === 'freebsd' || - opts.platform === 'linux' || - opts.platform === 'sunos' - ) { - opts.platform = "UNIX"; - } - if (opts.platform === 'win32') { - opts.platform = "DOS"; - } - - var comment = opts.comment || this.comment || ""; - worker = generate.generateWorker(this, opts, comment); - } catch (e) { - worker = new GenericWorker("error"); - worker.error(e); - } - return new StreamHelper(worker, opts.type || "string", opts.mimeType); - }, - /** - * Generate the complete zip file asynchronously. - * @see generateInternalStream - */ - generateAsync: function(options, onUpdate) { - return this.generateInternalStream(options).accumulate(onUpdate); - }, - /** - * Generate the complete zip file asynchronously. - * @see generateInternalStream - */ - generateNodeStream: function(options, onUpdate) { - options = options || {}; - if (!options.type) { - options.type = "nodebuffer"; - } - return this.generateInternalStream(options).toNodejsStream(onUpdate); - } -}; -module.exports = out; - -},{"./compressedObject":2,"./defaults":5,"./generate":9,"./nodejs/NodejsStreamInputAdapter":12,"./nodejsUtils":14,"./stream/GenericWorker":28,"./stream/StreamHelper":29,"./utf8":31,"./utils":32,"./zipObject":35}],16:[function(require,module,exports){ -/* - * This file is used by module bundlers (browserify/webpack/etc) when - * including a stream implementation. We use "readable-stream" to get a - * consistent behavior between nodejs versions but bundlers often have a shim - * for "stream". Using this shim greatly improve the compatibility and greatly - * reduce the final size of the bundle (only one stream implementation, not - * two). - */ -module.exports = require("stream"); - -},{"stream":undefined}],17:[function(require,module,exports){ -'use strict'; -var DataReader = require('./DataReader'); -var utils = require('../utils'); - -function ArrayReader(data) { - DataReader.call(this, data); - for(var i = 0; i < this.data.length; i++) { - data[i] = data[i] & 0xFF; - } -} -utils.inherits(ArrayReader, DataReader); -/** - * @see DataReader.byteAt - */ -ArrayReader.prototype.byteAt = function(i) { - return this.data[this.zero + i]; -}; -/** - * @see DataReader.lastIndexOfSignature - */ -ArrayReader.prototype.lastIndexOfSignature = function(sig) { - var sig0 = sig.charCodeAt(0), - sig1 = sig.charCodeAt(1), - sig2 = sig.charCodeAt(2), - sig3 = sig.charCodeAt(3); - for (var i = this.length - 4; i >= 0; --i) { - if (this.data[i] === sig0 && this.data[i + 1] === sig1 && this.data[i + 2] === sig2 && this.data[i + 3] === sig3) { - return i - this.zero; - } - } - - return -1; -}; -/** - * @see DataReader.readAndCheckSignature - */ -ArrayReader.prototype.readAndCheckSignature = function (sig) { - var sig0 = sig.charCodeAt(0), - sig1 = sig.charCodeAt(1), - sig2 = sig.charCodeAt(2), - sig3 = sig.charCodeAt(3), - data = this.readData(4); - return sig0 === data[0] && sig1 === data[1] && sig2 === data[2] && sig3 === data[3]; -}; -/** - * @see DataReader.readData - */ -ArrayReader.prototype.readData = function(size) { - this.checkOffset(size); - if(size === 0) { - return []; - } - var result = this.data.slice(this.zero + this.index, this.zero + this.index + size); - this.index += size; - return result; -}; -module.exports = ArrayReader; - -},{"../utils":32,"./DataReader":18}],18:[function(require,module,exports){ -'use strict'; -var utils = require('../utils'); - -function DataReader(data) { - this.data = data; // type : see implementation - this.length = data.length; - this.index = 0; - this.zero = 0; -} -DataReader.prototype = { - /** - * Check that the offset will not go too far. - * @param {string} offset the additional offset to check. - * @throws {Error} an Error if the offset is out of bounds. - */ - checkOffset: function(offset) { - this.checkIndex(this.index + offset); - }, - /** - * Check that the specified index will not be too far. - * @param {string} newIndex the index to check. - * @throws {Error} an Error if the index is out of bounds. - */ - checkIndex: function(newIndex) { - if (this.length < this.zero + newIndex || newIndex < 0) { - throw new Error("End of data reached (data length = " + this.length + ", asked index = " + (newIndex) + "). Corrupted zip ?"); - } - }, - /** - * Change the index. - * @param {number} newIndex The new index. - * @throws {Error} if the new index is out of the data. - */ - setIndex: function(newIndex) { - this.checkIndex(newIndex); - this.index = newIndex; - }, - /** - * Skip the next n bytes. - * @param {number} n the number of bytes to skip. - * @throws {Error} if the new index is out of the data. - */ - skip: function(n) { - this.setIndex(this.index + n); - }, - /** - * Get the byte at the specified index. - * @param {number} i the index to use. - * @return {number} a byte. - */ - byteAt: function(i) { - // see implementations - }, - /** - * Get the next number with a given byte size. - * @param {number} size the number of bytes to read. - * @return {number} the corresponding number. - */ - readInt: function(size) { - var result = 0, - i; - this.checkOffset(size); - for (i = this.index + size - 1; i >= this.index; i--) { - result = (result << 8) + this.byteAt(i); - } - this.index += size; - return result; - }, - /** - * Get the next string with a given byte size. - * @param {number} size the number of bytes to read. - * @return {string} the corresponding string. - */ - readString: function(size) { - return utils.transformTo("string", this.readData(size)); - }, - /** - * Get raw data without conversion, bytes. - * @param {number} size the number of bytes to read. - * @return {Object} the raw data, implementation specific. - */ - readData: function(size) { - // see implementations - }, - /** - * Find the last occurrence of a zip signature (4 bytes). - * @param {string} sig the signature to find. - * @return {number} the index of the last occurrence, -1 if not found. - */ - lastIndexOfSignature: function(sig) { - // see implementations - }, - /** - * Read the signature (4 bytes) at the current position and compare it with sig. - * @param {string} sig the expected signature - * @return {boolean} true if the signature matches, false otherwise. - */ - readAndCheckSignature: function(sig) { - // see implementations - }, - /** - * Get the next date. - * @return {Date} the date. - */ - readDate: function() { - var dostime = this.readInt(4); - return new Date(Date.UTC( - ((dostime >> 25) & 0x7f) + 1980, // year - ((dostime >> 21) & 0x0f) - 1, // month - (dostime >> 16) & 0x1f, // day - (dostime >> 11) & 0x1f, // hour - (dostime >> 5) & 0x3f, // minute - (dostime & 0x1f) << 1)); // second - } -}; -module.exports = DataReader; - -},{"../utils":32}],19:[function(require,module,exports){ -'use strict'; -var Uint8ArrayReader = require('./Uint8ArrayReader'); -var utils = require('../utils'); - -function NodeBufferReader(data) { - Uint8ArrayReader.call(this, data); -} -utils.inherits(NodeBufferReader, Uint8ArrayReader); - -/** - * @see DataReader.readData - */ -NodeBufferReader.prototype.readData = function(size) { - this.checkOffset(size); - var result = this.data.slice(this.zero + this.index, this.zero + this.index + size); - this.index += size; - return result; -}; -module.exports = NodeBufferReader; - -},{"../utils":32,"./Uint8ArrayReader":21}],20:[function(require,module,exports){ -'use strict'; -var DataReader = require('./DataReader'); -var utils = require('../utils'); - -function StringReader(data) { - DataReader.call(this, data); -} -utils.inherits(StringReader, DataReader); -/** - * @see DataReader.byteAt - */ -StringReader.prototype.byteAt = function(i) { - return this.data.charCodeAt(this.zero + i); -}; -/** - * @see DataReader.lastIndexOfSignature - */ -StringReader.prototype.lastIndexOfSignature = function(sig) { - return this.data.lastIndexOf(sig) - this.zero; -}; -/** - * @see DataReader.readAndCheckSignature - */ -StringReader.prototype.readAndCheckSignature = function (sig) { - var data = this.readData(4); - return sig === data; -}; -/** - * @see DataReader.readData - */ -StringReader.prototype.readData = function(size) { - this.checkOffset(size); - // this will work because the constructor applied the "& 0xff" mask. - var result = this.data.slice(this.zero + this.index, this.zero + this.index + size); - this.index += size; - return result; -}; -module.exports = StringReader; - -},{"../utils":32,"./DataReader":18}],21:[function(require,module,exports){ -'use strict'; -var ArrayReader = require('./ArrayReader'); -var utils = require('../utils'); - -function Uint8ArrayReader(data) { - ArrayReader.call(this, data); -} -utils.inherits(Uint8ArrayReader, ArrayReader); -/** - * @see DataReader.readData - */ -Uint8ArrayReader.prototype.readData = function(size) { - this.checkOffset(size); - if(size === 0) { - // in IE10, when using subarray(idx, idx), we get the array [0x00] instead of []. - return new Uint8Array(0); - } - var result = this.data.subarray(this.zero + this.index, this.zero + this.index + size); - this.index += size; - return result; -}; -module.exports = Uint8ArrayReader; - -},{"../utils":32,"./ArrayReader":17}],22:[function(require,module,exports){ -'use strict'; - -var utils = require('../utils'); -var support = require('../support'); -var ArrayReader = require('./ArrayReader'); -var StringReader = require('./StringReader'); -var NodeBufferReader = require('./NodeBufferReader'); -var Uint8ArrayReader = require('./Uint8ArrayReader'); - -/** - * Create a reader adapted to the data. - * @param {String|ArrayBuffer|Uint8Array|Buffer} data the data to read. - * @return {DataReader} the data reader. - */ -module.exports = function (data) { - var type = utils.getTypeOf(data); - utils.checkSupport(type); - if (type === "string" && !support.uint8array) { - return new StringReader(data); - } - if (type === "nodebuffer") { - return new NodeBufferReader(data); - } - if (support.uint8array) { - return new Uint8ArrayReader(utils.transformTo("uint8array", data)); - } - return new ArrayReader(utils.transformTo("array", data)); -}; - -},{"../support":30,"../utils":32,"./ArrayReader":17,"./NodeBufferReader":19,"./StringReader":20,"./Uint8ArrayReader":21}],23:[function(require,module,exports){ -'use strict'; -exports.LOCAL_FILE_HEADER = "PK\x03\x04"; -exports.CENTRAL_FILE_HEADER = "PK\x01\x02"; -exports.CENTRAL_DIRECTORY_END = "PK\x05\x06"; -exports.ZIP64_CENTRAL_DIRECTORY_LOCATOR = "PK\x06\x07"; -exports.ZIP64_CENTRAL_DIRECTORY_END = "PK\x06\x06"; -exports.DATA_DESCRIPTOR = "PK\x07\x08"; - -},{}],24:[function(require,module,exports){ -'use strict'; - -var GenericWorker = require('./GenericWorker'); -var utils = require('../utils'); - -/** - * A worker which convert chunks to a specified type. - * @constructor - * @param {String} destType the destination type. - */ -function ConvertWorker(destType) { - GenericWorker.call(this, "ConvertWorker to " + destType); - this.destType = destType; -} -utils.inherits(ConvertWorker, GenericWorker); - -/** - * @see GenericWorker.processChunk - */ -ConvertWorker.prototype.processChunk = function (chunk) { - this.push({ - data : utils.transformTo(this.destType, chunk.data), - meta : chunk.meta - }); -}; -module.exports = ConvertWorker; - -},{"../utils":32,"./GenericWorker":28}],25:[function(require,module,exports){ -'use strict'; - -var GenericWorker = require('./GenericWorker'); -var crc32 = require('../crc32'); -var utils = require('../utils'); - -/** - * A worker which calculate the crc32 of the data flowing through. - * @constructor - */ -function Crc32Probe() { - GenericWorker.call(this, "Crc32Probe"); - this.withStreamInfo("crc32", 0); -} -utils.inherits(Crc32Probe, GenericWorker); - -/** - * @see GenericWorker.processChunk - */ -Crc32Probe.prototype.processChunk = function (chunk) { - this.streamInfo.crc32 = crc32(chunk.data, this.streamInfo.crc32 || 0); - this.push(chunk); -}; -module.exports = Crc32Probe; - -},{"../crc32":4,"../utils":32,"./GenericWorker":28}],26:[function(require,module,exports){ -'use strict'; - -var utils = require('../utils'); -var GenericWorker = require('./GenericWorker'); - -/** - * A worker which calculate the total length of the data flowing through. - * @constructor - * @param {String} propName the name used to expose the length - */ -function DataLengthProbe(propName) { - GenericWorker.call(this, "DataLengthProbe for " + propName); - this.propName = propName; - this.withStreamInfo(propName, 0); -} -utils.inherits(DataLengthProbe, GenericWorker); - -/** - * @see GenericWorker.processChunk - */ -DataLengthProbe.prototype.processChunk = function (chunk) { - if(chunk) { - var length = this.streamInfo[this.propName] || 0; - this.streamInfo[this.propName] = length + chunk.data.length; - } - GenericWorker.prototype.processChunk.call(this, chunk); -}; -module.exports = DataLengthProbe; - - -},{"../utils":32,"./GenericWorker":28}],27:[function(require,module,exports){ -'use strict'; - -var utils = require('../utils'); -var GenericWorker = require('./GenericWorker'); - -// the size of the generated chunks -// TODO expose this as a public variable -var DEFAULT_BLOCK_SIZE = 16 * 1024; - -/** - * A worker that reads a content and emits chunks. - * @constructor - * @param {Promise} dataP the promise of the data to split - */ -function DataWorker(dataP) { - GenericWorker.call(this, "DataWorker"); - var self = this; - this.dataIsReady = false; - this.index = 0; - this.max = 0; - this.data = null; - this.type = ""; - - this._tickScheduled = false; - - dataP.then(function (data) { - self.dataIsReady = true; - self.data = data; - self.max = data && data.length || 0; - self.type = utils.getTypeOf(data); - if(!self.isPaused) { - self._tickAndRepeat(); - } - }, function (e) { - self.error(e); - }); -} - -utils.inherits(DataWorker, GenericWorker); - -/** - * @see GenericWorker.cleanUp - */ -DataWorker.prototype.cleanUp = function () { - GenericWorker.prototype.cleanUp.call(this); - this.data = null; -}; - -/** - * @see GenericWorker.resume - */ -DataWorker.prototype.resume = function () { - if(!GenericWorker.prototype.resume.call(this)) { - return false; - } - - if (!this._tickScheduled && this.dataIsReady) { - this._tickScheduled = true; - utils.delay(this._tickAndRepeat, [], this); - } - return true; -}; - -/** - * Trigger a tick a schedule an other call to this function. - */ -DataWorker.prototype._tickAndRepeat = function() { - this._tickScheduled = false; - if(this.isPaused || this.isFinished) { - return; - } - this._tick(); - if(!this.isFinished) { - utils.delay(this._tickAndRepeat, [], this); - this._tickScheduled = true; - } -}; - -/** - * Read and push a chunk. - */ -DataWorker.prototype._tick = function() { - - if(this.isPaused || this.isFinished) { - return false; - } - - var size = DEFAULT_BLOCK_SIZE; - var data = null, nextIndex = Math.min(this.max, this.index + size); - if (this.index >= this.max) { - // EOF - return this.end(); - } else { - switch(this.type) { - case "string": - data = this.data.substring(this.index, nextIndex); - break; - case "uint8array": - data = this.data.subarray(this.index, nextIndex); - break; - case "array": - case "nodebuffer": - data = this.data.slice(this.index, nextIndex); - break; - } - this.index = nextIndex; - return this.push({ - data : data, - meta : { - percent : this.max ? this.index / this.max * 100 : 0 - } - }); - } -}; - -module.exports = DataWorker; - -},{"../utils":32,"./GenericWorker":28}],28:[function(require,module,exports){ -'use strict'; - -/** - * A worker that does nothing but passing chunks to the next one. This is like - * a nodejs stream but with some differences. On the good side : - * - it works on IE 6-9 without any issue / polyfill - * - it weights less than the full dependencies bundled with browserify - * - it forwards errors (no need to declare an error handler EVERYWHERE) - * - * A chunk is an object with 2 attributes : `meta` and `data`. The former is an - * object containing anything (`percent` for example), see each worker for more - * details. The latter is the real data (String, Uint8Array, etc). - * - * @constructor - * @param {String} name the name of the stream (mainly used for debugging purposes) - */ -function GenericWorker(name) { - // the name of the worker - this.name = name || "default"; - // an object containing metadata about the workers chain - this.streamInfo = {}; - // an error which happened when the worker was paused - this.generatedError = null; - // an object containing metadata to be merged by this worker into the general metadata - this.extraStreamInfo = {}; - // true if the stream is paused (and should not do anything), false otherwise - this.isPaused = true; - // true if the stream is finished (and should not do anything), false otherwise - this.isFinished = false; - // true if the stream is locked to prevent further structure updates (pipe), false otherwise - this.isLocked = false; - // the event listeners - this._listeners = { - 'data':[], - 'end':[], - 'error':[] - }; - // the previous worker, if any - this.previous = null; -} - -GenericWorker.prototype = { - /** - * Push a chunk to the next workers. - * @param {Object} chunk the chunk to push - */ - push : function (chunk) { - this.emit("data", chunk); - }, - /** - * End the stream. - * @return {Boolean} true if this call ended the worker, false otherwise. - */ - end : function () { - if (this.isFinished) { - return false; - } - - this.flush(); - try { - this.emit("end"); - this.cleanUp(); - this.isFinished = true; - } catch (e) { - this.emit("error", e); - } - return true; - }, - /** - * End the stream with an error. - * @param {Error} e the error which caused the premature end. - * @return {Boolean} true if this call ended the worker with an error, false otherwise. - */ - error : function (e) { - if (this.isFinished) { - return false; - } - - if(this.isPaused) { - this.generatedError = e; - } else { - this.isFinished = true; - - this.emit("error", e); - - // in the workers chain exploded in the middle of the chain, - // the error event will go downward but we also need to notify - // workers upward that there has been an error. - if(this.previous) { - this.previous.error(e); - } - - this.cleanUp(); - } - return true; - }, - /** - * Add a callback on an event. - * @param {String} name the name of the event (data, end, error) - * @param {Function} listener the function to call when the event is triggered - * @return {GenericWorker} the current object for chainability - */ - on : function (name, listener) { - this._listeners[name].push(listener); - return this; - }, - /** - * Clean any references when a worker is ending. - */ - cleanUp : function () { - this.streamInfo = this.generatedError = this.extraStreamInfo = null; - this._listeners = []; - }, - /** - * Trigger an event. This will call registered callback with the provided arg. - * @param {String} name the name of the event (data, end, error) - * @param {Object} arg the argument to call the callback with. - */ - emit : function (name, arg) { - if (this._listeners[name]) { - for(var i = 0; i < this._listeners[name].length; i++) { - this._listeners[name][i].call(this, arg); - } - } - }, - /** - * Chain a worker with an other. - * @param {Worker} next the worker receiving events from the current one. - * @return {worker} the next worker for chainability - */ - pipe : function (next) { - return next.registerPrevious(this); - }, - /** - * Same as `pipe` in the other direction. - * Using an API with `pipe(next)` is very easy. - * Implementing the API with the point of view of the next one registering - * a source is easier, see the ZipFileWorker. - * @param {Worker} previous the previous worker, sending events to this one - * @return {Worker} the current worker for chainability - */ - registerPrevious : function (previous) { - if (this.isLocked) { - throw new Error("The stream '" + this + "' has already been used."); - } - - // sharing the streamInfo... - this.streamInfo = previous.streamInfo; - // ... and adding our own bits - this.mergeStreamInfo(); - this.previous = previous; - var self = this; - previous.on('data', function (chunk) { - self.processChunk(chunk); - }); - previous.on('end', function () { - self.end(); - }); - previous.on('error', function (e) { - self.error(e); - }); - return this; - }, - /** - * Pause the stream so it doesn't send events anymore. - * @return {Boolean} true if this call paused the worker, false otherwise. - */ - pause : function () { - if(this.isPaused || this.isFinished) { - return false; - } - this.isPaused = true; - - if(this.previous) { - this.previous.pause(); - } - return true; - }, - /** - * Resume a paused stream. - * @return {Boolean} true if this call resumed the worker, false otherwise. - */ - resume : function () { - if(!this.isPaused || this.isFinished) { - return false; - } - this.isPaused = false; - - // if true, the worker tried to resume but failed - var withError = false; - if(this.generatedError) { - this.error(this.generatedError); - withError = true; - } - if(this.previous) { - this.previous.resume(); - } - - return !withError; - }, - /** - * Flush any remaining bytes as the stream is ending. - */ - flush : function () {}, - /** - * Process a chunk. This is usually the method overridden. - * @param {Object} chunk the chunk to process. - */ - processChunk : function(chunk) { - this.push(chunk); - }, - /** - * Add a key/value to be added in the workers chain streamInfo once activated. - * @param {String} key the key to use - * @param {Object} value the associated value - * @return {Worker} the current worker for chainability - */ - withStreamInfo : function (key, value) { - this.extraStreamInfo[key] = value; - this.mergeStreamInfo(); - return this; - }, - /** - * Merge this worker's streamInfo into the chain's streamInfo. - */ - mergeStreamInfo : function () { - for(var key in this.extraStreamInfo) { - if (!this.extraStreamInfo.hasOwnProperty(key)) { - continue; - } - this.streamInfo[key] = this.extraStreamInfo[key]; - } - }, - - /** - * Lock the stream to prevent further updates on the workers chain. - * After calling this method, all calls to pipe will fail. - */ - lock: function () { - if (this.isLocked) { - throw new Error("The stream '" + this + "' has already been used."); - } - this.isLocked = true; - if (this.previous) { - this.previous.lock(); - } - }, - - /** - * - * Pretty print the workers chain. - */ - toString : function () { - var me = "Worker " + this.name; - if (this.previous) { - return this.previous + " -> " + me; - } else { - return me; - } - } -}; - -module.exports = GenericWorker; - -},{}],29:[function(require,module,exports){ -'use strict'; - -var utils = require('../utils'); -var ConvertWorker = require('./ConvertWorker'); -var GenericWorker = require('./GenericWorker'); -var base64 = require('../base64'); -var support = require("../support"); -var external = require("../external"); - -var NodejsStreamOutputAdapter = null; -if (support.nodestream) { - try { - NodejsStreamOutputAdapter = require('../nodejs/NodejsStreamOutputAdapter'); - } catch(e) {} -} - -/** - * Apply the final transformation of the data. If the user wants a Blob for - * example, it's easier to work with an U8intArray and finally do the - * ArrayBuffer/Blob conversion. - * @param {String} type the name of the final type - * @param {String|Uint8Array|Buffer} content the content to transform - * @param {String} mimeType the mime type of the content, if applicable. - * @return {String|Uint8Array|ArrayBuffer|Buffer|Blob} the content in the right format. - */ -function transformZipOutput(type, content, mimeType) { - switch(type) { - case "blob" : - return utils.newBlob(utils.transformTo("arraybuffer", content), mimeType); - case "base64" : - return base64.encode(content); - default : - return utils.transformTo(type, content); - } -} - -/** - * Concatenate an array of data of the given type. - * @param {String} type the type of the data in the given array. - * @param {Array} dataArray the array containing the data chunks to concatenate - * @return {String|Uint8Array|Buffer} the concatenated data - * @throws Error if the asked type is unsupported - */ -function concat (type, dataArray) { - var i, index = 0, res = null, totalLength = 0; - for(i = 0; i < dataArray.length; i++) { - totalLength += dataArray[i].length; - } - switch(type) { - case "string": - return dataArray.join(""); - case "array": - return Array.prototype.concat.apply([], dataArray); - case "uint8array": - res = new Uint8Array(totalLength); - for(i = 0; i < dataArray.length; i++) { - res.set(dataArray[i], index); - index += dataArray[i].length; - } - return res; - case "nodebuffer": - return Buffer.concat(dataArray); - default: - throw new Error("concat : unsupported type '" + type + "'"); - } -} - -/** - * Listen a StreamHelper, accumulate its content and concatenate it into a - * complete block. - * @param {StreamHelper} helper the helper to use. - * @param {Function} updateCallback a callback called on each update. Called - * with one arg : - * - the metadata linked to the update received. - * @return Promise the promise for the accumulation. - */ -function accumulate(helper, updateCallback) { - return new external.Promise(function (resolve, reject){ - var dataArray = []; - var chunkType = helper._internalType, - resultType = helper._outputType, - mimeType = helper._mimeType; - helper - .on('data', function (data, meta) { - dataArray.push(data); - if(updateCallback) { - updateCallback(meta); - } - }) - .on('error', function(err) { - dataArray = []; - reject(err); - }) - .on('end', function (){ - try { - var result = transformZipOutput(resultType, concat(chunkType, dataArray), mimeType); - resolve(result); - } catch (e) { - reject(e); - } - dataArray = []; - }) - .resume(); - }); -} - -/** - * An helper to easily use workers outside of JSZip. - * @constructor - * @param {Worker} worker the worker to wrap - * @param {String} outputType the type of data expected by the use - * @param {String} mimeType the mime type of the content, if applicable. - */ -function StreamHelper(worker, outputType, mimeType) { - var internalType = outputType; - switch(outputType) { - case "blob": - case "arraybuffer": - internalType = "uint8array"; - break; - case "base64": - internalType = "string"; - break; - } - - try { - // the type used internally - this._internalType = internalType; - // the type used to output results - this._outputType = outputType; - // the mime type - this._mimeType = mimeType; - utils.checkSupport(internalType); - this._worker = worker.pipe(new ConvertWorker(internalType)); - // the last workers can be rewired without issues but we need to - // prevent any updates on previous workers. - worker.lock(); - } catch(e) { - this._worker = new GenericWorker("error"); - this._worker.error(e); - } -} - -StreamHelper.prototype = { - /** - * Listen a StreamHelper, accumulate its content and concatenate it into a - * complete block. - * @param {Function} updateCb the update callback. - * @return Promise the promise for the accumulation. - */ - accumulate : function (updateCb) { - return accumulate(this, updateCb); - }, - /** - * Add a listener on an event triggered on a stream. - * @param {String} evt the name of the event - * @param {Function} fn the listener - * @return {StreamHelper} the current helper. - */ - on : function (evt, fn) { - var self = this; - - if(evt === "data") { - this._worker.on(evt, function (chunk) { - fn.call(self, chunk.data, chunk.meta); - }); - } else { - this._worker.on(evt, function () { - utils.delay(fn, arguments, self); - }); - } - return this; - }, - /** - * Resume the flow of chunks. - * @return {StreamHelper} the current helper. - */ - resume : function () { - utils.delay(this._worker.resume, [], this._worker); - return this; - }, - /** - * Pause the flow of chunks. - * @return {StreamHelper} the current helper. - */ - pause : function () { - this._worker.pause(); - return this; - }, - /** - * Return a nodejs stream for this helper. - * @param {Function} updateCb the update callback. - * @return {NodejsStreamOutputAdapter} the nodejs stream. - */ - toNodejsStream : function (updateCb) { - utils.checkSupport("nodestream"); - if (this._outputType !== "nodebuffer") { - // an object stream containing blob/arraybuffer/uint8array/string - // is strange and I don't know if it would be useful. - // I you find this comment and have a good usecase, please open a - // bug report ! - throw new Error(this._outputType + " is not supported by this method"); - } - - return new NodejsStreamOutputAdapter(this, { - objectMode : this._outputType !== "nodebuffer" - }, updateCb); - } -}; - - -module.exports = StreamHelper; - -},{"../base64":1,"../external":6,"../nodejs/NodejsStreamOutputAdapter":13,"../support":30,"../utils":32,"./ConvertWorker":24,"./GenericWorker":28}],30:[function(require,module,exports){ -'use strict'; - -exports.base64 = true; -exports.array = true; -exports.string = true; -exports.arraybuffer = typeof ArrayBuffer !== "undefined" && typeof Uint8Array !== "undefined"; -exports.nodebuffer = typeof Buffer !== "undefined"; -// contains true if JSZip can read/generate Uint8Array, false otherwise. -exports.uint8array = typeof Uint8Array !== "undefined"; - -if (typeof ArrayBuffer === "undefined") { - exports.blob = false; -} -else { - var buffer = new ArrayBuffer(0); - try { - exports.blob = new Blob([buffer], { - type: "application/zip" - }).size === 0; - } - catch (e) { - try { - var Builder = self.BlobBuilder || self.WebKitBlobBuilder || self.MozBlobBuilder || self.MSBlobBuilder; - var builder = new Builder(); - builder.append(buffer); - exports.blob = builder.getBlob('application/zip').size === 0; - } - catch (e) { - exports.blob = false; - } - } -} - -try { - exports.nodestream = !!require('readable-stream').Readable; -} catch(e) { - exports.nodestream = false; -} - -},{"readable-stream":16}],31:[function(require,module,exports){ -'use strict'; - -var utils = require('./utils'); -var support = require('./support'); -var nodejsUtils = require('./nodejsUtils'); -var GenericWorker = require('./stream/GenericWorker'); - -/** - * The following functions come from pako, from pako/lib/utils/strings - * released under the MIT license, see pako https://github.com/nodeca/pako/ - */ - -// Table with utf8 lengths (calculated by first byte of sequence) -// Note, that 5 & 6-byte values and some 4-byte values can not be represented in JS, -// because max possible codepoint is 0x10ffff -var _utf8len = new Array(256); -for (var i=0; i<256; i++) { - _utf8len[i] = (i >= 252 ? 6 : i >= 248 ? 5 : i >= 240 ? 4 : i >= 224 ? 3 : i >= 192 ? 2 : 1); -} -_utf8len[254]=_utf8len[254]=1; // Invalid sequence start - -// convert string to array (typed, when possible) -var string2buf = function (str) { - var buf, c, c2, m_pos, i, str_len = str.length, buf_len = 0; - - // count binary size - for (m_pos = 0; m_pos < str_len; m_pos++) { - c = str.charCodeAt(m_pos); - if ((c & 0xfc00) === 0xd800 && (m_pos+1 < str_len)) { - c2 = str.charCodeAt(m_pos+1); - if ((c2 & 0xfc00) === 0xdc00) { - c = 0x10000 + ((c - 0xd800) << 10) + (c2 - 0xdc00); - m_pos++; - } - } - buf_len += c < 0x80 ? 1 : c < 0x800 ? 2 : c < 0x10000 ? 3 : 4; - } - - // allocate buffer - if (support.uint8array) { - buf = new Uint8Array(buf_len); - } else { - buf = new Array(buf_len); - } - - // convert - for (i=0, m_pos = 0; i < buf_len; m_pos++) { - c = str.charCodeAt(m_pos); - if ((c & 0xfc00) === 0xd800 && (m_pos+1 < str_len)) { - c2 = str.charCodeAt(m_pos+1); - if ((c2 & 0xfc00) === 0xdc00) { - c = 0x10000 + ((c - 0xd800) << 10) + (c2 - 0xdc00); - m_pos++; - } - } - if (c < 0x80) { - /* one byte */ - buf[i++] = c; - } else if (c < 0x800) { - /* two bytes */ - buf[i++] = 0xC0 | (c >>> 6); - buf[i++] = 0x80 | (c & 0x3f); - } else if (c < 0x10000) { - /* three bytes */ - buf[i++] = 0xE0 | (c >>> 12); - buf[i++] = 0x80 | (c >>> 6 & 0x3f); - buf[i++] = 0x80 | (c & 0x3f); - } else { - /* four bytes */ - buf[i++] = 0xf0 | (c >>> 18); - buf[i++] = 0x80 | (c >>> 12 & 0x3f); - buf[i++] = 0x80 | (c >>> 6 & 0x3f); - buf[i++] = 0x80 | (c & 0x3f); - } - } - - return buf; -}; - -// Calculate max possible position in utf8 buffer, -// that will not break sequence. If that's not possible -// - (very small limits) return max size as is. -// -// buf[] - utf8 bytes array -// max - length limit (mandatory); -var utf8border = function(buf, max) { - var pos; - - max = max || buf.length; - if (max > buf.length) { max = buf.length; } - - // go back from last position, until start of sequence found - pos = max-1; - while (pos >= 0 && (buf[pos] & 0xC0) === 0x80) { pos--; } - - // Fuckup - very small and broken sequence, - // return max, because we should return something anyway. - if (pos < 0) { return max; } - - // If we came to start of buffer - that means vuffer is too small, - // return max too. - if (pos === 0) { return max; } - - return (pos + _utf8len[buf[pos]] > max) ? pos : max; -}; - -// convert array to string -var buf2string = function (buf) { - var str, i, out, c, c_len; - var len = buf.length; - - // Reserve max possible length (2 words per char) - // NB: by unknown reasons, Array is significantly faster for - // String.fromCharCode.apply than Uint16Array. - var utf16buf = new Array(len*2); - - for (out=0, i=0; i 4) { utf16buf[out++] = 0xfffd; i += c_len-1; continue; } - - // apply mask on first byte - c &= c_len === 2 ? 0x1f : c_len === 3 ? 0x0f : 0x07; - // join the rest - while (c_len > 1 && i < len) { - c = (c << 6) | (buf[i++] & 0x3f); - c_len--; - } - - // terminated by end of string? - if (c_len > 1) { utf16buf[out++] = 0xfffd; continue; } - - if (c < 0x10000) { - utf16buf[out++] = c; - } else { - c -= 0x10000; - utf16buf[out++] = 0xd800 | ((c >> 10) & 0x3ff); - utf16buf[out++] = 0xdc00 | (c & 0x3ff); - } - } - - // shrinkBuf(utf16buf, out) - if (utf16buf.length !== out) { - if(utf16buf.subarray) { - utf16buf = utf16buf.subarray(0, out); - } else { - utf16buf.length = out; - } - } - - // return String.fromCharCode.apply(null, utf16buf); - return utils.applyFromCharCode(utf16buf); -}; - - -// That's all for the pako functions. - - -/** - * Transform a javascript string into an array (typed if possible) of bytes, - * UTF-8 encoded. - * @param {String} str the string to encode - * @return {Array|Uint8Array|Buffer} the UTF-8 encoded string. - */ -exports.utf8encode = function utf8encode(str) { - if (support.nodebuffer) { - return nodejsUtils.newBufferFrom(str, "utf-8"); - } - - return string2buf(str); -}; - - -/** - * Transform a bytes array (or a representation) representing an UTF-8 encoded - * string into a javascript string. - * @param {Array|Uint8Array|Buffer} buf the data de decode - * @return {String} the decoded string. - */ -exports.utf8decode = function utf8decode(buf) { - if (support.nodebuffer) { - return utils.transformTo("nodebuffer", buf).toString("utf-8"); - } - - buf = utils.transformTo(support.uint8array ? "uint8array" : "array", buf); - - return buf2string(buf); -}; - -/** - * A worker to decode utf8 encoded binary chunks into string chunks. - * @constructor - */ -function Utf8DecodeWorker() { - GenericWorker.call(this, "utf-8 decode"); - // the last bytes if a chunk didn't end with a complete codepoint. - this.leftOver = null; -} -utils.inherits(Utf8DecodeWorker, GenericWorker); - -/** - * @see GenericWorker.processChunk - */ -Utf8DecodeWorker.prototype.processChunk = function (chunk) { - - var data = utils.transformTo(support.uint8array ? "uint8array" : "array", chunk.data); - - // 1st step, re-use what's left of the previous chunk - if (this.leftOver && this.leftOver.length) { - if(support.uint8array) { - var previousData = data; - data = new Uint8Array(previousData.length + this.leftOver.length); - data.set(this.leftOver, 0); - data.set(previousData, this.leftOver.length); - } else { - data = this.leftOver.concat(data); - } - this.leftOver = null; - } - - var nextBoundary = utf8border(data); - var usableData = data; - if (nextBoundary !== data.length) { - if (support.uint8array) { - usableData = data.subarray(0, nextBoundary); - this.leftOver = data.subarray(nextBoundary, data.length); - } else { - usableData = data.slice(0, nextBoundary); - this.leftOver = data.slice(nextBoundary, data.length); - } - } - - this.push({ - data : exports.utf8decode(usableData), - meta : chunk.meta - }); -}; - -/** - * @see GenericWorker.flush - */ -Utf8DecodeWorker.prototype.flush = function () { - if(this.leftOver && this.leftOver.length) { - this.push({ - data : exports.utf8decode(this.leftOver), - meta : {} - }); - this.leftOver = null; - } -}; -exports.Utf8DecodeWorker = Utf8DecodeWorker; - -/** - * A worker to endcode string chunks into utf8 encoded binary chunks. - * @constructor - */ -function Utf8EncodeWorker() { - GenericWorker.call(this, "utf-8 encode"); -} -utils.inherits(Utf8EncodeWorker, GenericWorker); - -/** - * @see GenericWorker.processChunk - */ -Utf8EncodeWorker.prototype.processChunk = function (chunk) { - this.push({ - data : exports.utf8encode(chunk.data), - meta : chunk.meta - }); -}; -exports.Utf8EncodeWorker = Utf8EncodeWorker; - -},{"./nodejsUtils":14,"./stream/GenericWorker":28,"./support":30,"./utils":32}],32:[function(require,module,exports){ -'use strict'; - -var support = require('./support'); -var base64 = require('./base64'); -var nodejsUtils = require('./nodejsUtils'); -var setImmediate = require('set-immediate-shim'); -var external = require("./external"); - - -/** - * Convert a string that pass as a "binary string": it should represent a byte - * array but may have > 255 char codes. Be sure to take only the first byte - * and returns the byte array. - * @param {String} str the string to transform. - * @return {Array|Uint8Array} the string in a binary format. - */ -function string2binary(str) { - var result = null; - if (support.uint8array) { - result = new Uint8Array(str.length); - } else { - result = new Array(str.length); - } - return stringToArrayLike(str, result); -} - -/** - * Create a new blob with the given content and the given type. - * @param {String|ArrayBuffer} part the content to put in the blob. DO NOT use - * an Uint8Array because the stock browser of android 4 won't accept it (it - * will be silently converted to a string, "[object Uint8Array]"). - * - * Use only ONE part to build the blob to avoid a memory leak in IE11 / Edge: - * when a large amount of Array is used to create the Blob, the amount of - * memory consumed is nearly 100 times the original data amount. - * - * @param {String} type the mime type of the blob. - * @return {Blob} the created blob. - */ -exports.newBlob = function(part, type) { - exports.checkSupport("blob"); - - try { - // Blob constructor - return new Blob([part], { - type: type - }); - } - catch (e) { - - try { - // deprecated, browser only, old way - var Builder = self.BlobBuilder || self.WebKitBlobBuilder || self.MozBlobBuilder || self.MSBlobBuilder; - var builder = new Builder(); - builder.append(part); - return builder.getBlob(type); - } - catch (e) { - - // well, fuck ?! - throw new Error("Bug : can't construct the Blob."); - } - } - - -}; -/** - * The identity function. - * @param {Object} input the input. - * @return {Object} the same input. - */ -function identity(input) { - return input; -} - -/** - * Fill in an array with a string. - * @param {String} str the string to use. - * @param {Array|ArrayBuffer|Uint8Array|Buffer} array the array to fill in (will be mutated). - * @return {Array|ArrayBuffer|Uint8Array|Buffer} the updated array. - */ -function stringToArrayLike(str, array) { - for (var i = 0; i < str.length; ++i) { - array[i] = str.charCodeAt(i) & 0xFF; - } - return array; -} - -/** - * An helper for the function arrayLikeToString. - * This contains static information and functions that - * can be optimized by the browser JIT compiler. - */ -var arrayToStringHelper = { - /** - * Transform an array of int into a string, chunk by chunk. - * See the performances notes on arrayLikeToString. - * @param {Array|ArrayBuffer|Uint8Array|Buffer} array the array to transform. - * @param {String} type the type of the array. - * @param {Integer} chunk the chunk size. - * @return {String} the resulting string. - * @throws Error if the chunk is too big for the stack. - */ - stringifyByChunk: function(array, type, chunk) { - var result = [], k = 0, len = array.length; - // shortcut - if (len <= chunk) { - return String.fromCharCode.apply(null, array); - } - while (k < len) { - if (type === "array" || type === "nodebuffer") { - result.push(String.fromCharCode.apply(null, array.slice(k, Math.min(k + chunk, len)))); - } - else { - result.push(String.fromCharCode.apply(null, array.subarray(k, Math.min(k + chunk, len)))); - } - k += chunk; - } - return result.join(""); - }, - /** - * Call String.fromCharCode on every item in the array. - * This is the naive implementation, which generate A LOT of intermediate string. - * This should be used when everything else fail. - * @param {Array|ArrayBuffer|Uint8Array|Buffer} array the array to transform. - * @return {String} the result. - */ - stringifyByChar: function(array){ - var resultStr = ""; - for(var i = 0; i < array.length; i++) { - resultStr += String.fromCharCode(array[i]); - } - return resultStr; - }, - applyCanBeUsed : { - /** - * true if the browser accepts to use String.fromCharCode on Uint8Array - */ - uint8array : (function () { - try { - return support.uint8array && String.fromCharCode.apply(null, new Uint8Array(1)).length === 1; - } catch (e) { - return false; - } - })(), - /** - * true if the browser accepts to use String.fromCharCode on nodejs Buffer. - */ - nodebuffer : (function () { - try { - return support.nodebuffer && String.fromCharCode.apply(null, nodejsUtils.allocBuffer(1)).length === 1; - } catch (e) { - return false; - } - })() - } -}; - -/** - * Transform an array-like object to a string. - * @param {Array|ArrayBuffer|Uint8Array|Buffer} array the array to transform. - * @return {String} the result. - */ -function arrayLikeToString(array) { - // Performances notes : - // -------------------- - // String.fromCharCode.apply(null, array) is the fastest, see - // see http://jsperf.com/converting-a-uint8array-to-a-string/2 - // but the stack is limited (and we can get huge arrays !). - // - // result += String.fromCharCode(array[i]); generate too many strings ! - // - // This code is inspired by http://jsperf.com/arraybuffer-to-string-apply-performance/2 - // TODO : we now have workers that split the work. Do we still need that ? - var chunk = 65536, - type = exports.getTypeOf(array), - canUseApply = true; - if (type === "uint8array") { - canUseApply = arrayToStringHelper.applyCanBeUsed.uint8array; - } else if (type === "nodebuffer") { - canUseApply = arrayToStringHelper.applyCanBeUsed.nodebuffer; - } - - if (canUseApply) { - while (chunk > 1) { - try { - return arrayToStringHelper.stringifyByChunk(array, type, chunk); - } catch (e) { - chunk = Math.floor(chunk / 2); - } - } - } - - // no apply or chunk error : slow and painful algorithm - // default browser on android 4.* - return arrayToStringHelper.stringifyByChar(array); -} - -exports.applyFromCharCode = arrayLikeToString; - - -/** - * Copy the data from an array-like to an other array-like. - * @param {Array|ArrayBuffer|Uint8Array|Buffer} arrayFrom the origin array. - * @param {Array|ArrayBuffer|Uint8Array|Buffer} arrayTo the destination array which will be mutated. - * @return {Array|ArrayBuffer|Uint8Array|Buffer} the updated destination array. - */ -function arrayLikeToArrayLike(arrayFrom, arrayTo) { - for (var i = 0; i < arrayFrom.length; i++) { - arrayTo[i] = arrayFrom[i]; - } - return arrayTo; -} - -// a matrix containing functions to transform everything into everything. -var transform = {}; - -// string to ? -transform["string"] = { - "string": identity, - "array": function(input) { - return stringToArrayLike(input, new Array(input.length)); - }, - "arraybuffer": function(input) { - return transform["string"]["uint8array"](input).buffer; - }, - "uint8array": function(input) { - return stringToArrayLike(input, new Uint8Array(input.length)); - }, - "nodebuffer": function(input) { - return stringToArrayLike(input, nodejsUtils.allocBuffer(input.length)); - } -}; - -// array to ? -transform["array"] = { - "string": arrayLikeToString, - "array": identity, - "arraybuffer": function(input) { - return (new Uint8Array(input)).buffer; - }, - "uint8array": function(input) { - return new Uint8Array(input); - }, - "nodebuffer": function(input) { - return nodejsUtils.newBufferFrom(input); - } -}; - -// arraybuffer to ? -transform["arraybuffer"] = { - "string": function(input) { - return arrayLikeToString(new Uint8Array(input)); - }, - "array": function(input) { - return arrayLikeToArrayLike(new Uint8Array(input), new Array(input.byteLength)); - }, - "arraybuffer": identity, - "uint8array": function(input) { - return new Uint8Array(input); - }, - "nodebuffer": function(input) { - return nodejsUtils.newBufferFrom(new Uint8Array(input)); - } -}; - -// uint8array to ? -transform["uint8array"] = { - "string": arrayLikeToString, - "array": function(input) { - return arrayLikeToArrayLike(input, new Array(input.length)); - }, - "arraybuffer": function(input) { - return input.buffer; - }, - "uint8array": identity, - "nodebuffer": function(input) { - return nodejsUtils.newBufferFrom(input); - } -}; - -// nodebuffer to ? -transform["nodebuffer"] = { - "string": arrayLikeToString, - "array": function(input) { - return arrayLikeToArrayLike(input, new Array(input.length)); - }, - "arraybuffer": function(input) { - return transform["nodebuffer"]["uint8array"](input).buffer; - }, - "uint8array": function(input) { - return arrayLikeToArrayLike(input, new Uint8Array(input.length)); - }, - "nodebuffer": identity -}; - -/** - * Transform an input into any type. - * The supported output type are : string, array, uint8array, arraybuffer, nodebuffer. - * If no output type is specified, the unmodified input will be returned. - * @param {String} outputType the output type. - * @param {String|Array|ArrayBuffer|Uint8Array|Buffer} input the input to convert. - * @throws {Error} an Error if the browser doesn't support the requested output type. - */ -exports.transformTo = function(outputType, input) { - if (!input) { - // undefined, null, etc - // an empty string won't harm. - input = ""; - } - if (!outputType) { - return input; - } - exports.checkSupport(outputType); - var inputType = exports.getTypeOf(input); - var result = transform[inputType][outputType](input); - return result; -}; - -/** - * Return the type of the input. - * The type will be in a format valid for JSZip.utils.transformTo : string, array, uint8array, arraybuffer. - * @param {Object} input the input to identify. - * @return {String} the (lowercase) type of the input. - */ -exports.getTypeOf = function(input) { - if (typeof input === "string") { - return "string"; - } - if (Object.prototype.toString.call(input) === "[object Array]") { - return "array"; - } - if (support.nodebuffer && nodejsUtils.isBuffer(input)) { - return "nodebuffer"; - } - if (support.uint8array && input instanceof Uint8Array) { - return "uint8array"; - } - if (support.arraybuffer && input instanceof ArrayBuffer) { - return "arraybuffer"; - } -}; - -/** - * Throw an exception if the type is not supported. - * @param {String} type the type to check. - * @throws {Error} an Error if the browser doesn't support the requested type. - */ -exports.checkSupport = function(type) { - var supported = support[type.toLowerCase()]; - if (!supported) { - throw new Error(type + " is not supported by this platform"); - } -}; - -exports.MAX_VALUE_16BITS = 65535; -exports.MAX_VALUE_32BITS = -1; // well, "\xFF\xFF\xFF\xFF\xFF\xFF\xFF\xFF" is parsed as -1 - -/** - * Prettify a string read as binary. - * @param {string} str the string to prettify. - * @return {string} a pretty string. - */ -exports.pretty = function(str) { - var res = '', - code, i; - for (i = 0; i < (str || "").length; i++) { - code = str.charCodeAt(i); - res += '\\x' + (code < 16 ? "0" : "") + code.toString(16).toUpperCase(); - } - return res; -}; - -/** - * Defer the call of a function. - * @param {Function} callback the function to call asynchronously. - * @param {Array} args the arguments to give to the callback. - */ -exports.delay = function(callback, args, self) { - setImmediate(function () { - callback.apply(self || null, args || []); - }); -}; - -/** - * Extends a prototype with an other, without calling a constructor with - * side effects. Inspired by nodejs' `utils.inherits` - * @param {Function} ctor the constructor to augment - * @param {Function} superCtor the parent constructor to use - */ -exports.inherits = function (ctor, superCtor) { - var Obj = function() {}; - Obj.prototype = superCtor.prototype; - ctor.prototype = new Obj(); -}; - -/** - * Merge the objects passed as parameters into a new one. - * @private - * @param {...Object} var_args All objects to merge. - * @return {Object} a new object with the data of the others. - */ -exports.extend = function() { - var result = {}, i, attr; - for (i = 0; i < arguments.length; i++) { // arguments is not enumerable in some browsers - for (attr in arguments[i]) { - if (arguments[i].hasOwnProperty(attr) && typeof result[attr] === "undefined") { - result[attr] = arguments[i][attr]; - } - } - } - return result; -}; - -/** - * Transform arbitrary content into a Promise. - * @param {String} name a name for the content being processed. - * @param {Object} inputData the content to process. - * @param {Boolean} isBinary true if the content is not an unicode string - * @param {Boolean} isOptimizedBinaryString true if the string content only has one byte per character. - * @param {Boolean} isBase64 true if the string content is encoded with base64. - * @return {Promise} a promise in a format usable by JSZip. - */ -exports.prepareContent = function(name, inputData, isBinary, isOptimizedBinaryString, isBase64) { - - // if inputData is already a promise, this flatten it. - var promise = external.Promise.resolve(inputData).then(function(data) { - - - var isBlob = support.blob && (data instanceof Blob || ['[object File]', '[object Blob]'].indexOf(Object.prototype.toString.call(data)) !== -1); - - if (isBlob && typeof FileReader !== "undefined") { - return new external.Promise(function (resolve, reject) { - var reader = new FileReader(); - - reader.onload = function(e) { - resolve(e.target.result); - }; - reader.onerror = function(e) { - reject(e.target.error); - }; - reader.readAsArrayBuffer(data); - }); - } else { - return data; - } - }); - - return promise.then(function(data) { - var dataType = exports.getTypeOf(data); - - if (!dataType) { - return external.Promise.reject( - new Error("Can't read the data of '" + name + "'. Is it " + - "in a supported JavaScript type (String, Blob, ArrayBuffer, etc) ?") - ); - } - // special case : it's way easier to work with Uint8Array than with ArrayBuffer - if (dataType === "arraybuffer") { - data = exports.transformTo("uint8array", data); - } else if (dataType === "string") { - if (isBase64) { - data = base64.decode(data); - } - else if (isBinary) { - // optimizedBinaryString === true means that the file has already been filtered with a 0xFF mask - if (isOptimizedBinaryString !== true) { - // this is a string, not in a base64 format. - // Be sure that this is a correct "binary string" - data = string2binary(data); - } - } - } - return data; - }); -}; - -},{"./base64":1,"./external":6,"./nodejsUtils":14,"./support":30,"set-immediate-shim":54}],33:[function(require,module,exports){ -'use strict'; -var readerFor = require('./reader/readerFor'); -var utils = require('./utils'); -var sig = require('./signature'); -var ZipEntry = require('./zipEntry'); -var utf8 = require('./utf8'); -var support = require('./support'); -// class ZipEntries {{{ -/** - * All the entries in the zip file. - * @constructor - * @param {Object} loadOptions Options for loading the stream. - */ -function ZipEntries(loadOptions) { - this.files = []; - this.loadOptions = loadOptions; -} -ZipEntries.prototype = { - /** - * Check that the reader is on the specified signature. - * @param {string} expectedSignature the expected signature. - * @throws {Error} if it is an other signature. - */ - checkSignature: function(expectedSignature) { - if (!this.reader.readAndCheckSignature(expectedSignature)) { - this.reader.index -= 4; - var signature = this.reader.readString(4); - throw new Error("Corrupted zip or bug: unexpected signature " + "(" + utils.pretty(signature) + ", expected " + utils.pretty(expectedSignature) + ")"); - } - }, - /** - * Check if the given signature is at the given index. - * @param {number} askedIndex the index to check. - * @param {string} expectedSignature the signature to expect. - * @return {boolean} true if the signature is here, false otherwise. - */ - isSignature: function(askedIndex, expectedSignature) { - var currentIndex = this.reader.index; - this.reader.setIndex(askedIndex); - var signature = this.reader.readString(4); - var result = signature === expectedSignature; - this.reader.setIndex(currentIndex); - return result; - }, - /** - * Read the end of the central directory. - */ - readBlockEndOfCentral: function() { - this.diskNumber = this.reader.readInt(2); - this.diskWithCentralDirStart = this.reader.readInt(2); - this.centralDirRecordsOnThisDisk = this.reader.readInt(2); - this.centralDirRecords = this.reader.readInt(2); - this.centralDirSize = this.reader.readInt(4); - this.centralDirOffset = this.reader.readInt(4); - - this.zipCommentLength = this.reader.readInt(2); - // warning : the encoding depends of the system locale - // On a linux machine with LANG=en_US.utf8, this field is utf8 encoded. - // On a windows machine, this field is encoded with the localized windows code page. - var zipComment = this.reader.readData(this.zipCommentLength); - var decodeParamType = support.uint8array ? "uint8array" : "array"; - // To get consistent behavior with the generation part, we will assume that - // this is utf8 encoded unless specified otherwise. - var decodeContent = utils.transformTo(decodeParamType, zipComment); - this.zipComment = this.loadOptions.decodeFileName(decodeContent); - }, - /** - * Read the end of the Zip 64 central directory. - * Not merged with the method readEndOfCentral : - * The end of central can coexist with its Zip64 brother, - * I don't want to read the wrong number of bytes ! - */ - readBlockZip64EndOfCentral: function() { - this.zip64EndOfCentralSize = this.reader.readInt(8); - this.reader.skip(4); - // this.versionMadeBy = this.reader.readString(2); - // this.versionNeeded = this.reader.readInt(2); - this.diskNumber = this.reader.readInt(4); - this.diskWithCentralDirStart = this.reader.readInt(4); - this.centralDirRecordsOnThisDisk = this.reader.readInt(8); - this.centralDirRecords = this.reader.readInt(8); - this.centralDirSize = this.reader.readInt(8); - this.centralDirOffset = this.reader.readInt(8); - - this.zip64ExtensibleData = {}; - var extraDataSize = this.zip64EndOfCentralSize - 44, - index = 0, - extraFieldId, - extraFieldLength, - extraFieldValue; - while (index < extraDataSize) { - extraFieldId = this.reader.readInt(2); - extraFieldLength = this.reader.readInt(4); - extraFieldValue = this.reader.readData(extraFieldLength); - this.zip64ExtensibleData[extraFieldId] = { - id: extraFieldId, - length: extraFieldLength, - value: extraFieldValue - }; - } - }, - /** - * Read the end of the Zip 64 central directory locator. - */ - readBlockZip64EndOfCentralLocator: function() { - this.diskWithZip64CentralDirStart = this.reader.readInt(4); - this.relativeOffsetEndOfZip64CentralDir = this.reader.readInt(8); - this.disksCount = this.reader.readInt(4); - if (this.disksCount > 1) { - throw new Error("Multi-volumes zip are not supported"); - } - }, - /** - * Read the local files, based on the offset read in the central part. - */ - readLocalFiles: function() { - var i, file; - for (i = 0; i < this.files.length; i++) { - file = this.files[i]; - this.reader.setIndex(file.localHeaderOffset); - this.checkSignature(sig.LOCAL_FILE_HEADER); - file.readLocalPart(this.reader); - file.handleUTF8(); - file.processAttributes(); - } - }, - /** - * Read the central directory. - */ - readCentralDir: function() { - var file; - - this.reader.setIndex(this.centralDirOffset); - while (this.reader.readAndCheckSignature(sig.CENTRAL_FILE_HEADER)) { - file = new ZipEntry({ - zip64: this.zip64 - }, this.loadOptions); - file.readCentralPart(this.reader); - this.files.push(file); - } - - if (this.centralDirRecords !== this.files.length) { - if (this.centralDirRecords !== 0 && this.files.length === 0) { - // We expected some records but couldn't find ANY. - // This is really suspicious, as if something went wrong. - throw new Error("Corrupted zip or bug: expected " + this.centralDirRecords + " records in central dir, got " + this.files.length); - } else { - // We found some records but not all. - // Something is wrong but we got something for the user: no error here. - // console.warn("expected", this.centralDirRecords, "records in central dir, got", this.files.length); - } - } - }, - /** - * Read the end of central directory. - */ - readEndOfCentral: function() { - var offset = this.reader.lastIndexOfSignature(sig.CENTRAL_DIRECTORY_END); - if (offset < 0) { - // Check if the content is a truncated zip or complete garbage. - // A "LOCAL_FILE_HEADER" is not required at the beginning (auto - // extractible zip for example) but it can give a good hint. - // If an ajax request was used without responseType, we will also - // get unreadable data. - var isGarbage = !this.isSignature(0, sig.LOCAL_FILE_HEADER); - - if (isGarbage) { - throw new Error("Can't find end of central directory : is this a zip file ? " + - "If it is, see https://stuk.github.io/jszip/documentation/howto/read_zip.html"); - } else { - throw new Error("Corrupted zip: can't find end of central directory"); - } - - } - this.reader.setIndex(offset); - var endOfCentralDirOffset = offset; - this.checkSignature(sig.CENTRAL_DIRECTORY_END); - this.readBlockEndOfCentral(); - - - /* extract from the zip spec : - 4) If one of the fields in the end of central directory - record is too small to hold required data, the field - should be set to -1 (0xFFFF or 0xFFFFFFFF) and the - ZIP64 format record should be created. - 5) The end of central directory record and the - Zip64 end of central directory locator record must - reside on the same disk when splitting or spanning - an archive. - */ - if (this.diskNumber === utils.MAX_VALUE_16BITS || this.diskWithCentralDirStart === utils.MAX_VALUE_16BITS || this.centralDirRecordsOnThisDisk === utils.MAX_VALUE_16BITS || this.centralDirRecords === utils.MAX_VALUE_16BITS || this.centralDirSize === utils.MAX_VALUE_32BITS || this.centralDirOffset === utils.MAX_VALUE_32BITS) { - this.zip64 = true; - - /* - Warning : the zip64 extension is supported, but ONLY if the 64bits integer read from - the zip file can fit into a 32bits integer. This cannot be solved : JavaScript represents - all numbers as 64-bit double precision IEEE 754 floating point numbers. - So, we have 53bits for integers and bitwise operations treat everything as 32bits. - see https://developer.mozilla.org/en-US/docs/JavaScript/Reference/Operators/Bitwise_Operators - and http://www.ecma-international.org/publications/files/ECMA-ST/ECMA-262.pdf section 8.5 - */ - - // should look for a zip64 EOCD locator - offset = this.reader.lastIndexOfSignature(sig.ZIP64_CENTRAL_DIRECTORY_LOCATOR); - if (offset < 0) { - throw new Error("Corrupted zip: can't find the ZIP64 end of central directory locator"); - } - this.reader.setIndex(offset); - this.checkSignature(sig.ZIP64_CENTRAL_DIRECTORY_LOCATOR); - this.readBlockZip64EndOfCentralLocator(); - - // now the zip64 EOCD record - if (!this.isSignature(this.relativeOffsetEndOfZip64CentralDir, sig.ZIP64_CENTRAL_DIRECTORY_END)) { - // console.warn("ZIP64 end of central directory not where expected."); - this.relativeOffsetEndOfZip64CentralDir = this.reader.lastIndexOfSignature(sig.ZIP64_CENTRAL_DIRECTORY_END); - if (this.relativeOffsetEndOfZip64CentralDir < 0) { - throw new Error("Corrupted zip: can't find the ZIP64 end of central directory"); - } - } - this.reader.setIndex(this.relativeOffsetEndOfZip64CentralDir); - this.checkSignature(sig.ZIP64_CENTRAL_DIRECTORY_END); - this.readBlockZip64EndOfCentral(); - } - - var expectedEndOfCentralDirOffset = this.centralDirOffset + this.centralDirSize; - if (this.zip64) { - expectedEndOfCentralDirOffset += 20; // end of central dir 64 locator - expectedEndOfCentralDirOffset += 12 /* should not include the leading 12 bytes */ + this.zip64EndOfCentralSize; - } - - var extraBytes = endOfCentralDirOffset - expectedEndOfCentralDirOffset; - - if (extraBytes > 0) { - // console.warn(extraBytes, "extra bytes at beginning or within zipfile"); - if (this.isSignature(endOfCentralDirOffset, sig.CENTRAL_FILE_HEADER)) { - // The offsets seem wrong, but we have something at the specified offset. - // So… we keep it. - } else { - // the offset is wrong, update the "zero" of the reader - // this happens if data has been prepended (crx files for example) - this.reader.zero = extraBytes; - } - } else if (extraBytes < 0) { - throw new Error("Corrupted zip: missing " + Math.abs(extraBytes) + " bytes."); - } - }, - prepareReader: function(data) { - this.reader = readerFor(data); - }, - /** - * Read a zip file and create ZipEntries. - * @param {String|ArrayBuffer|Uint8Array|Buffer} data the binary string representing a zip file. - */ - load: function(data) { - this.prepareReader(data); - this.readEndOfCentral(); - this.readCentralDir(); - this.readLocalFiles(); - } -}; -// }}} end of ZipEntries -module.exports = ZipEntries; - -},{"./reader/readerFor":22,"./signature":23,"./support":30,"./utf8":31,"./utils":32,"./zipEntry":34}],34:[function(require,module,exports){ -'use strict'; -var readerFor = require('./reader/readerFor'); -var utils = require('./utils'); -var CompressedObject = require('./compressedObject'); -var crc32fn = require('./crc32'); -var utf8 = require('./utf8'); -var compressions = require('./compressions'); -var support = require('./support'); - -var MADE_BY_DOS = 0x00; -var MADE_BY_UNIX = 0x03; - -/** - * Find a compression registered in JSZip. - * @param {string} compressionMethod the method magic to find. - * @return {Object|null} the JSZip compression object, null if none found. - */ -var findCompression = function(compressionMethod) { - for (var method in compressions) { - if (!compressions.hasOwnProperty(method)) { - continue; - } - if (compressions[method].magic === compressionMethod) { - return compressions[method]; - } - } - return null; -}; - -// class ZipEntry {{{ -/** - * An entry in the zip file. - * @constructor - * @param {Object} options Options of the current file. - * @param {Object} loadOptions Options for loading the stream. - */ -function ZipEntry(options, loadOptions) { - this.options = options; - this.loadOptions = loadOptions; -} -ZipEntry.prototype = { - /** - * say if the file is encrypted. - * @return {boolean} true if the file is encrypted, false otherwise. - */ - isEncrypted: function() { - // bit 1 is set - return (this.bitFlag & 0x0001) === 0x0001; - }, - /** - * say if the file has utf-8 filename/comment. - * @return {boolean} true if the filename/comment is in utf-8, false otherwise. - */ - useUTF8: function() { - // bit 11 is set - return (this.bitFlag & 0x0800) === 0x0800; - }, - /** - * Read the local part of a zip file and add the info in this object. - * @param {DataReader} reader the reader to use. - */ - readLocalPart: function(reader) { - var compression, localExtraFieldsLength; - - // we already know everything from the central dir ! - // If the central dir data are false, we are doomed. - // On the bright side, the local part is scary : zip64, data descriptors, both, etc. - // The less data we get here, the more reliable this should be. - // Let's skip the whole header and dash to the data ! - reader.skip(22); - // in some zip created on windows, the filename stored in the central dir contains \ instead of /. - // Strangely, the filename here is OK. - // I would love to treat these zip files as corrupted (see http://www.info-zip.org/FAQ.html#backslashes - // or APPNOTE#4.4.17.1, "All slashes MUST be forward slashes '/'") but there are a lot of bad zip generators... - // Search "unzip mismatching "local" filename continuing with "central" filename version" on - // the internet. - // - // I think I see the logic here : the central directory is used to display - // content and the local directory is used to extract the files. Mixing / and \ - // may be used to display \ to windows users and use / when extracting the files. - // Unfortunately, this lead also to some issues : http://seclists.org/fulldisclosure/2009/Sep/394 - this.fileNameLength = reader.readInt(2); - localExtraFieldsLength = reader.readInt(2); // can't be sure this will be the same as the central dir - // the fileName is stored as binary data, the handleUTF8 method will take care of the encoding. - this.fileName = reader.readData(this.fileNameLength); - reader.skip(localExtraFieldsLength); - - if (this.compressedSize === -1 || this.uncompressedSize === -1) { - throw new Error("Bug or corrupted zip : didn't get enough information from the central directory " + "(compressedSize === -1 || uncompressedSize === -1)"); - } - - compression = findCompression(this.compressionMethod); - if (compression === null) { // no compression found - throw new Error("Corrupted zip : compression " + utils.pretty(this.compressionMethod) + " unknown (inner file : " + utils.transformTo("string", this.fileName) + ")"); - } - this.decompressed = new CompressedObject(this.compressedSize, this.uncompressedSize, this.crc32, compression, reader.readData(this.compressedSize)); - }, - - /** - * Read the central part of a zip file and add the info in this object. - * @param {DataReader} reader the reader to use. - */ - readCentralPart: function(reader) { - this.versionMadeBy = reader.readInt(2); - reader.skip(2); - // this.versionNeeded = reader.readInt(2); - this.bitFlag = reader.readInt(2); - this.compressionMethod = reader.readString(2); - this.date = reader.readDate(); - this.crc32 = reader.readInt(4); - this.compressedSize = reader.readInt(4); - this.uncompressedSize = reader.readInt(4); - var fileNameLength = reader.readInt(2); - this.extraFieldsLength = reader.readInt(2); - this.fileCommentLength = reader.readInt(2); - this.diskNumberStart = reader.readInt(2); - this.internalFileAttributes = reader.readInt(2); - this.externalFileAttributes = reader.readInt(4); - this.localHeaderOffset = reader.readInt(4); - - if (this.isEncrypted()) { - throw new Error("Encrypted zip are not supported"); - } - - // will be read in the local part, see the comments there - reader.skip(fileNameLength); - this.readExtraFields(reader); - this.parseZIP64ExtraField(reader); - this.fileComment = reader.readData(this.fileCommentLength); - }, - - /** - * Parse the external file attributes and get the unix/dos permissions. - */ - processAttributes: function () { - this.unixPermissions = null; - this.dosPermissions = null; - var madeBy = this.versionMadeBy >> 8; - - // Check if we have the DOS directory flag set. - // We look for it in the DOS and UNIX permissions - // but some unknown platform could set it as a compatibility flag. - this.dir = this.externalFileAttributes & 0x0010 ? true : false; - - if(madeBy === MADE_BY_DOS) { - // first 6 bits (0 to 5) - this.dosPermissions = this.externalFileAttributes & 0x3F; - } - - if(madeBy === MADE_BY_UNIX) { - this.unixPermissions = (this.externalFileAttributes >> 16) & 0xFFFF; - // the octal permissions are in (this.unixPermissions & 0x01FF).toString(8); - } - - // fail safe : if the name ends with a / it probably means a folder - if (!this.dir && this.fileNameStr.slice(-1) === '/') { - this.dir = true; - } - }, - - /** - * Parse the ZIP64 extra field and merge the info in the current ZipEntry. - * @param {DataReader} reader the reader to use. - */ - parseZIP64ExtraField: function(reader) { - - if (!this.extraFields[0x0001]) { - return; - } - - // should be something, preparing the extra reader - var extraReader = readerFor(this.extraFields[0x0001].value); - - // I really hope that these 64bits integer can fit in 32 bits integer, because js - // won't let us have more. - if (this.uncompressedSize === utils.MAX_VALUE_32BITS) { - this.uncompressedSize = extraReader.readInt(8); - } - if (this.compressedSize === utils.MAX_VALUE_32BITS) { - this.compressedSize = extraReader.readInt(8); - } - if (this.localHeaderOffset === utils.MAX_VALUE_32BITS) { - this.localHeaderOffset = extraReader.readInt(8); - } - if (this.diskNumberStart === utils.MAX_VALUE_32BITS) { - this.diskNumberStart = extraReader.readInt(4); - } - }, - /** - * Read the central part of a zip file and add the info in this object. - * @param {DataReader} reader the reader to use. - */ - readExtraFields: function(reader) { - var end = reader.index + this.extraFieldsLength, - extraFieldId, - extraFieldLength, - extraFieldValue; - - if (!this.extraFields) { - this.extraFields = {}; - } - - while (reader.index + 4 < end) { - extraFieldId = reader.readInt(2); - extraFieldLength = reader.readInt(2); - extraFieldValue = reader.readData(extraFieldLength); - - this.extraFields[extraFieldId] = { - id: extraFieldId, - length: extraFieldLength, - value: extraFieldValue - }; - } - - reader.setIndex(end); - }, - /** - * Apply an UTF8 transformation if needed. - */ - handleUTF8: function() { - var decodeParamType = support.uint8array ? "uint8array" : "array"; - if (this.useUTF8()) { - this.fileNameStr = utf8.utf8decode(this.fileName); - this.fileCommentStr = utf8.utf8decode(this.fileComment); - } else { - var upath = this.findExtraFieldUnicodePath(); - if (upath !== null) { - this.fileNameStr = upath; - } else { - // ASCII text or unsupported code page - var fileNameByteArray = utils.transformTo(decodeParamType, this.fileName); - this.fileNameStr = this.loadOptions.decodeFileName(fileNameByteArray); - } - - var ucomment = this.findExtraFieldUnicodeComment(); - if (ucomment !== null) { - this.fileCommentStr = ucomment; - } else { - // ASCII text or unsupported code page - var commentByteArray = utils.transformTo(decodeParamType, this.fileComment); - this.fileCommentStr = this.loadOptions.decodeFileName(commentByteArray); - } - } - }, - - /** - * Find the unicode path declared in the extra field, if any. - * @return {String} the unicode path, null otherwise. - */ - findExtraFieldUnicodePath: function() { - var upathField = this.extraFields[0x7075]; - if (upathField) { - var extraReader = readerFor(upathField.value); - - // wrong version - if (extraReader.readInt(1) !== 1) { - return null; - } - - // the crc of the filename changed, this field is out of date. - if (crc32fn(this.fileName) !== extraReader.readInt(4)) { - return null; - } - - return utf8.utf8decode(extraReader.readData(upathField.length - 5)); - } - return null; - }, - - /** - * Find the unicode comment declared in the extra field, if any. - * @return {String} the unicode comment, null otherwise. - */ - findExtraFieldUnicodeComment: function() { - var ucommentField = this.extraFields[0x6375]; - if (ucommentField) { - var extraReader = readerFor(ucommentField.value); - - // wrong version - if (extraReader.readInt(1) !== 1) { - return null; - } - - // the crc of the comment changed, this field is out of date. - if (crc32fn(this.fileComment) !== extraReader.readInt(4)) { - return null; - } - - return utf8.utf8decode(extraReader.readData(ucommentField.length - 5)); - } - return null; - } -}; -module.exports = ZipEntry; - -},{"./compressedObject":2,"./compressions":3,"./crc32":4,"./reader/readerFor":22,"./support":30,"./utf8":31,"./utils":32}],35:[function(require,module,exports){ -'use strict'; - -var StreamHelper = require('./stream/StreamHelper'); -var DataWorker = require('./stream/DataWorker'); -var utf8 = require('./utf8'); -var CompressedObject = require('./compressedObject'); -var GenericWorker = require('./stream/GenericWorker'); - -/** - * A simple object representing a file in the zip file. - * @constructor - * @param {string} name the name of the file - * @param {String|ArrayBuffer|Uint8Array|Buffer} data the data - * @param {Object} options the options of the file - */ -var ZipObject = function(name, data, options) { - this.name = name; - this.dir = options.dir; - this.date = options.date; - this.comment = options.comment; - this.unixPermissions = options.unixPermissions; - this.dosPermissions = options.dosPermissions; - - this._data = data; - this._dataBinary = options.binary; - // keep only the compression - this.options = { - compression : options.compression, - compressionOptions : options.compressionOptions - }; -}; - -ZipObject.prototype = { - /** - * Create an internal stream for the content of this object. - * @param {String} type the type of each chunk. - * @return StreamHelper the stream. - */ - internalStream: function (type) { - var result = null, outputType = "string"; - try { - if (!type) { - throw new Error("No output type specified."); - } - outputType = type.toLowerCase(); - var askUnicodeString = outputType === "string" || outputType === "text"; - if (outputType === "binarystring" || outputType === "text") { - outputType = "string"; - } - result = this._decompressWorker(); - - var isUnicodeString = !this._dataBinary; - - if (isUnicodeString && !askUnicodeString) { - result = result.pipe(new utf8.Utf8EncodeWorker()); - } - if (!isUnicodeString && askUnicodeString) { - result = result.pipe(new utf8.Utf8DecodeWorker()); - } - } catch (e) { - result = new GenericWorker("error"); - result.error(e); - } - - return new StreamHelper(result, outputType, ""); - }, - - /** - * Prepare the content in the asked type. - * @param {String} type the type of the result. - * @param {Function} onUpdate a function to call on each internal update. - * @return Promise the promise of the result. - */ - async: function (type, onUpdate) { - return this.internalStream(type).accumulate(onUpdate); - }, - - /** - * Prepare the content as a nodejs stream. - * @param {String} type the type of each chunk. - * @param {Function} onUpdate a function to call on each internal update. - * @return Stream the stream. - */ - nodeStream: function (type, onUpdate) { - return this.internalStream(type || "nodebuffer").toNodejsStream(onUpdate); - }, - - /** - * Return a worker for the compressed content. - * @private - * @param {Object} compression the compression object to use. - * @param {Object} compressionOptions the options to use when compressing. - * @return Worker the worker. - */ - _compressWorker: function (compression, compressionOptions) { - if ( - this._data instanceof CompressedObject && - this._data.compression.magic === compression.magic - ) { - return this._data.getCompressedWorker(); - } else { - var result = this._decompressWorker(); - if(!this._dataBinary) { - result = result.pipe(new utf8.Utf8EncodeWorker()); - } - return CompressedObject.createWorkerFrom(result, compression, compressionOptions); - } - }, - /** - * Return a worker for the decompressed content. - * @private - * @return Worker the worker. - */ - _decompressWorker : function () { - if (this._data instanceof CompressedObject) { - return this._data.getContentWorker(); - } else if (this._data instanceof GenericWorker) { - return this._data; - } else { - return new DataWorker(this._data); - } - } -}; - -var removedMethods = ["asText", "asBinary", "asNodeBuffer", "asUint8Array", "asArrayBuffer"]; -var removedFn = function () { - throw new Error("This method has been removed in JSZip 3.0, please check the upgrade guide."); -}; - -for(var i = 0; i < removedMethods.length; i++) { - ZipObject.prototype[removedMethods[i]] = removedFn; -} -module.exports = ZipObject; - -},{"./compressedObject":2,"./stream/DataWorker":27,"./stream/GenericWorker":28,"./stream/StreamHelper":29,"./utf8":31}],36:[function(require,module,exports){ -(function (global){ -'use strict'; -var Mutation = global.MutationObserver || global.WebKitMutationObserver; - -var scheduleDrain; - -{ - if (Mutation) { - var called = 0; - var observer = new Mutation(nextTick); - var element = global.document.createTextNode(''); - observer.observe(element, { - characterData: true - }); - scheduleDrain = function () { - element.data = (called = ++called % 2); - }; - } else if (!global.setImmediate && typeof global.MessageChannel !== 'undefined') { - var channel = new global.MessageChannel(); - channel.port1.onmessage = nextTick; - scheduleDrain = function () { - channel.port2.postMessage(0); - }; - } else if ('document' in global && 'onreadystatechange' in global.document.createElement('script')) { - scheduleDrain = function () { - - // Create a - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -76,23 +75,24 @@ loadScripts(document, 'script');
  • swervelib.parser.json.modules.LocationJson
  • swervelib.math.Matter
  • swervelib.parser.json.ModuleJson
    • -
  • swervelib.parser.json.MotorConfigDouble
    • -
  • swervelib.parser.json.MotorConfigInt
    • -
  • swervelib.parser.json.PhysicalPropertiesJson
    • -
  • swervelib.simulation.ctre.PhysicsSim
    • -
  • swervelib.simulation.ctre.PhysicsSim.SimProfile +
  • edu.wpi.first.math.kinematics.Odometry<T> +
    • +
  • swervelib.parser.json.PhysicalPropertiesJson
    • +
  • swervelib.simulation.ctre.PhysicsSim
  • swervelib.parser.PIDFConfig
  • swervelib.parser.json.PIDFPropertiesJson
  • swervelib.parser.deserializer.PIDFRange
  • swervelib.encoders.SwerveAbsoluteEncoder @@ -102,16 +102,11 @@ loadScripts(document, 'script');
  • swervelib.SwerveDrive
  • swervelib.parser.SwerveDriveConfiguration
  • swervelib.parser.json.SwerveDriveJson
    • -
  • edu.wpi.first.math.kinematics.SwerveDriveKinematics +
  • edu.wpi.first.math.kinematics.SwerveDriveKinematics (implements edu.wpi.first.math.kinematics.Kinematics<S,P>)
    • -
  • edu.wpi.first.math.kinematics.SwerveDriveOdometry - -
  • swervelib.telemetry.SwerveDriveTelemetry
  • swervelib.imu.SwerveIMU
    • @@ -157,7 +151,6 @@ loadScripts(document, 'script');
    • java.lang.Enum<E> (implements java.lang.Comparable<T>, java.lang.constant.Constable, java.io.Serializable)
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this},_setOption:function(t,e){return"classes"===t&&this._setOptionClasses(e),this.options[t]=e,"disabled"===t&&this._setOptionDisabled(e),this},_setOptionClasses:function(e){var i,s,n;for(i in e)n=this.classesElementLookup[i],e[i]!==this.options.classes[i]&&n&&n.length&&(s=t(n.get()),this._removeClass(n,i),s.addClass(this._classes({element:s,keys:i,classes:e,add:!0})))},_setOptionDisabled:function(t){this._toggleClass(this.widget(),this.widgetFullName+"-disabled",null,!!t),t&&(this._removeClass(this.hoverable,null,"ui-state-hover"),this._removeClass(this.focusable,null,"ui-state-focus"))},enable:function(){return this._setOptions({disabled:!1})},disable:function(){return this._setOptions({disabled:!0})},_classes:function(e){function i(i,o){var a,r;for(r=0;i.length>r;r++)a=n.classesElementLookup[i[r]]||t(),a=e.add?t(t.unique(a.get().concat(e.element.get()))):t(a.not(e.element).get()),n.classesElementLookup[i[r]]=a,s.push(i[r]),o&&e.classes[i[r]]&&s.push(e.classes[i[r]])}var s=[],n=this;return e=t.extend({element:this.element,classes:this.options.classes||{}},e),this._on(e.element,{remove:"_untrackClassesElement"}),e.keys&&i(e.keys.match(/\S+/g)||[],!0),e.extra&&i(e.extra.match(/\S+/g)||[]),s.join(" ")},_untrackClassesElement:function(e){var i=this;t.each(i.classesElementLookup,function(s,n){-1!==t.inArray(e.target,n)&&(i.classesElementLookup[s]=t(n.not(e.target).get()))})},_removeClass:function(t,e,i){return this._toggleClass(t,e,i,!1)},_addClass:function(t,e,i){return this._toggleClass(t,e,i,!0)},_toggleClass:function(t,e,i,s){s="boolean"==typeof s?s:i;var n="string"==typeof t||null===t,o={extra:n?e:i,keys:n?t:e,element:n?this.element:t,add:s};return o.element.toggleClass(this._classes(o),s),this},_on:function(e,i,s){var n,o=this;"boolean"!=typeof e&&(s=i,i=e,e=!1),s?(i=n=t(i),this.bindings=this.bindings.add(i)):(s=i,i=this.element,n=this.widget()),t.each(s,function(s,a){function r(){return e||o.options.disabled!==!0&&!t(this).hasClass("ui-state-disabled")?("string"==typeof a?o[a]:a).apply(o,arguments):void 0}"string"!=typeof a&&(r.guid=a.guid=a.guid||r.guid||t.guid++);var l=s.match(/^([\w:-]*)\s*(.*)$/),h=l[1]+o.eventNamespace,c=l[2];c?n.on(h,c,r):i.on(h,r)})},_off:function(e,i){i=(i||"").split(" ").join(this.eventNamespace+" ")+this.eventNamespace,e.off(i).off(i),this.bindings=t(this.bindings.not(e).get()),this.focusable=t(this.focusable.not(e).get()),this.hoverable=t(this.hoverable.not(e).get())},_delay:function(t,e){function i(){return("string"==typeof t?s[t]:t).apply(s,arguments)}var s=this;return setTimeout(i,e||0)},_hoverable:function(e){this.hoverable=this.hoverable.add(e),this._on(e,{mouseenter:function(e){this._addClass(t(e.currentTarget),null,"ui-state-hover")},mouseleave:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-hover")}})},_focusable:function(e){this.focusable=this.focusable.add(e),this._on(e,{focusin:function(e){this._addClass(t(e.currentTarget),null,"ui-state-focus")},focusout:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-focus")}})},_trigger:function(e,i,s){var n,o,a=this.options[e];if(s=s||{},i=t.Event(i),i.type=(e===this.widgetEventPrefix?e:this.widgetEventPrefix+e).toLowerCase(),i.target=this.element[0],o=i.originalEvent)for(n in o)n in i||(i[n]=o[n]);return this.element.trigger(i,s),!(t.isFunction(a)&&a.apply(this.element[0],[i].concat(s))===!1||i.isDefaultPrevented())}},t.each({show:"fadeIn",hide:"fadeOut"},function(e,i){t.Widget.prototype["_"+e]=function(s,n,o){"string"==typeof n&&(n={effect:n});var a,r=n?n===!0||"number"==typeof n?i:n.effect||i:e;n=n||{},"number"==typeof n&&(n={duration:n}),a=!t.isEmptyObject(n),n.complete=o,n.delay&&s.delay(n.delay),a&&t.effects&&t.effects.effect[r]?s[e](n):r!==e&&s[r]?s[r](n.duration,n.easing,o):s.queue(function(i){t(this)[e](),o&&o.call(s[0]),i()})}}),t.widget,function(){function e(t,e,i){return[parseFloat(t[0])*(u.test(t[0])?e/100:1),parseFloat(t[1])*(u.test(t[1])?i/100:1)]}function i(e,i){return parseInt(t.css(e,i),10)||0}function s(e){var i=e[0];return 9===i.nodeType?{width:e.width(),height:e.height(),offset:{top:0,left:0}}:t.isWindow(i)?{width:e.width(),height:e.height(),offset:{top:e.scrollTop(),left:e.scrollLeft()}}:i.preventDefault?{width:0,height:0,offset:{top:i.pageY,left:i.pageX}}:{width:e.outerWidth(),height:e.outerHeight(),offset:e.offset()}}var n,o=Math.max,a=Math.abs,r=/left|center|right/,l=/top|center|bottom/,h=/[\+\-]\d+(\.[\d]+)?%?/,c=/^\w+/,u=/%$/,d=t.fn.position;t.position={scrollbarWidth:function(){if(void 0!==n)return n;var e,i,s=t("
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i=t(e.target).closest(".ui-menu-item"),s=t(e.currentTarget);i[0]===s[0]&&(this._removeClass(s.siblings().children(".ui-state-active"),null,"ui-state-active"),this.focus(e,s))}},mouseleave:"collapseAll","mouseleave .ui-menu":"collapseAll",focus:function(t,e){var i=this.active||this.element.find(this.options.items).eq(0);e||this.focus(t,i)},blur:function(e){this._delay(function(){var i=!t.contains(this.element[0],t.ui.safeActiveElement(this.document[0]));i&&this.collapseAll(e)})},keydown:"_keydown"}),this.refresh(),this._on(this.document,{click:function(t){this._closeOnDocumentClick(t)&&this.collapseAll(t),this.mouseHandled=!1}})},_destroy:function(){var e=this.element.find(".ui-menu-item").removeAttr("role aria-disabled"),i=e.children(".ui-menu-item-wrapper").removeUniqueId().removeAttr("tabIndex role aria-haspopup");this.element.removeAttr("aria-activedescendant").find(".ui-menu").addBack().removeAttr("role aria-labelledby aria-expanded aria-hidden aria-disabled tabIndex").removeUniqueId().show(),i.children().each(function(){var e=t(this);e.data("ui-menu-submenu-caret")&&e.remove()})},_keydown:function(e){var i,s,n,o,a=!0;switch(e.keyCode){case t.ui.keyCode.PAGE_UP:this.previousPage(e);break;case t.ui.keyCode.PAGE_DOWN:this.nextPage(e);break;case t.ui.keyCode.HOME:this._move("first","first",e);break;case t.ui.keyCode.END:this._move("last","last",e);break;case t.ui.keyCode.UP:this.previous(e);break;case t.ui.keyCode.DOWN:this.next(e);break;case t.ui.keyCode.LEFT:this.collapse(e);break;case t.ui.keyCode.RIGHT:this.active&&!this.active.is(".ui-state-disabled")&&this.expand(e);break;case t.ui.keyCode.ENTER:case t.ui.keyCode.SPACE:this._activate(e);break;case t.ui.keyCode.ESCAPE:this.collapse(e);break;default:a=!1,s=this.previousFilter||"",o=!1,n=e.keyCode>=96&&105>=e.keyCode?""+(e.keyCode-96):String.fromCharCode(e.keyCode),clearTimeout(this.filterTimer),n===s?o=!0:n=s+n,i=this._filterMenuItems(n),i=o&&-1!==i.index(this.active.next())?this.active.nextAll(".ui-menu-item"):i,i.length||(n=String.fromCharCode(e.keyCode),i=this._filterMenuItems(n)),i.length?(this.focus(e,i),this.previousFilter=n,this.filterTimer=this._delay(function(){delete this.previousFilter},1e3)):delete this.previousFilter}a&&e.preventDefault()},_activate:function(t){this.active&&!this.active.is(".ui-state-disabled")&&(this.active.children("[aria-haspopup='true']").length?this.expand(t):this.select(t))},refresh:function(){var e,i,s,n,o,a=this,r=this.options.icons.submenu,l=this.element.find(this.options.menus);this._toggleClass("ui-menu-icons",null,!!this.element.find(".ui-icon").length),s=l.filter(":not(.ui-menu)").hide().attr({role:this.options.role,"aria-hidden":"true","aria-expanded":"false"}).each(function(){var e=t(this),i=e.prev(),s=t("").data("ui-menu-submenu-caret",!0);a._addClass(s,"ui-menu-icon","ui-icon "+r),i.attr("aria-haspopup","true").prepend(s),e.attr("aria-labelledby",i.attr("id"))}),this._addClass(s,"ui-menu","ui-widget ui-widget-content ui-front"),e=l.add(this.element),i=e.find(this.options.items),i.not(".ui-menu-item").each(function(){var e=t(this);a._isDivider(e)&&a._addClass(e,"ui-menu-divider","ui-widget-content")}),n=i.not(".ui-menu-item, .ui-menu-divider"),o=n.children().not(".ui-menu").uniqueId().attr({tabIndex:-1,role:this._itemRole()}),this._addClass(n,"ui-menu-item")._addClass(o,"ui-menu-item-wrapper"),i.filter(".ui-state-disabled").attr("aria-disabled","true"),this.active&&!t.contains(this.element[0],this.active[0])&&this.blur()},_itemRole:function(){return{menu:"menuitem",listbox:"option"}[this.options.role]},_setOption:function(t,e){if("icons"===t){var i=this.element.find(".ui-menu-icon");this._removeClass(i,null,this.options.icons.submenu)._addClass(i,null,e.submenu)}this._super(t,e)},_setOptionDisabled:function(t){this._super(t),this.element.attr("aria-disabled",t+""),this._toggleClass(null,"ui-state-disabled",!!t)},focus:function(t,e){var i,s,n;this.blur(t,t&&"focus"===t.type),this._scrollIntoView(e),this.active=e.first(),s=this.active.children(".ui-menu-item-wrapper"),this._addClass(s,null,"ui-state-active"),this.options.role&&this.element.attr("aria-activedescendant",s.attr("id")),n=this.active.parent().closest(".ui-menu-item").children(".ui-menu-item-wrapper"),this._addClass(n,null,"ui-state-active"),t&&"keydown"===t.type?this._close():this.timer=this._delay(function(){this._close()},this.delay),i=e.children(".ui-menu"),i.length&&t&&/^mouse/.test(t.type)&&this._startOpening(i),this.activeMenu=e.parent(),this._trigger("focus",t,{item:e})},_scrollIntoView:function(e){var i,s,n,o,a,r;this._hasScroll()&&(i=parseFloat(t.css(this.activeMenu[0],"borderTopWidth"))||0,s=parseFloat(t.css(this.activeMenu[0],"paddingTop"))||0,n=e.offset().top-this.activeMenu.offset().top-i-s,o=this.activeMenu.scrollTop(),a=this.activeMenu.height(),r=e.outerHeight(),0>n?this.activeMenu.scrollTop(o+n):n+r>a&&this.activeMenu.scrollTop(o+n-a+r))},blur:function(t,e){e||clearTimeout(this.timer),this.active&&(this._removeClass(this.active.children(".ui-menu-item-wrapper"),null,"ui-state-active"),this._trigger("blur",t,{item:this.active}),this.active=null)},_startOpening:function(t){clearTimeout(this.timer),"true"===t.attr("aria-hidden")&&(this.timer=this._delay(function(){this._close(),this._open(t)},this.delay))},_open:function(e){var i=t.extend({of:this.active},this.options.position);clearTimeout(this.timer),this.element.find(".ui-menu").not(e.parents(".ui-menu")).hide().attr("aria-hidden","true"),e.show().removeAttr("aria-hidden").attr("aria-expanded","true").position(i)},collapseAll:function(e,i){clearTimeout(this.timer),this.timer=this._delay(function(){var s=i?this.element:t(e&&e.target).closest(this.element.find(".ui-menu"));s.length||(s=this.element),this._close(s),this.blur(e),this._removeClass(s.find(".ui-state-active"),null,"ui-state-active"),this.activeMenu=s},this.delay)},_close:function(t){t||(t=this.active?this.active.parent():this.element),t.find(".ui-menu").hide().attr("aria-hidden","true").attr("aria-expanded","false")},_closeOnDocumentClick:function(e){return!t(e.target).closest(".ui-menu").length},_isDivider:function(t){return!/[^\-\u2014\u2013\s]/.test(t.text())},collapse:function(t){var e=this.active&&this.active.parent().closest(".ui-menu-item",this.element);e&&e.length&&(this._close(),this.focus(t,e))},expand:function(t){var e=this.active&&this.active.children(".ui-menu ").find(this.options.items).first();e&&e.length&&(this._open(e.parent()),this._delay(function(){this.focus(t,e)}))},next:function(t){this._move("next","first",t)},previous:function(t){this._move("prev","last",t)},isFirstItem:function(){return this.active&&!this.active.prevAll(".ui-menu-item").length},isLastItem:function(){return this.active&&!this.active.nextAll(".ui-menu-item").length},_move:function(t,e,i){var s;this.active&&(s="first"===t||"last"===t?this.active["first"===t?"prevAll":"nextAll"](".ui-menu-item").eq(-1):this.active[t+"All"](".ui-menu-item").eq(0)),s&&s.length&&this.active||(s=this.activeMenu.find(this.options.items)[e]()),this.focus(i,s)},nextPage:function(e){var i,s,n;return this.active?(this.isLastItem()||(this._hasScroll()?(s=this.active.offset().top,n=this.element.height(),this.active.nextAll(".ui-menu-item").each(function(){return i=t(this),0>i.offset().top-s-n}),this.focus(e,i)):this.focus(e,this.activeMenu.find(this.options.items)[this.active?"last":"first"]())),void 0):(this.next(e),void 0)},previousPage:function(e){var i,s,n;return this.active?(this.isFirstItem()||(this._hasScroll()?(s=this.active.offset().top,n=this.element.height(),this.active.prevAll(".ui-menu-item").each(function(){return i=t(this),i.offset().top-s+n>0}),this.focus(e,i)):this.focus(e,this.activeMenu.find(this.options.items).first())),void 0):(this.next(e),void 0)},_hasScroll:function(){return this.element.outerHeight()",options:{appendTo:null,autoFocus:!1,delay:300,minLength:1,position:{my:"left top",at:"left bottom",collision:"none"},source:null,change:null,close:null,focus:null,open:null,response:null,search:null,select:null},requestIndex:0,pending:0,_create:function(){var 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          • Package
          • Class
          • Tree
            • -
          • Index
            • +
          • Index
          • Help
          @@ -99,8 +98,8 @@ loadScripts(document, 'script');
          final SwerveControllerConfiguration
          config
          -
          SwerveControllerConfiguration object storing data to generate the PIDController for controlling the - robot heading, and deadband for heading joystick.
          +
          SwerveControllerConfiguration object storing data to generate the PIDController + for controlling the robot heading, and deadband for heading joystick.
          double
          lastAngleScalar
          @@ -135,8 +134,8 @@ loadScripts(document, 'script');
          Description
          SwerveController(SwerveControllerConfiguration cfg)
          -
          Construct the SwerveController object which is used for determining the speeds of the robot based on controller - input.
          +
          Construct the SwerveController object which is used for determining the speeds of the robot + based on controller input.
          @@ -170,7 +169,8 @@ loadScripts(document, 'script'); double ySpeed, double omega)
          -
          Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
          +
          Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in + radians.
          edu.wpi.first.math.kinematics.ChassisSpeeds
          getRawTargetSpeeds(double xSpeed, @@ -178,7 +178,8 @@ loadScripts(document, 'script'); double targetHeadingAngleRadians, double currentHeadingAngleRadians)
          -
          Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
          +
          Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in + radians.
          edu.wpi.first.math.kinematics.ChassisSpeeds
          getTargetSpeeds(double xInput, @@ -240,8 +241,8 @@ loadScripts(document, 'script');

          config

          public final SwerveControllerConfiguration config
          -
          SwerveControllerConfiguration object storing data to generate the PIDController for controlling the - robot heading, and deadband for heading joystick.
          +
          SwerveControllerConfiguration object storing data to generate the PIDController + for controlling the robot heading, and deadband for heading joystick.
        • @@ -291,11 +292,12 @@ loadScripts(document, 'script');

          SwerveController

          public SwerveController(SwerveControllerConfiguration cfg)
          -
          Construct the SwerveController object which is used for determining the speeds of the robot based on controller - input.
          +
          Construct the SwerveController object which is used for determining the speeds of the robot + based on controller input.
          Parameters:
          -
          cfg - SwerveControllerConfiguration containing the PIDF variables for the heading PIDF.
          +
          cfg - SwerveControllerConfiguration containing the PIDF variables for the heading + PIDF.
          • @@ -326,8 +328,8 @@ loadScripts(document, 'script');
          public void addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter x, edu.wpi.first.math.filter.SlewRateLimiter y, edu.wpi.first.math.filter.SlewRateLimiter angle)
          -
          Add slew rate limiters to all controls. This prevents the robot from ramping up too much. To disable a - SlewRateLimiter set the desired one to null.
          +
          Add slew rate limiters to all controls. This prevents the robot from ramping up too much. To + disable a SlewRateLimiter set the desired one to null.
          Parameters:
          x - The SlewRateLimiter for the X velocity in meters/second.
          @@ -347,8 +349,7 @@ loadScripts(document, 'script');
          x - The x value for the joystick in which the deadband should be applied.
          y - The y value for the joystick in which the deadband should be applied.
          Returns:
          -
          Whether the values are within the deadband from - SwerveControllerConfiguration.angleJoyStickRadiusDeadband.
          +
          Whether the values are within the deadband from SwerveControllerConfiguration.angleJoyStickRadiusDeadband.
          @@ -394,8 +395,8 @@ loadScripts(document, 'script'); double headingX, double headingY, double currentHeadingAngleRadians)
          -
          Get the chassis speeds based on controller input of 2 joysticks. One for speeds in which direction. The other for - the angle of the robot.
          +
          Get the chassis speeds based on controller input of 2 joysticks. One for speeds in which + direction. The other for the angle of the robot.
          Parameters:
          xInput - X joystick input for the robot to move in the X direction.
          @@ -414,7 +415,8 @@ loadScripts(document, 'script');
          public edu.wpi.first.math.kinematics.ChassisSpeeds getRawTargetSpeeds(double xSpeed, double ySpeed, double omega)
          -
          Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
          +
          Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in + radians.
          Parameters:
          xSpeed - X speed in meters per second.
          @@ -432,7 +434,8 @@ loadScripts(document, 'script'); double ySpeed, double targetHeadingAngleRadians, double currentHeadingAngleRadians)
      -
      Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
      +
      Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in + radians.
      Parameters:
      xSpeed - X speed in meters per second.
      @@ -464,8 +467,7 @@ loadScripts(document, 'script');

      setMaximumAngularVelocity

      public void setMaximumAngularVelocity(double angularVelocity)
      Set a new maximum angular velocity that is different from the auto-generated one. Modified the - SwerveControllerConfiguration.maxAngularVelocity field which is used in the SwerveController class - for ChassisSpeeds generation.
      + SwerveControllerConfiguration.maxAngularVelocity field which is used in the SwerveController class for ChassisSpeeds generation.
      Parameters:
      angularVelocity - Angular velocity in radians per second.
      diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index 00e6e1e..759b8df 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,18 +1,17 @@ - -SwerveDrive + +SwerveDrive (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    @@ -94,49 +93,29 @@ loadScripts(document, 'script');
    boolean
    chassisVelocityCorrection
    -
    Correct chassis velocity in drive(Translation2d, double, boolean, boolean) using 254's - correction.
    +
    Correct chassis velocity in drive(Translation2d, double, boolean, boolean) + using 254's correction.
    edu.wpi.first.wpilibj.smartdashboard.Field2d
    field
    Field object.
    -
    private SwerveIMU
    -
    imu
    +
    boolean
    +
    invertOdometry
    -
    Swerve IMU device for sensing the heading of the robot.
    -
    -
    boolean
    -
    invertOdometry
    -
    Invert odometry readings of drive motor positions, used as a patch for debugging currently.
    -
    final SwerveKinematics2
    -
    kinematics
    -
    +
    final SwerveKinematics2
    +
    kinematics
    +
    Swerve Kinematics object utilizing second order kinematics.
    -
    private double
    -
    lastHeadingRadians
    -
    -
    The last heading set in radians.
    -
    -
    private int
    -
    moduleSynchronizationCounter
    -
    -
    Counter to synchronize the modules relative encoder with absolute encoder when not moving.
    -
    -
    private SwerveIMUSimulation
    -
    simIMU
    -
    -
    Simulation of the swerve drive.
    -
    edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
    stateStdDevs
    -
    Trustworthiness of the internal model of how motors should be moving Measured in expected standard deviation - (meters of position and degrees of rotation)
    +
    Trustworthiness of the internal model of how motors should be moving Measured in expected + standard deviation (meters of position and degrees of rotation)
    SwerveController
    swerveController
    @@ -153,16 +132,11 @@ loadScripts(document, 'script');
    Swerve odometry.
    -
    private final SwerveModule[]
    -
    swerveModules
    +
    edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
    +
    visionMeasurementStdDevs
    -
    Swerve modules.
    -
    -
    edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
    -
    visionMeasurementStdDevs
    -
    -
    Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of - rotation)
    +
    Trustworthiness of the vision system Measured in expected standard deviation (meters of + position and degrees of rotation)
    @@ -200,8 +174,7 @@ loadScripts(document, 'script'); boolean soft, double trustWorthiness)
    -
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
    +
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
    void
    addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, @@ -209,8 +182,7 @@ loadScripts(document, 'script'); boolean soft, edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)
    -
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
    +
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
    void
    disableSecondOrderKinematics()
    @@ -244,124 +216,133 @@ loadScripts(document, 'script');
    Enable second order kinematics for simulation and modifying the feedforward.
    -
    Optional<edu.wpi.first.math.geometry.Translation3d>
    -
    getAccel()
    +
    double
    +
    enableSecondOrderKinematics(int motorFreeSpeedRPM)
    +
    Enable second order kinematics with calculated values for the feedforward and return the value + used.
    +
    +
    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()
    -
    +
    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.
    -
    SwerveModuleState2[]
    -
    getStates()
    -
    +
    SwerveModuleState2[]
    +
    getStates()
    +
    Gets the current module states (azimuth and velocity)
    -
    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)
    +
    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)
    +
    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
    -
    replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
    -
    +
    void
    +
    replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
    +
    Setup the swerve module feedforward.
    -
    void
    -
    resetEncoders()
    -
    -
    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)
    +
    resetEncoders()
    +
    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)
    +
    Resets odometry to the given pose.
    -
    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 and second order kinematics.
    -
    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)
    +
    +
    Set the gyro scope offset to a desired known rotation.
    +
    void
    setMaximumSpeed(double maximumSpeed)
    -
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the - setRawModuleStates(SwerveModuleState2[], boolean) function and +
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and SwerveDriveConfiguration.maxSpeed which is + used for the setRawModuleStates(SwerveModuleState2[], boolean) function and SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
    void
    setMaximumSpeed(double maximumSpeed, boolean updateModuleFeedforward)
    -
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the - setRawModuleStates(SwerveModuleState2[], boolean) function and +
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and SwerveDriveConfiguration.maxSpeed which is + used for the setRawModuleStates(SwerveModuleState2[], boolean) function and SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
    void
    @@ -372,22 +353,22 @@ loadScripts(document, 'script');
    Set the maximum speeds for desaturation.
    void
    -
    setModuleStates(SwerveModuleState2[] desiredStates, - boolean isOpenLoop)
    +
    setModuleStateOptimization(boolean optimizationEnabled)
    -
    Set the module states (azimuth and velocity) directly.
    +
    Configure whether the SwerveModuleState2 will be optimized to prevent spinning more + than 90deg.
    void
    -
    setMotorIdleMode(boolean brake)
    -
    -
    Sets the drive motors to brake/coast mode.
    -
    -
    private void
    -
    setRawModuleStates(SwerveModuleState2[] desiredStates, +
    setModuleStates(SwerveModuleState2[] desiredStates, boolean isOpenLoop)
    -
    +
    Set the module states (azimuth and velocity) directly.
    +
    void
    +
    setMotorIdleMode(boolean brake)
    +
    +
    Sets the drive motors to brake/coast mode.
    +
    void
    synchronizeModuleEncoders()
    @@ -442,13 +423,6 @@ loadScripts(document, 'script');
  • -
    -

    swerveModules

    -
    private final SwerveModule[] swerveModules
    -
    Swerve modules.
    -
    -
    • -

  • field

    public edu.wpi.first.wpilibj.smartdashboard.Field2d field
    @@ -466,16 +440,16 @@ loadScripts(document, 'script');

    stateStdDevs

    public edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> stateStdDevs
    -
    Trustworthiness of the internal model of how motors should be moving Measured in expected standard deviation - (meters of position and degrees of rotation)
    +
    Trustworthiness of the internal model of how motors should be moving Measured in expected + standard deviation (meters of position and degrees of rotation)

  • visionMeasurementStdDevs

    public edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs
    -
    Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of - rotation)
    +
    Trustworthiness of the vision system Measured in expected standard deviation (meters of + position and degrees of rotation)
  • @@ -489,36 +463,8 @@ loadScripts(document, 'script');

    chassisVelocityCorrection

    public boolean chassisVelocityCorrection
    -
    Correct chassis velocity in drive(Translation2d, double, boolean, boolean) using 254's - correction.
    -
    -
    • -
  • -
    -

    imu

    -
    private SwerveIMU imu
    -
    Swerve IMU device for sensing the heading of the robot.
    -
    -
    • -
  • -
    -

    simIMU

    -
    private SwerveIMUSimulation simIMU
    -
    Simulation of the swerve drive.
    -
    -
    • -
  • -
    -

    moduleSynchronizationCounter

    -
    private int moduleSynchronizationCounter
    -
    Counter to synchronize the modules relative encoder with absolute encoder when not moving.
    -
    -
    • -
  • -
    -

    lastHeadingRadians

    -
    private double lastHeadingRadians
    -
    The last heading set in radians.
    +
    Correct chassis velocity in drive(Translation2d, double, boolean, boolean) + using 254's correction.
    • @@ -534,16 +480,18 @@ loadScripts(document, 'script');

    SwerveDrive

    public SwerveDrive(SwerveDriveConfiguration config, SwerveControllerConfiguration controllerConfig)
    -
    Creates a new swerve drivebase subsystem. Robot is controlled via the drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean) method, or via the - setRawModuleStates(swervelib.math.SwerveModuleState2[], boolean) method. The drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean) method incorporates kinematics-- it - takes a translation and rotation, as well as parameters for field-centric and closed-loop velocity control. - setRawModuleStates(swervelib.math.SwerveModuleState2[], boolean) takes a list of SwerveModuleStates and directly passes them to the modules. - This subsystem also handles odometry.
    +
    Creates a new swerve drivebase subsystem. Robot is controlled via the drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean) + method, or via the setRawModuleStates(swervelib.math.SwerveModuleState2[], boolean) method. The drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean) + method incorporates kinematics-- it takes a translation and rotation, as well as parameters for + field-centric and closed-loop velocity control. setRawModuleStates(swervelib.math.SwerveModuleState2[], boolean) takes a + list of SwerveModuleStates and directly passes them to the modules. This subsystem also handles + odometry.
    Parameters:
    -
    config - The SwerveDriveConfiguration configuration to base the swerve drive off of.
    +
    config - The SwerveDriveConfiguration configuration to base the swerve drive off + of.
    controllerConfig - The SwerveControllerConfiguration to use when creating the - SwerveController.
    + SwerveController.
    @@ -562,21 +510,22 @@ loadScripts(document, 'script'); double rotation, boolean fieldRelative, boolean isOpenLoop)
    -
    The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, and calculates and - commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel - velocities. Also has field- and robot-relative modes, which affect how the translation vector is used. This method - defaults to no heading correction.
    +
    The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, + and calculates and commands module states accordingly. Can use either open-loop or closed-loop + velocity control for the wheel velocities. Also has field- and robot-relative modes, which + affect how the translation vector is used. This method defaults to no heading correction.
    Parameters:
    -
    translation - Translation2d that is the commanded linear velocity of the robot, in meters per - second. In robot-relative mode, positive x is torwards the bow (front) and positive y is - torwards port (left). In field-relative mode, positive x is away from the alliance wall (field - North) and positive y is torwards the left wall when looking through the driver station glass - (field West).
    -
    rotation - Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot - relativity.
    +
    translation - Translation2d that is the commanded linear velocity of the robot, in + meters per second. In robot-relative mode, positive x is torwards the bow (front) and + positive y is torwards port (left). In field-relative mode, positive x is away from the + alliance wall (field North) and positive y is torwards the left wall when looking through + the driver station glass (field West).
    +
    rotation - Robot angular rate, in radians per second. CCW positive. Unaffected by + field/robot relativity.
    fieldRelative - Drive mode. True for field-relative, false for robot-relative.
    -
    isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
    +
    isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable + closed-loop.
    @@ -588,21 +537,24 @@ loadScripts(document, 'script'); boolean fieldRelative, boolean isOpenLoop, boolean headingCorrection)
    -
    The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, and calculates and - commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel - velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.
    +
    The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, + and calculates and commands module states accordingly. Can use either open-loop or closed-loop + velocity control for the wheel velocities. Also has field- and robot-relative modes, which + affect how the translation vector is used.
    Parameters:
    -
    translation - Translation2d that is the commanded linear velocity of the robot, in meters per - second. In robot-relative mode, positive x is torwards the bow (front) and positive y is - torwards port (left). In field-relative mode, positive x is away from the alliance wall - (field North) and positive y is torwards the left wall when looking through the driver - station glass (field West).
    -
    rotation - Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot - relativity.
    +
    translation - Translation2d that is the commanded linear velocity of the robot, in + meters per second. In robot-relative mode, positive x is torwards the bow (front) and + positive y is torwards port (left). In field-relative mode, positive x is away from the + alliance wall (field North) and positive y is torwards the left wall when looking through + the driver station glass (field West).
    +
    rotation - Robot angular rate, in radians per second. CCW positive. Unaffected by + field/robot relativity.
    fieldRelative - Drive mode. True for field-relative, false for robot-relative.
    -
    isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
    -
    headingCorrection - Whether to correct heading when driving translationally. Set to true to enable.
    +
    isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable + closed-loop.
    +
    headingCorrection - Whether to correct heading when driving translationally. Set to true + to enable.
    @@ -615,25 +567,12 @@ loadScripts(document, 'script');
    Set the maximum speeds for desaturation.
    Parameters:
    -
    attainableMaxModuleSpeedMetersPerSecond - The absolute max speed that a module can reach in meters per - second.
    -
    attainableMaxTranslationalSpeedMetersPerSecond - The absolute max speed that your robot can reach while - translating in meters per second.
    -
    attainableMaxRotationalVelocityRadiansPerSecond - The absolute max speed the robot can reach while rotating in - radians per second.
    -
    - - -
  • -
    -

    setRawModuleStates

    -
    private void setRawModuleStates(SwerveModuleState2[] desiredStates, - boolean isOpenLoop)
    -
    Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.
    -
    -
    Parameters:
    -
    desiredStates - A list of SwerveModuleStates to send to the modules.
    -
    isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
    +
    attainableMaxModuleSpeedMetersPerSecond - The absolute max speed that a module can reach + in meters per second.
    +
    attainableMaxTranslationalSpeedMetersPerSecond - The absolute max speed that your robot + can reach while translating in meters per second.
    +
    attainableMaxRotationalVelocityRadiansPerSecond - The absolute max speed the robot can + reach while rotating in radians per second.
    • @@ -646,7 +585,8 @@ loadScripts(document, 'script');
    Parameters:
    desiredStates - A list of SwerveModuleStates to send to the modules.
    -
    isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
    +
    isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable + closed-loop.
    @@ -698,9 +638,9 @@ loadScripts(document, 'script');

    resetOdometry

    public void resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
    -
    Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this - method. However, if either gyro angle or module position is reset, this must be called in order for odometry to - keep working.
    +
    Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when + calling this method. However, if either gyro angle or module position is reset, this must be + called in order for odometry to keep working.
    Parameters:
    pose - The pose to set the odometry to
    @@ -733,8 +673,8 @@ loadScripts(document, 'script');

    getModulePositions

    public edu.wpi.first.math.kinematics.SwerveModulePosition[] getModulePositions()
    -
    Gets the current module positions (azimuth and wheel position (meters)). Inverts the distance from each module if - invertOdometry is true.
    +
    Gets the current module positions (azimuth and wheel position (meters)). Inverts the distance + from each module if invertOdometry is true.
    Returns:
    A list of SwerveModulePositions containg the current module positions
    @@ -819,17 +759,17 @@ loadScripts(document, 'script');

    setMaximumSpeed

    public void setMaximumSpeed(double maximumSpeed, boolean updateModuleFeedforward)
    -
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the - setRawModuleStates(SwerveModuleState2[], boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions. This function overrides - what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates.
    +
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and SwerveDriveConfiguration.maxSpeed which is + used for the setRawModuleStates(SwerveModuleState2[], boolean) function and + SwerveController.getTargetSpeeds(double, double, double, double, double) functions. + This function overrides what was placed in the JSON and could damage your motor/robot if set + too high or unachievable rates.
    Parameters:
    maximumSpeed - Maximum speed for the drive motors in meters / second.
    -
    updateModuleFeedforward - Update the swerve module feedforward to account for the new maximum speed. This - should be true unless you have replaced the drive motor feedforward with - replaceSwerveModuleFeedforward(SimpleMotorFeedforward)
    +
    updateModuleFeedforward - Update the swerve module feedforward to account for the new + maximum speed. This should be true unless you have replaced the drive motor feedforward + with replaceSwerveModuleFeedforward(SimpleMotorFeedforward)
    @@ -837,12 +777,11 @@ loadScripts(document, 'script');

    setMaximumSpeed

    public void setMaximumSpeed(double maximumSpeed)
    -
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the - setRawModuleStates(SwerveModuleState2[], boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions. This function overrides - what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates. Overwrites the - SwerveModule.feedforward.
    +
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and SwerveDriveConfiguration.maxSpeed which is + used for the setRawModuleStates(SwerveModuleState2[], boolean) function and + SwerveController.getTargetSpeeds(double, double, double, double, double) functions. + This function overrides what was placed in the JSON and could damage your motor/robot if set + too high or unachievable rates. Overwrites the SwerveModule.feedforward.
    Parameters:
    maximumSpeed - Maximum speed for the drive motors in meters / second.
    @@ -853,8 +792,8 @@ loadScripts(document, 'script');

    lockPose

    public void lockPose()
    -
    Point all modules toward the robot center, thus making the robot very difficult to move. Forcing the robot to keep - the current pose.
    +
    Point all modules toward the robot center, thus making the robot very difficult to move. + Forcing the robot to keep the current pose.
  • @@ -885,9 +824,9 @@ loadScripts(document, 'script');

    updateOdometry

    public void updateOdometry()
    -
    Update odometry should be run every loop. Synchronizes module absolute encoders with relative encoders - periodically. In simulation mode will also post the pose of each module. Updates SmartDashboard with module encoder - readings and states.
    +
    Update odometry should be run every loop. Synchronizes module absolute encoders with relative + encoders periodically. In simulation mode will also post the pose of each module. Updates + SmartDashboard with module encoder readings and states.
  • @@ -898,25 +837,35 @@ loadScripts(document, 'script');
  • +
    +

    setGyroOffset

    +
    public void setGyroOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    +
    Set the gyro scope offset to a desired known rotation. Unlike setGyro(Rotation3d) it DOES NOT take the current rotation into account.
    +
    +
    Parameters:
    +
    offset - Rotation3d known offset of the robot for gyroscope to use.
    +
    +
    +
    • +

  • addVisionMeasurement

    public void addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, double timestamp, boolean soft, double trustWorthiness)
    -
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
    +
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
    + IT IS HIGHLY RECOMMENDED TO UPDATE YOUR GYROSCOPE OFFSET AFTER USING THIS FUNCTION!
    + To update your gyroscope readings directly use setGyroOffset(Rotation3d).
    Parameters:
    robotPose - Robot Pose2d as measured by vision.
    -
    timestamp - Timestamp the measurement was taken as time since startup, should be taken from - Timer.getFPGATimestamp() or similar sources.
    -
    soft - Add vision estimate using the - SwerveDrivePoseEstimator.addVisionMeasurement(Pose2d, double) function, or hard - reset odometry with the given position with - SwerveDriveOdometry.resetPosition(Rotation2d, SwerveModulePosition[], Pose2d).
    -
    trustWorthiness - Trust level of vision reading when using a soft measurement, used to multiply the standard - deviation. Set to 1 for full trust.
    +
    timestamp - Timestamp the measurement was taken as time since startup, should be taken + from Timer.getFPGATimestamp() or similar sources.
    +
    soft - Add vision estimate using the PoseEstimator.addVisionMeasurement(Pose2d, double) function, or hard reset + odometry with the given position with SwerveDriveOdometry.resetPosition(Rotation2d, SwerveModulePosition[], Pose2d).
    +
    trustWorthiness - Trust level of vision reading when using a soft measurement, used to + multiply the standard deviation. Set to 1 for full trust. Higher = Less Weight.
    • @@ -927,19 +876,16 @@ loadScripts(document, 'script'); double timestamp, boolean soft, edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)
    -
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with - the given timestamp of the vision measurement.
    +
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
    Parameters:
    robotPose - Robot Pose2d as measured by vision.
    -
    timestamp - Timestamp the measurement was taken as time since startup, should be taken from - Timer.getFPGATimestamp() or similar sources.
    -
    soft - Add vision estimate using the - SwerveDrivePoseEstimator.addVisionMeasurement(Pose2d, double) function, or - hard reset odometry with the given position with - SwerveDriveOdometry.resetPosition(Rotation2d, SwerveModulePosition[], Pose2d).
    +
    timestamp - Timestamp the measurement was taken as time since startup, should be taken + from Timer.getFPGATimestamp() or similar sources.
    +
    soft - Add vision estimate using the PoseEstimator.addVisionMeasurement(Pose2d, double) function, or hard reset + odometry with the given position with SwerveDriveOdometry.resetPosition(Rotation2d, SwerveModulePosition[], Pose2d).
    visionMeasurementStdDevs - Vision measurement standard deviation that will be sent to the - SwerveDrivePoseEstimator.
    + SwerveDrivePoseEstimator.
    @@ -948,10 +894,10 @@ loadScripts(document, 'script');

    setGyro

    public void setGyro(edu.wpi.first.math.geometry.Rotation3d gyro)
    Set the expected gyroscope angle using a Rotation3d object. To reset gyro, set to a new - Rotation3d.
    + Rotation3d subtracted from the current gyroscopic readings SwerveIMU.getRotation3d().
    Parameters:
    -
    gyro - expected gyroscope angle.
    +
    gyro - expected gyroscope angle as Rotation3d.
    @@ -959,12 +905,10 @@ loadScripts(document, 'script');

    getSwerveController

    public 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. Important functions to look at are - SwerveController.getTargetSpeeds(double, double, double, double), - SwerveController.addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter), - SwerveController.getRawTargetSpeeds(double, double, double).
    +
    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. + Important functions to look at are SwerveController.getTargetSpeeds(double, double, double, double), SwerveController.addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter), SwerveController.getRawTargetSpeeds(double, double, double).
    Returns:
    SwerveController for the SwerveDrive.
    @@ -986,16 +930,28 @@ loadScripts(document, 'script');

    resetEncoders

    public void resetEncoders()
    -
    Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in - autonomous.
    +
    Reset the drive encoders on the robot, useful when manually resetting the robot without a + reboot, like in autonomous.
    +
    + +
  • +
    +

    setModuleStateOptimization

    +
    public void setModuleStateOptimization(boolean optimizationEnabled)
    +
    Configure whether the SwerveModuleState2 will be optimized to prevent spinning more + than 90deg.
    +
    +
    Parameters:
    +
    optimizationEnabled - Whether the module optimization is enabled.
    +

  • enableSecondOrderKinematics

    public void enableSecondOrderKinematics(double moduleFeedforward)
    -
    Enable second order kinematics for simulation and modifying the feedforward. Second order kinematics could increase - accuracy in odometry.
    +
    Enable second order kinematics for simulation and modifying the feedforward. Second order + kinematics could increase accuracy in odometry.
    Parameters:
    moduleFeedforward - Module feedforward to apply should be between [-1, 1] excluding 0.
    @@ -1003,6 +959,20 @@ loadScripts(document, 'script');
  • +
    +

    enableSecondOrderKinematics

    +
    public double enableSecondOrderKinematics(int motorFreeSpeedRPM)
    +
    Enable second order kinematics with calculated values for the feedforward and return the value + used.
    +
    +
    Parameters:
    +
    motorFreeSpeedRPM - Steering motor free speed RPM.
    +
    Returns:
    +
    The feedforward value used for the last swerve module.
    +
    +
    +
    • +

  • enableSecondOrderKinematics

    public void enableSecondOrderKinematics()
    diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index e7c628e..f3222f2 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,18 +1,17 @@ - -SwerveModule + +SwerveModule (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -91,31 +90,11 @@ loadScripts(document, 'script');
    Modifier and Type
    Field
    Description
    -
    private final SwerveAbsoluteEncoder
    -
    absoluteEncoder
    +
    final SwerveModuleConfiguration
    +
    configuration
    -
    Absolute encoder for swerve drive.
    -
    -
    private final SwerveMotor
    -
    angleMotor
    -
    -
    Swerve Motors.
    -
    -
    private final double
    -
    angleOffset
    -
    -
    Angle offset from the absolute encoder.
    -
    -
    final SwerveModuleConfiguration
    -
    configuration
    -
    Swerve module configuration options.
    -
    private final SwerveMotor
    -
    driveMotor
    -
    -
    Swerve Motors.
    -
    edu.wpi.first.math.controller.SimpleMotorFeedforward
    feedforward
    @@ -131,15 +110,11 @@ loadScripts(document, 'script');
    Module number for kinematics, usually 0 to 3.
    -
    private SwerveModuleSimulation
    -
    simModule
    +
    boolean
    +
    moduleStateOptimization
    -
    Simulated swerve module.
    -
    -
    private boolean
    -
    synchronizeEncoderQueued
    -
    -
    Encoder synchronization queued.
    +
    Enable SwerveModuleState2 optimizations so the angle is reversed and speed is reversed + to ensure the module never turns more than 90deg.
    @@ -184,7 +159,8 @@ loadScripts(document, 'script');
    SwerveModuleConfiguration
    getConfiguration()
    -
    Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.
    +
    Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed + configurations.
    SwerveMotor
    getDriveMotor()
    @@ -253,38 +229,11 @@ loadScripts(document, 'script');
  • -
    -

    angleOffset

    -
    private final double angleOffset
    -
    Angle offset from the absolute encoder.
    -
    -
    • -
  • -
    -

    angleMotor

    -
    private final SwerveMotor angleMotor
    -
    Swerve Motors.
    -
    -
    • -
  • -
    -

    driveMotor

    -
    private final SwerveMotor driveMotor
    -
    Swerve Motors.
    -
    -
    • -
  • -
    -

    absoluteEncoder

    -
    private final SwerveAbsoluteEncoder absoluteEncoder
    -
    Absolute encoder for swerve drive.
    -
    -
    • -

  • moduleNumber

    public int moduleNumber
    -
    Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
    +
    Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back + right.
  • @@ -302,17 +251,11 @@ loadScripts(document, 'script');
  • -
    -

    simModule

    -
    private SwerveModuleSimulation simModule
    -
    Simulated swerve module.
    -
    -
    • -
  • -
    -

    synchronizeEncoderQueued

    -
    private boolean synchronizeEncoderQueued
    -
    Encoder synchronization queued.
    +
    +

    moduleStateOptimization

    +
    public boolean moduleStateOptimization
    +
    Enable SwerveModuleState2 optimizations so the angle is reversed and speed is reversed + to ensure the module never turns more than 90deg.
    • @@ -357,14 +300,15 @@ loadScripts(document, 'script');
    public void setDesiredState(SwerveModuleState2 desiredState, boolean isOpenLoop, boolean force)
    -
    Set the desired state of the swerve module.
    WARNING: If you are not using one of the functions from - SwerveDrive you may screw up SwerveDrive.kinematics
    +
    Set the desired state of the swerve module.
    + WARNING: If you are not using one of the functions from SwerveDrive you may screw up + SwerveDrive.kinematics
    Parameters:
    desiredState - Desired swerve module state.
    isOpenLoop - Whether to use open loop (direct percent) or direct velocity control.
    -
    force - Disables optimizations that prevent movement in the angle motor and forces the desired state - onto the swerve module.
    +
    force - Disables optimizations that prevent movement in the angle motor and forces the + desired state onto the swerve module.
    @@ -460,7 +404,8 @@ loadScripts(document, 'script');

    getConfiguration

    public SwerveModuleConfiguration getConfiguration()
    -
    Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.
    +
    Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed + configurations.
    Returns:
    SwerveModuleConfiguration for the SwerveModule.
    diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html index b410296..526dd40 100644 --- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html +++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html @@ -1,18 +1,17 @@ - -AnalogAbsoluteEncoderSwerve + +AnalogAbsoluteEncoderSwerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -98,11 +97,6 @@ loadScripts(document, 'script');
    Encoder as Analog Input.
    -
    private boolean
    -
    inverted
    -
    -
    Inversion state of the encoder.
    -

    Fields inherited from class swervelib.encoders.SwerveAbsoluteEncoder

    @@ -188,13 +182,6 @@ loadScripts(document, 'script');
    Encoder as Analog Input.
    -
  • -
    -

    inverted

    -
    private boolean inverted
    -
    Inversion state of the encoder.
    -
    -
    • diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index 9a32815..377cd00 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,18 +1,17 @@ - -CANCoderSwerve + +CANCoderSwerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -263,7 +262,8 @@ loadScripts(document, 'script');

    getAbsolutePosition

    public double getAbsolutePosition()
    -
    Get the absolute position of the encoder. Sets SwerveAbsoluteEncoder.readingError on erroneous readings.
    +
    Get the absolute position of the encoder. Sets SwerveAbsoluteEncoder.readingError on + erroneous readings.
    Specified by:
    getAbsolutePosition in class SwerveAbsoluteEncoder
    diff --git a/docs/swervelib/encoders/CanAndCoderSwerve.html b/docs/swervelib/encoders/CanAndCoderSwerve.html new file mode 100644 index 0000000..6825249 --- /dev/null +++ b/docs/swervelib/encoders/CanAndCoderSwerve.html @@ -0,0 +1,279 @@ + + + + +CanAndCoderSwerve (YAGSL-Lib API) + + + + + + + + + + + + + + +
    + +
    +
    + +
    +
    Package swervelib.encoders
    +

    Class CanAndCoderSwerve

    +
    +
    java.lang.Object +
    swervelib.encoders.SwerveAbsoluteEncoder +
    swervelib.encoders.CanAndCoderSwerve
    +
    +
    +
    +
    +
    public class CanAndCoderSwerve +extends SwerveAbsoluteEncoder
    +
    HELIUM CANandcoder from ReduxRobotics absolute encoder, attached through the CAN bus.
    +
    +
    +
      + +
    • +
      +

      Field Summary

      +
      Fields
      +
      +
      Modifier and Type
      +
      Field
      +
      Description
      +
      com.reduxrobotics.sensors.canandcoder.CANandcoder
      +
      encoder
      +
      +
      The CANandcoder representing the CANandCoder on the CAN bus.
      +
      +
      +
      +

      Fields inherited from class swervelib.encoders.SwerveAbsoluteEncoder

      +readingError
      +
      +
      • + +
    • +
      +

      Constructor Summary

      +
      Constructors
      +
      +
      Constructor
      +
      Description
      +
      CanAndCoderSwerve(int canid)
      +
      +
      Create the CANandcoder
      +
      +
      +
      +
      • + +
    • +
      +

      Method Summary

      +
      +
      +
      +
      +
      Modifier and Type
      +
      Method
      +
      Description
      +
      void
      +
      clearStickyFaults()
      +
      +
      Clear sticky faults on the encoder.
      +
      +
      void
      +
      configure(boolean inverted)
      +
      +
      Configure the CANandCoder to read from [0, 360) per second.
      +
      +
      void
      +
      factoryDefault()
      +
      +
      Reset the encoder to factory defaults.
      +
      +
      Object
      +
      getAbsoluteEncoder()
      +
      +
      Get the instantiated absolute encoder Object.
      +
      +
      double
      +
      getAbsolutePosition()
      +
      +
      Get the absolute position of the encoder.
      +
      +
      +
      +
      +
      +

      Methods inherited from class java.lang.Object

      +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
      +
      +
      • +
    +
    +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        encoder

        +
        public com.reduxrobotics.sensors.canandcoder.CANandcoder encoder
        +
        The CANandcoder representing the CANandCoder on the CAN bus.
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        CanAndCoderSwerve

        +
        public CanAndCoderSwerve(int canid)
        +
        Create the CANandcoder
        +
        +
        Parameters:
        +
        canid - The CAN ID whenever the CANandCoder is operating on the CANBus.
        +
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Method Details

      +
        +
      • +
        +

        factoryDefault

        +
        public void factoryDefault()
        +
        Reset the encoder to factory defaults.
        +
        +
        Specified by:
        +
        factoryDefault in class SwerveAbsoluteEncoder
        +
        +
        +
        • +
      • +
        +

        clearStickyFaults

        +
        public void clearStickyFaults()
        +
        Clear sticky faults on the encoder.
        +
        +
        Specified by:
        +
        clearStickyFaults in class SwerveAbsoluteEncoder
        +
        +
        +
        • +
      • +
        +

        configure

        +
        public void configure(boolean inverted)
        +
        Configure the CANandCoder to read from [0, 360) per second.
        +
        +
        Specified by:
        +
        configure in class SwerveAbsoluteEncoder
        +
        Parameters:
        +
        inverted - Whether the encoder is inverted.
        +
        +
        +
        • +
      • +
        +

        getAbsolutePosition

        +
        public double getAbsolutePosition()
        +
        Get the absolute position of the encoder.
        +
        +
        Specified by:
        +
        getAbsolutePosition in class SwerveAbsoluteEncoder
        +
        Returns:
        +
        Absolute position in degrees from [0, 360).
        +
        +
        +
        • +
      • +
        +

        getAbsoluteEncoder

        +
        public Object getAbsoluteEncoder()
        +
        Get the instantiated absolute encoder Object.
        +
        +
        Specified by:
        +
        getAbsoluteEncoder in class SwerveAbsoluteEncoder
        +
        Returns:
        +
        Absolute encoder object.
        +
        +
        +
        • +
      +
      +
      • +
    +
    + +
    +
    +
    + + diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index c3fe32c..96cb25e 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,18 +1,17 @@ - -SparkMaxEncoderSwerve + +SparkMaxEncoderSwerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -112,7 +111,8 @@ loadScripts(document, 'script');
    Constructor
    Description
    -
    SparkMaxEncoderSwerve(SwerveMotor motor)
    +
    SparkMaxEncoderSwerve(SwerveMotor motor, + int conversionFactor)
    Create the AbsoluteEncoder object as a duty cycle.
    @@ -188,13 +188,15 @@ loadScripts(document, 'script');

    Constructor Details

    • -
      +

      SparkMaxEncoderSwerve

      -
      public SparkMaxEncoderSwerve(SwerveMotor motor)
      +
      public SparkMaxEncoderSwerve(SwerveMotor motor, + int conversionFactor)
      Create the AbsoluteEncoder object as a duty cycle. from the CANSparkMax motor.
      Parameters:
      motor - Motor to create the encoder from.
      +
      conversionFactor - The conversion factor to set if the output is not from 0 to 360.
      • diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index ec04efb..29ec1da 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,18 +1,17 @@ - -SwerveAbsoluteEncoder + +SwerveAbsoluteEncoder (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    @@ -77,12 +76,13 @@ loadScripts(document, 'script');
    Direct Known Subclasses:
    -
    AnalogAbsoluteEncoderSwerve, CANCoderSwerve, SparkMaxEncoderSwerve
    +
    AnalogAbsoluteEncoderSwerve, CanAndCoderSwerve, CANCoderSwerve, SparkMaxEncoderSwerve
    public abstract class SwerveAbsoluteEncoder extends Object
    -
    Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
    +
    Swerve abstraction class to define a standard interface with absolute encoders for swerve + modules..
      diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index 063b822..265390b 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,18 +1,17 @@ - -swervelib.encoders + +swervelib.encoders (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    @@ -88,17 +87,22 @@ loadScripts(document, 'script');
    Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
    -
    CANCoderSwerve
    +
    CanAndCoderSwerve
    +
    HELIUM CANandcoder from ReduxRobotics absolute encoder, attached through the CAN bus.
    +
    +
    CANCoderSwerve
    +
    Swerve Absolute Encoder for CTRE CANCoders.
    -
    SparkMaxEncoderSwerve
    -
    +
    SparkMaxEncoderSwerve
    +
    SparkMax absolute encoder, attached through the data port.
    -
    SwerveAbsoluteEncoder
    -
    -
    Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
    +
    SwerveAbsoluteEncoder
    +
    +
    Swerve abstraction class to define a standard interface with absolute encoders for swerve + modules..
    diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index b5783e3..8228294 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,18 +1,17 @@ - -swervelib.encoders Class Hierarchy + +swervelib.encoders Class Hierarchy (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -62,6 +61,7 @@ loadScripts(document, 'script');
  • swervelib.encoders.SwerveAbsoluteEncoder diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html index 07393f7..63abbd9 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,18 +1,17 @@ - -ADIS16448Swerve + +ADIS16448Swerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -45,13 +44,13 @@ loadScripts(document, 'script'); @@ -84,28 +83,6 @@ loadScripts(document, 'script');
      - -
    • -
      -

      Field Summary

      -
      Fields
      -
      -
      Modifier and Type
      -
      Field
      -
      Description
      -
      private final edu.wpi.first.wpilibj.ADIS16448_IMU
      -
      imu
      -
      -
      ADIS16448_IMU device to read the current headings from.
      -
      -
      private edu.wpi.first.math.geometry.Rotation3d
      -
      offset
      -
      -
      Offset for the ADIS16448.
      -
      -
      -
      -
    • @@ -179,28 +156,6 @@ loadScripts(document, 'script');
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          imu

          -
          private final edu.wpi.first.wpilibj.ADIS16448_IMU imu
          -
          ADIS16448_IMU device to read the current headings from.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the ADIS16448.
          -
          -
          • -
        -
        -
      • @@ -210,7 +165,8 @@ loadScripts(document, 'script');

        ADIS16448Swerve

        public ADIS16448Swerve()
        -
        Construct the ADIS16448 imu and reset default configurations. Publish the gyro to the SmartDashboard.
        +
        Construct the ADIS16448 imu and reset default configurations. Publish the gyro to the + SmartDashboard.
      @@ -286,8 +242,8 @@ loadScripts(document, 'script');

      getAccel

      public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
      -
      Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
      +
      Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration + isn't supported returns empty.
      Specified by:
      getAccel in class SwerveIMU
      diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html index fa904a8..0113d91 100644 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ b/docs/swervelib/imu/ADIS16470Swerve.html @@ -1,18 +1,17 @@ - -ADIS16470Swerve + +ADIS16470Swerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    @@ -45,13 +44,13 @@ loadScripts(document, 'script'); @@ -84,28 +83,6 @@ loadScripts(document, 'script');
      - -
    • -
      -

      Field Summary

      -
      Fields
      -
      -
      Modifier and Type
      -
      Field
      -
      Description
      -
      private final edu.wpi.first.wpilibj.ADIS16470_IMU
      -
      imu
      -
      -
      ADIS16470_IMU device to read the current headings from.
      -
      -
      private edu.wpi.first.math.geometry.Rotation3d
      -
      offset
      -
      -
      Offset for the ADIS16470.
      -
      -
      -
      -
    • @@ -179,28 +156,6 @@ loadScripts(document, 'script');
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          imu

          -
          private final edu.wpi.first.wpilibj.ADIS16470_IMU imu
          -
          ADIS16470_IMU device to read the current headings from.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the ADIS16470.
          -
          -
          • -
        -
        -
      • @@ -210,7 +165,8 @@ loadScripts(document, 'script');

        ADIS16470Swerve

        public ADIS16470Swerve()
        -
        Construct the ADIS16470 imu and reset default configurations. Publish the gyro to the SmartDashboard.
        +
        Construct the ADIS16470 imu and reset default configurations. Publish the gyro to the + SmartDashboard.
      @@ -286,8 +242,8 @@ loadScripts(document, 'script');

      getAccel

      public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
      -
      Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
      +
      Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration + isn't supported returns empty.
      Specified by:
      getAccel in class SwerveIMU
      diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html index 77b6ada..808fa29 100644 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ b/docs/swervelib/imu/ADXRS450Swerve.html @@ -1,18 +1,17 @@ - -ADXRS450Swerve + +ADXRS450Swerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    @@ -45,13 +44,13 @@ loadScripts(document, 'script'); @@ -84,28 +83,6 @@ loadScripts(document, 'script');
      - -
    • -
      -

      Field Summary

      -
      Fields
      -
      -
      Modifier and Type
      -
      Field
      -
      Description
      -
      private final edu.wpi.first.wpilibj.ADXRS450_Gyro
      -
      imu
      -
      -
      ADXRS450_Gyro device to read the current headings from.
      -
      -
      private edu.wpi.first.math.geometry.Rotation3d
      -
      offset
      -
      -
      Offset for the ADXRS450.
      -
      -
      -
      -
    • @@ -179,28 +156,6 @@ loadScripts(document, 'script');
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          imu

          -
          private final edu.wpi.first.wpilibj.ADXRS450_Gyro imu
          -
          ADXRS450_Gyro device to read the current headings from.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the ADXRS450.
          -
          -
          • -
        -
        -
      • @@ -210,7 +165,8 @@ loadScripts(document, 'script');

        ADXRS450Swerve

        public ADXRS450Swerve()
        -
        Construct the ADXRS450 imu and reset default configurations. Publish the gyro to the SmartDashboard.
        +
        Construct the ADXRS450 imu and reset default configurations. Publish the gyro to the + SmartDashboard.
      @@ -286,8 +242,8 @@ loadScripts(document, 'script');

      getAccel

      public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
      -
      Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
      +
      Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration + isn't supported returns empty.
      Specified by:
      getAccel in class SwerveIMU
      diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html index e4b065c..d19b197 100644 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ b/docs/swervelib/imu/AnalogGyroSwerve.html @@ -1,18 +1,17 @@ - -AnalogGyroSwerve + +AnalogGyroSwerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    @@ -45,13 +44,13 @@ loadScripts(document, 'script'); @@ -84,28 +83,6 @@ loadScripts(document, 'script');
      - -
    • -
      -

      Field Summary

      -
      Fields
      -
      -
      Modifier and Type
      -
      Field
      -
      Description
      -
      private final edu.wpi.first.wpilibj.AnalogGyro
      -
      gyro
      -
      -
      Gyroscope object.
      -
      -
      private edu.wpi.first.math.geometry.Rotation3d
      -
      offset
      -
      -
      Offset for the analog gyro.
      -
      -
      -
      -
    • @@ -179,28 +156,6 @@ loadScripts(document, 'script');
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          gyro

          -
          private final edu.wpi.first.wpilibj.AnalogGyro gyro
          -
          Gyroscope object.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the analog gyro.
          -
          -
          • -
        -
        -
      • @@ -290,8 +245,8 @@ loadScripts(document, 'script');

        getAccel

        public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
        +
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration + isn't supported returns empty.
        Specified by:
        getAccel in class SwerveIMU
        diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index 071452b..59b2c9f 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,18 +1,17 @@ - -NavXSwerve + +NavXSwerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
      • Package
      • Class
      • Tree
        • -
      • Index
        • +
      • Index
      • Help
    @@ -45,13 +44,13 @@ loadScripts(document, 'script'); @@ -84,28 +83,6 @@ loadScripts(document, 'script');
      - -
    • -
      -

      Field Summary

      -
      Fields
      -
      -
      Modifier and Type
      -
      Field
      -
      Description
      -
      private com.kauailabs.navx.frc.AHRS
      -
      gyro
      -
      -
      NavX IMU.
      -
      -
      private edu.wpi.first.math.geometry.Rotation3d
      -
      offset
      -
      -
      Offset for the NavX.
      -
      -
      -
      -
    • @@ -179,28 +156,6 @@ loadScripts(document, 'script');
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          gyro

          -
          private com.kauailabs.navx.frc.AHRS gyro
          -
          NavX IMU.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the NavX.
          -
          -
          • -
        -
        -
      • @@ -290,8 +245,8 @@ loadScripts(document, 'script');

        getAccel

        public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
        +
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration + isn't supported returns empty.
        Specified by:
        getAccel in class SwerveIMU
        diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index dedd307..59fcb7e 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,18 +1,17 @@ - -Pigeon2Swerve + +Pigeon2Swerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
      • Package
      • Class
      • Tree
        • -
      • Index
        • +
      • Index
      • Help
    @@ -45,13 +44,13 @@ loadScripts(document, 'script'); @@ -84,28 +83,6 @@ loadScripts(document, 'script');
      - -
    • -
      -

      Field Summary

      -
      Fields
      -
      -
      Modifier and Type
      -
      Field
      -
      Description
      -
      (package private) com.ctre.phoenix.sensors.WPI_Pigeon2
      -
      imu
      -
      -
      Pigeon2 IMU device.
      -
      -
      private edu.wpi.first.math.geometry.Rotation3d
      -
      offset
      -
      -
      Offset for the Pigeon 2.
      -
      -
      -
      -
    • @@ -184,28 +161,6 @@ loadScripts(document, 'script');
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          imu

          -
          com.ctre.phoenix.sensors.WPI_Pigeon2 imu
          -
          Pigeon2 IMU device.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the Pigeon 2.
          -
          -
          • -
        -
        -
      • @@ -308,8 +263,8 @@ loadScripts(document, 'script');

        getAccel

        public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
        +
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration + isn't supported returns empty.
        Specified by:
        getAccel in class SwerveIMU
        diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index c60b7c2..7606d89 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,18 +1,17 @@ - -PigeonSwerve + +PigeonSwerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
      • Package
      • Class
      • Tree
        • -
      • Index
        • +
      • Index
      • Help
    @@ -45,13 +44,13 @@ loadScripts(document, 'script'); @@ -84,28 +83,6 @@ loadScripts(document, 'script');
      - -
    • -
      -

      Field Summary

      -
      Fields
      -
      -
      Modifier and Type
      -
      Field
      -
      Description
      -
      (package private) com.ctre.phoenix.sensors.WPI_PigeonIMU
      -
      imu
      -
      -
      Pigeon v1 IMU device.
      -
      -
      private edu.wpi.first.math.geometry.Rotation3d
      -
      offset
      -
      -
      Offset for the Pigeon.
      -
      -
      -
      -
    • @@ -179,28 +156,6 @@ loadScripts(document, 'script');
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          imu

          -
          com.ctre.phoenix.sensors.WPI_PigeonIMU imu
          -
          Pigeon v1 IMU device.
          -
          -
          • -
        • -
          -

          offset

          -
          private edu.wpi.first.math.geometry.Rotation3d offset
          -
          Offset for the Pigeon.
          -
          -
          • -
        -
        -
      • @@ -290,8 +245,8 @@ loadScripts(document, 'script');

        getAccel

        public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
        -
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
        +
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration + isn't supported returns empty.
        Specified by:
        getAccel in class SwerveIMU
        diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index d1e0f00..02fe932 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,18 +1,17 @@ - -SwerveIMU + +SwerveIMU (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
      • Package
      • Class
      • Tree
        • -
      • Index
        • +
      • Index
      • Help
    @@ -227,8 +226,8 @@ loadScripts(document, 'script');

    getAccel

    public abstract Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
    -
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns - empty.
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration + isn't supported returns empty.
    Returns:
    Translation3d of the acceleration as an Optional.
    diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index 8d17cbc..fffa8ec 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,18 +1,17 @@ - -swervelib.imu + +swervelib.imu (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index d51e62d..53e8c1a 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,18 +1,17 @@ - -swervelib.imu Class Hierarchy + +swervelib.imu Class Hierarchy (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html index 7a3c725..679a9bd 100644 --- a/docs/swervelib/math/Matter.html +++ b/docs/swervelib/math/Matter.html @@ -1,18 +1,17 @@ - -Matter + +Matter (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/math/SwerveDriveOdometry2.html b/docs/swervelib/math/SwerveDriveOdometry2.html index 6701802..ec7fd72 100644 --- a/docs/swervelib/math/SwerveDriveOdometry2.html +++ b/docs/swervelib/math/SwerveDriveOdometry2.html @@ -1,18 +1,17 @@ - -SwerveDriveOdometry2 + +SwerveDriveOdometry2 (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -45,13 +44,13 @@ loadScripts(document, 'script'); @@ -72,66 +71,21 @@ loadScripts(document, 'script');

    Class SwerveDriveOdometry2

    java.lang.Object +
    edu.wpi.first.math.kinematics.Odometry<edu.wpi.first.math.kinematics.SwerveDriveWheelPositions>
    edu.wpi.first.math.kinematics.SwerveDriveOdometry
    swervelib.math.SwerveDriveOdometry2
    +
    public class SwerveDriveOdometry2 extends edu.wpi.first.math.kinematics.SwerveDriveOdometry
    -
    Clone of SwerveDriveOdometry except uses gyro pitch and roll to achieve a more accurate estimation. - Originally made by Team 1466.
    +
    Clone of SwerveDriveOdometry except uses gyro pitch and roll to achieve a more accurate + estimation. Originally made by Team 1466.
      - -
    • -
      -

      Field Summary

      -
      Fields
      -
      -
      Modifier and Type
      -
      Field
      -
      Description
      -
      private edu.wpi.first.math.geometry.Rotation2d
      -
      m_gyroOffset
      -
      -
      Gyro offset.
      -
      -
      private final edu.wpi.first.math.kinematics.SwerveDriveKinematics
      -
      m_kinematics
      -
      -
      Swerve drive kinematics.
      -
      -
      private final int
      -
      m_numModules
      -
      -
      Number of swerve modules.
      -
      -
      private edu.wpi.first.math.geometry.Pose2d
      -
      m_poseMeters
      -
      -
      Estimated pose.
      -
      -
      private edu.wpi.first.math.geometry.Rotation2d
      -
      m_previousAngle
      -
      -
      Previous gyroscope angle.
      -
      -
      private final edu.wpi.first.math.kinematics.SwerveModulePosition[]
      -
      m_previousModulePositions
      -
      -
      Previous swerve module positions.
      -
      -
      private final edu.wpi.first.math.kinematics.SwerveModuleState[]
      -
      m_zeroModuleStates
      -
      -
      Zero module states.
      -
      -
      -
      -
    • @@ -185,14 +139,15 @@ loadScripts(document, 'script'); edu.wpi.first.math.geometry.Rotation2d roll, edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions)
      -
      Updates the robot's position on the field using forward kinematics and integration of the pose over time.
      +
      Updates the robot's position on the field using forward kinematics and integration of the pose + over time.

      Methods inherited from class edu.wpi.first.math.kinematics.SwerveDriveOdometry

      -update
      +resetPosition, update, update

      Methods inherited from class java.lang.Object

      clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
      @@ -202,63 +157,6 @@ loadScripts(document, 'script');
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          m_kinematics

          -
          private final edu.wpi.first.math.kinematics.SwerveDriveKinematics m_kinematics
          -
          Swerve drive kinematics.
          -
          -
          • -
        • -
          -

          m_numModules

          -
          private final int m_numModules
          -
          Number of swerve modules.
          -
          -
          • -
        • -
          -

          m_previousModulePositions

          -
          private final edu.wpi.first.math.kinematics.SwerveModulePosition[] m_previousModulePositions
          -
          Previous swerve module positions.
          -
          -
          • -
        • -
          -

          m_zeroModuleStates

          -
          private final edu.wpi.first.math.kinematics.SwerveModuleState[] m_zeroModuleStates
          -
          Zero module states.
          -
          -
          • -
        • -
          -

          m_poseMeters

          -
          private edu.wpi.first.math.geometry.Pose2d m_poseMeters
          -
          Estimated pose.
          -
          -
          • -
        • -
          -

          m_gyroOffset

          -
          private edu.wpi.first.math.geometry.Rotation2d m_gyroOffset
          -
          Gyro offset.
          -
          -
          • -
        • -
          -

          m_previousAngle

          -
          private edu.wpi.first.math.geometry.Rotation2d m_previousAngle
          -
          Previous gyroscope angle.
          -
          -
          • -
        -
        -
      • @@ -333,7 +231,7 @@ loadScripts(document, 'script');
        Returns the position of the robot on the field.
        Overrides:
        -
        getPoseMeters in class edu.wpi.first.math.kinematics.SwerveDriveOdometry
        +
        getPoseMeters in class edu.wpi.first.math.kinematics.Odometry<edu.wpi.first.math.kinematics.SwerveDriveWheelPositions>
        Returns:
        The pose of the robot (x and y are in meters).
        @@ -346,18 +244,19 @@ loadScripts(document, 'script'); edu.wpi.first.math.geometry.Rotation2d pitch, edu.wpi.first.math.geometry.Rotation2d roll, edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions) -
        Updates the robot's position on the field using forward kinematics and integration of the pose over time. This - method automatically calculates the current time to calculate period (difference between two timestamps). The - period is used to calculate the change in distance from a velocity. This also takes in an angle parameter which is - used instead of the angular rate that is calculated from forward kinematics. This also takes in pitch and roll to - allow for more accurate pose estimation on angled surfaces using a rotation matrix.
        +
        Updates the robot's position on the field using forward kinematics and integration of the pose + over time. This method automatically calculates the current time to calculate period + (difference between two timestamps). The period is used to calculate the change in distance + from a velocity. This also takes in an angle parameter which is used instead of the angular + rate that is calculated from forward kinematics. This also takes in pitch and roll to allow for + more accurate pose estimation on angled surfaces using a rotation matrix.
        Parameters:
        gyroYaw - The yaw reported by the gyro.
        pitch - The pitch reported by the gyro.
        roll - The roll reported by the gyro.
        -
        modulePositions - The current position of all swerve modules. Please provide the positions in the same order - in which you instantiated your SwerveDriveKinematics.
        +
        modulePositions - The current position of all swerve modules. Please provide the positions + in the same order in which you instantiated your SwerveDriveKinematics.
        Returns:
        The new pose of the robot.
        diff --git a/docs/swervelib/math/SwerveKinematics2.html b/docs/swervelib/math/SwerveKinematics2.html index a148a83..ce7943c 100644 --- a/docs/swervelib/math/SwerveKinematics2.html +++ b/docs/swervelib/math/SwerveKinematics2.html @@ -1,18 +1,17 @@ - -SwerveKinematics2 + +SwerveKinematics2 (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
      • Package
      • Class
      • Tree
        • -
      • Index
        • +
      • Index
      • Help
      @@ -44,14 +43,14 @@ loadScripts(document, 'script');
      @@ -77,69 +76,26 @@ loadScripts(document, 'script');
      +
      +
      All Implemented Interfaces:
      +
      edu.wpi.first.math.kinematics.Kinematics<edu.wpi.first.math.kinematics.SwerveDriveKinematics.SwerveDriveWheelStates,edu.wpi.first.math.kinematics.SwerveDriveWheelPositions>
      +
      public class SwerveKinematics2 extends edu.wpi.first.math.kinematics.SwerveDriveKinematics
      -
      Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis - speed. Makes use of SwerveModuleState2 to add the angular velocity that is required of the module as an - output.
      +
      Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules + states from chassis speed. Makes use of SwerveModuleState2 to add the angular velocity + that is required of the module as an output.
        - +
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private final org.ejml.simple.SimpleMatrix
        -
        bigInverseKinematics
        -
        -
        Second order kinematics inverse matrix.
        -
        -
        private final org.ejml.simple.SimpleMatrix
        -
        m_forwardKinematics
        -
        -
        Forward kinematics matrix.
        -
        -
        private final org.ejml.simple.SimpleMatrix
        -
        m_inverseKinematics
        -
        -
        Inverse kinematics matrix.
        -
        -
        private final edu.wpi.first.wpilibj.Timer
        -
        m_moduleAccelTimer
        -
         
        -
        private final edu.wpi.first.math.geometry.Translation2d[]
        -
        m_modules
        -
        -
        Location of each swerve module in meters.
        -
        -
        private final SwerveModuleState2[]
        -
        m_moduleStates
        -
        -
        Swerve module states.
        -
        -
        private final int
        -
        m_numModules
        -
        -
        Number of swerve modules.
        -
        -
        private edu.wpi.first.math.kinematics.ChassisSpeeds
        -
        m_prevChassisSpeeds
        -
         
        -
        private edu.wpi.first.math.geometry.Translation2d
        -
        m_prevCoR
        -
        -
        Previous CoR
        -
        -
        private double
        -
        m_prevModuleAccelTime
        -
         
        -
        +
        +

        Nested Class Summary

        +
        +

        Nested classes/interfaces inherited from class edu.wpi.first.math.kinematics.SwerveDriveKinematics

        +edu.wpi.first.math.kinematics.SwerveDriveKinematics.SwerveDriveWheelStates
        • @@ -181,8 +137,8 @@ loadScripts(document, 'script'); double attainableMaxTranslationalSpeedMetersPerSecond, double attainableMaxRotationalVelocityRadiansPerSecond)
        -
        Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of - joystick saturation at edges of joystick.
        +
        Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well + as getting rid of joystick saturation at edges of joystick.
        edu.wpi.first.math.kinematics.ChassisSpeeds
        toChassisSpeeds(SwerveModuleState2... wheelStates)
        @@ -210,7 +166,7 @@ loadScripts(document, 'script');

        Methods inherited from class edu.wpi.first.math.kinematics.SwerveDriveKinematics

        -desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds
        +desaturateWheelSpeeds, desaturateWheelSpeeds, resetHeadings, toChassisSpeeds, toChassisSpeeds, toTwist2d, toWheelSpeeds

        Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
        @@ -220,81 +176,6 @@ loadScripts(document, 'script');
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          m_inverseKinematics

          -
          private final org.ejml.simple.SimpleMatrix m_inverseKinematics
          -
          Inverse kinematics matrix.
          -
          -
          • -
        • -
          -

          m_forwardKinematics

          -
          private final org.ejml.simple.SimpleMatrix m_forwardKinematics
          -
          Forward kinematics matrix.
          -
          -
          • -
        • -
          -

          bigInverseKinematics

          -
          private final org.ejml.simple.SimpleMatrix bigInverseKinematics
          -
          Second order kinematics inverse matrix.
          -
          -
          • -
        • -
          -

          m_numModules

          -
          private final int m_numModules
          -
          Number of swerve modules.
          -
          -
          • -
        • -
          -

          m_modules

          -
          private final edu.wpi.first.math.geometry.Translation2d[] m_modules
          -
          Location of each swerve module in meters.
          -
          -
          • -
        • -
          -

          m_moduleStates

          -
          private final SwerveModuleState2[] m_moduleStates
          -
          Swerve module states.
          -
          -
          • -
        • -
          -

          m_moduleAccelTimer

          -
          private final edu.wpi.first.wpilibj.Timer m_moduleAccelTimer
          -
          -
          • -
        • -
          -

          m_prevCoR

          -
          private edu.wpi.first.math.geometry.Translation2d m_prevCoR
          -
          Previous CoR
          -
          -
          • -
        • -
          -

          m_prevChassisSpeeds

          -
          private edu.wpi.first.math.kinematics.ChassisSpeeds m_prevChassisSpeeds
          -
          -
          • -
        • -
          -

          m_prevModuleAccelTime

          -
          private double m_prevModuleAccelTime
          -
          -
          • -
        -
        -
      • @@ -304,10 +185,10 @@ loadScripts(document, 'script');

        SwerveKinematics2

        public SwerveKinematics2(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)
        -
        Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations as Translation2ds. - The order in which you pass in the wheel locations is the same order that you will receive the module states when - performing inverse kinematics. It is also expected that you pass in the module states in the same order when - calling the forward kinematics methods.
        +
        Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations + as Translation2ds. The order in which you pass in the wheel locations is the same order that + you will receive the module states when performing inverse kinematics. It is also expected that + you pass in the module states in the same order when calling the forward kinematics methods.
        Parameters:
        wheelsMeters - The locations of the wheels relative to the physical center of the robot.
        @@ -330,13 +211,13 @@ loadScripts(document, 'script');
        Renormalizes the wheel speeds if any individual speed is above the specified maximum.

        Sometimes, after inverse kinematics, the requested speed from one or more modules may be - above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the - wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while - maintaining the ratio of speeds between modules.

        + above the max attainable speed for the driving motor on that module. To fix this issue, one can + reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the + absolute threshold, while maintaining the ratio of speeds between modules.
        Parameters:
        moduleStates - Reference to array of module states. The array will be mutated with the - normalized speeds!
        + normalized speeds!
        attainableMaxSpeedMetersPerSecond - The absolute max speed that a module can reach.
        @@ -349,22 +230,23 @@ loadScripts(document, 'script'); double attainableMaxModuleSpeedMetersPerSecond, double attainableMaxTranslationalSpeedMetersPerSecond, double attainableMaxRotationalVelocityRadiansPerSecond) -
        Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of - joystick saturation at edges of joystick. +
        Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well + as getting rid of joystick saturation at edges of joystick.

        Sometimes, after inverse kinematics, the requested speed from one or more modules may be - above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the - wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while - maintaining the ratio of speeds between modules.

        + above the max attainable speed for the driving motor on that module. To fix this issue, one can + reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the + absolute threshold, while maintaining the ratio of speeds between modules.
        Parameters:
        -
        moduleStates - Reference to array of module states. The array will be - mutated with the normalized speeds!
        +
        moduleStates - Reference to array of module states. The array will be mutated with the + normalized speeds!
        currentChassisSpeed - The current speed of the robot
        attainableMaxModuleSpeedMetersPerSecond - The absolute max speed that a module can reach
        -
        attainableMaxTranslationalSpeedMetersPerSecond - The absolute max speed that your robot can reach while - translating
        -
        attainableMaxRotationalVelocityRadiansPerSecond - The absolute max speed the robot can reach while rotating
        +
        attainableMaxTranslationalSpeedMetersPerSecond - The absolute max speed that your robot + can reach while translating
        +
        attainableMaxRotationalVelocityRadiansPerSecond - The absolute max speed the robot can + reach while rotating
        • @@ -373,13 +255,13 @@ loadScripts(document, 'script');

        toSwerveModuleStates

        public SwerveModuleState2[] toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds, edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
        -
        Performs inverse kinematics to return the module states from a desired chassis velocity. This method is often used - to convert joystick values into module speeds and angles. +
        Performs inverse kinematics to return the module states from a desired chassis velocity. This + method is often used to convert joystick values into module speeds and angles.

        This function also supports variable centers of rotation. During normal operations, the - center of rotation is usually the same as the physical center of the robot; therefore, the argument is defaulted to - that use case. However, if you wish to change the center of rotation for evasive maneuvers, vision alignment, or - for any other use case, you can do so. + center of rotation is usually the same as the physical center of the robot; therefore, the + argument is defaulted to that use case. However, if you wish to change the center of rotation + for evasive maneuvers, vision alignment, or for any other use case, you can do so.

        In the case that the desired chassis speeds are zero (i.e. the robot will be stationary), the previously calculated module angle will be maintained.

        @@ -388,13 +270,13 @@ loadScripts(document, 'script');
        toSwerveModuleStates in class edu.wpi.first.math.kinematics.SwerveDriveKinematics
        Parameters:
        chassisSpeeds - The desired chassis speed.
        -
        centerOfRotationMeters - The center of rotation. For example, if you set the center of rotation at one corner - of the robot and provide a chassis speed that only has a dtheta component, the robot - will rotate around that corner.
        +
        centerOfRotationMeters - The center of rotation. For example, if you set the center of + rotation at one corner of the robot and provide a chassis speed that only has a dtheta + component, the robot will rotate around that corner.
        Returns:
        -
        An array containing the module states. Use caution because these module states are not normalized. - Sometimes, a user input may cause one of the module speeds to go above the attainable max velocity. Use the - DesaturateWheelSpeeds function to rectify this issue.
        +
        An array containing the module states. Use caution because these module states are not + normalized. Sometimes, a user input may cause one of the module speeds to go above the + attainable max velocity. Use the DesaturateWheelSpeeds function to rectify this issue.
      • @@ -402,8 +284,8 @@ loadScripts(document, 'script');

      toSwerveModuleStates

      public SwerveModuleState2[] toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
      -
      Performs inverse kinematics. See toSwerveModuleStates(ChassisSpeeds, Translation2d) toSwerveModuleStates - for more information.
      +
      Performs inverse kinematics. See toSwerveModuleStates(ChassisSpeeds, Translation2d) + toSwerveModuleStates for more information.
      Overrides:
      toSwerveModuleStates in class edu.wpi.first.math.kinematics.SwerveDriveKinematics
      @@ -418,14 +300,14 @@ loadScripts(document, 'script');

      toChassisSpeeds

      public edu.wpi.first.math.kinematics.ChassisSpeeds toChassisSpeeds(SwerveModuleState2... wheelStates)
      -
      Performs forward kinematics to return the resulting chassis state from the given module states. This method is - often used for odometry -- determining the robot's position on the field using data from the real-world speed and - angle of each module on the robot.
      +
      Performs forward kinematics to return the resulting chassis state from the given module states. + This method is often used for odometry -- determining the robot's position on the field using + data from the real-world speed and angle of each module on the robot.
      Parameters:
      -
      wheelStates - The state of the modules (as a SwerveModuleState type) as measured from respective encoders and - gyros. The order of the swerve module states should be same as passed into the constructor of - this class.
      +
      wheelStates - The state of the modules (as a SwerveModuleState type) as measured from + respective encoders and gyros. The order of the swerve module states should be same as + passed into the constructor of this class.
      Returns:
      The resulting chassis speed.
      @@ -435,16 +317,16 @@ loadScripts(document, 'script');

      toTwist2d

      public edu.wpi.first.math.geometry.Twist2d toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)
      -
      Performs forward kinematics to return the resulting chassis state from the given module states. This method is - often used for odometry -- determining the robot's position on the field using data from the real-world speed and - angle of each module on the robot.
      +
      Performs forward kinematics to return the resulting chassis state from the given module states. + This method is often used for odometry -- determining the robot's position on the field using + data from the real-world speed and angle of each module on the robot.
      Overrides:
      toTwist2d in class edu.wpi.first.math.kinematics.SwerveDriveKinematics
      Parameters:
      -
      wheelDeltas - The latest change in position of the modules (as a SwerveModulePosition type) as measured from - respective encoders and gyros. The order of the swerve module states should be same as passed - into the constructor of this class.
      +
      wheelDeltas - The latest change in position of the modules (as a SwerveModulePosition + type) as measured from respective encoders and gyros. The order of the swerve module states + should be same as passed into the constructor of this class.
      Returns:
      The resulting Twist2d.
      diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index 2774eca..d502ec3 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,18 +1,17 @@ - -SwerveMath + +SwerveMath (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    @@ -120,80 +119,73 @@ loadScripts(document, 'script');
    Algebraically apply a deadband using a piece wise function.
    -
    private static double
    -
    calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d angle, - List<Matter> matter, - double robotMass, - SwerveDriveConfiguration config)
    -
    -
    Calculates the maximum acceleration allowed in a direction without tipping the robot.
    -
    -
    static double
    -
    calculateDegreesPerSteeringRotation(double angleGearRatio, +
    static double
    +
    calculateDegreesPerSteeringRotation(double angleGearRatio, double pulsePerRotation)
    -
    +
    Calculate the degrees per steering rotation for the integrated encoder.
    -
    static double
    -
    calculateMaxAcceleration(double cof)
    -
    -
    Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
    -
    static double
    -
    calculateMaxAcceleration(double stallTorqueNm, +
    calculateMaxAcceleration(double cof)
    +
    +
    Calculate the practical maximum acceleration of the robot using the wheel coefficient of + friction.
    +
    +
    static double
    +
    calculateMaxAcceleration(double stallTorqueNm, double gearRatio, double moduleCount, double wheelDiameter, double robotMass)
    -
    +
    Calculate the maximum theoretical acceleration without friction.
    -
    static double
    -
    calculateMaxAngularVelocity(double maxSpeed, +
    static double
    +
    calculateMaxAngularVelocity(double maxSpeed, double furthestModuleX, double furthestModuleY)
    -
    +
    Calculate the maximum angular velocity.
    -
    static double
    -
    calculateMetersPerRotation(double wheelDiameter, +
    static double
    +
    calculateMetersPerRotation(double wheelDiameter, double driveGearRatio, double pulsePerRotation)
    -
    +
    Calculate the meters per rotation for the integrated encoder.
    -
    static SwerveModuleConfiguration
    -
    getSwerveModule(SwerveModule[] modules, +
    static SwerveModuleConfiguration
    +
    getSwerveModule(SwerveModule[] modules, boolean front, boolean left)
    -
    +
    Get the fruthest module from center based on the module locations.
    -
    static edu.wpi.first.math.geometry.Translation2d
    -
    limitVelocity(edu.wpi.first.math.geometry.Translation2d commandedVelocity, +
    static edu.wpi.first.math.geometry.Translation2d
    +
    limitVelocity(edu.wpi.first.math.geometry.Translation2d commandedVelocity, edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity, edu.wpi.first.math.geometry.Pose2d robotPose, double loopTime, double robotMass, List<Matter> matter, SwerveDriveConfiguration config)
    -
    -
    Limits a commanded velocity to prevent exceeding the maximum acceleration given by calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration).
    -
    -
    static double
    -
    normalizeAngle(double angle)
    -
    Normalize an angle to be within 0 to 360.
    +
    Limits a commanded velocity to prevent exceeding the maximum acceleration given by calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration).
    static double
    -
    placeInAppropriate0To360Scope(double scopeReference, - double newAngle)
    +
    normalizeAngle(double angle)
    +
    Normalize an angle to be within 0 to 360.
    +
    +
    static double
    +
    placeInAppropriate0To360Scope(double scopeReference, + double newAngle)
    +
    Put an angle within the 360 deg scope of a reference.
    -
    static edu.wpi.first.math.geometry.Twist2d
    -
    PoseLog(edu.wpi.first.math.geometry.Pose2d transform)
    -
    +
    static edu.wpi.first.math.geometry.Twist2d
    +
    PoseLog(edu.wpi.first.math.geometry.Pose2d transform)
    +
    Logical inverse of the Pose exponential from 254.
    @@ -233,13 +225,14 @@ loadScripts(document, 'script');
    public static double calculateMetersPerRotation(double wheelDiameter, double driveGearRatio, double pulsePerRotation)
    -
    Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels * pi [circumfrence] - / gear ratio.
    +
    Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels + * pi [circumfrence] / gear ratio.
    Parameters:
    wheelDiameter - Wheel diameter in meters.
    driveGearRatio - The gear ratio of the drive motor.
    -
    pulsePerRotation - The number of encoder pulses per rotation. 1 if using an integrated encoder.
    +
    pulsePerRotation - The number of encoder pulses per rotation. 1 if using an integrated + encoder.
    Returns:
    Meters per rotation for the drive motor.
    @@ -280,12 +273,14 @@ loadScripts(document, 'script');

    calculateDegreesPerSteeringRotation

    public static double calculateDegreesPerSteeringRotation(double angleGearRatio, double pulsePerRotation)
    -
    Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts - motor rotations to linear wheel distance and steering converts motor rotations to module azimuth.
    +
    Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion + values. Drive converts motor rotations to linear wheel distance and steering converts motor + rotations to module azimuth.
    Parameters:
    angleGearRatio - The gear ratio of the steering motor.
    -
    pulsePerRotation - The number of pulses in a complete rotation for the encoder, 1 if integrated.
    +
    pulsePerRotation - The number of pulses in a complete rotation for the encoder, 1 if + integrated.
    Returns:
    Degrees per steering rotation for the angle motor.
    @@ -312,7 +307,8 @@ loadScripts(document, 'script');

    calculateMaxAcceleration

    public static double calculateMaxAcceleration(double cof)
    -
    Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
    +
    Calculate the practical maximum acceleration of the robot using the wheel coefficient of + friction.
    Parameters:
    cof - Coefficient of Friction of the wheel grip tape.
    @@ -333,7 +329,8 @@ loadScripts(document, 'script');
    Parameters:
    stallTorqueNm - Stall torque of driving motor in nM.
    -
    gearRatio - Gear ratio for driving motor number of motor rotations until one wheel rotation.
    +
    gearRatio - Gear ratio for driving motor number of motor rotations until one wheel + rotation.
    moduleCount - Number of swerve modules.
    wheelDiameter - Wheel diameter in meters.
    robotMass - Mass of the robot in kg.
    @@ -343,27 +340,6 @@ loadScripts(document, 'script');
  • -
    -

    calcMaxAccel

    -
    private static double calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d angle, - List<Matter> matter, - double robotMass, - SwerveDriveConfiguration config)
    -
    Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from - NetworkTables and is passed the direction in question.
    -
    -
    Parameters:
    -
    angle - The direction in which to calculate max acceleration, as a Rotation2d. Note that this is - robot-relative.
    -
    matter - Matter that the robot is composed of in kg. (Includes chassis)
    -
    robotMass - The weight of the robot in kg. (Including manipulators, etc).
    -
    config - The swerve drive configuration.
    -
    Returns:
    -
    Maximum acceleration allowed in the robot direction.
    -
    -
    -
    • -

  • PoseLog

    public static edu.wpi.first.math.geometry.Twist2d PoseLog(edu.wpi.first.math.geometry.Pose2d transform)
    @@ -386,21 +362,20 @@ loadScripts(document, 'script'); double robotMass, List<Matter> matter, SwerveDriveConfiguration config)
    • -
    Limits a commanded velocity to prevent exceeding the maximum acceleration given by calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration). - Note that this takes and returns field-relative velocities.
    +
    Limits a commanded velocity to prevent exceeding the maximum acceleration given by calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration). Note that this takes and returns field-relative velocities.
    Parameters:
    commandedVelocity - The desired velocity
    fieldVelocity - The velocity of the robot within a field relative state.
    robotPose - The current pose of the robot.
    -
    loopTime - The time it takes to update the velocity in seconds. Note: this should include the - 100ms that it takes for a SparkMax velocity to update.
    +
    loopTime - The time it takes to update the velocity in seconds. Note: this should + include the 100ms that it takes for a SparkMax velocity to update.
    matter - Matter that the robot is composed of with position in meters and mass in kg.
    robotMass - The weight of the robot in kg. (Including manipulators, etc).
    config - The swerve drive configuration.
    Returns:
    -
    The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable - velocity.
    +
    The limited velocity. This is either the commanded velocity, if attainable, or the + closest attainable velocity.
    @@ -426,8 +401,9 @@ loadScripts(document, 'script');

    placeInAppropriate0To360Scope

    public static double placeInAppropriate0To360Scope(double scopeReference, double newAngle)
    -
    Put an angle within the 360 deg scope of a reference. For example, given a scope reference of 756 degrees, assumes - the full scope is (720-1080), and places an angle of 22 degrees into it, returning 742 deg.
    +
    Put an angle within the 360 deg scope of a reference. For example, given a scope reference of + 756 degrees, assumes the full scope is (720-1080), and places an angle of 22 degrees into it, + returning 742 deg.
    Parameters:
    scopeReference - Current Angle (deg)
    diff --git a/docs/swervelib/math/SwerveModuleState2.html b/docs/swervelib/math/SwerveModuleState2.html index f211552..25a9a1f 100644 --- a/docs/swervelib/math/SwerveModuleState2.html +++ b/docs/swervelib/math/SwerveModuleState2.html @@ -1,18 +1,17 @@ - -SwerveModuleState2 + +SwerveModuleState2 (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -129,7 +128,8 @@ loadScripts(document, 'script');
    SwerveModuleState2(edu.wpi.first.math.kinematics.SwerveModuleState state, double omegaRadPerSecond)
    -
    Create a SwerveModuleState2 based on the SwerveModuleState with the radians per second defined.
    +
    Create a SwerveModuleState2 based on the SwerveModuleState with the radians per + second defined.
    @@ -145,18 +145,23 @@ loadScripts(document, 'script');
    Modifier and Type
    Method
    Description
    -
    static SwerveModuleState2
    -
    optimize(SwerveModuleState2 desiredState, +
    SwerveModuleState2
    +
    invert()
    +
    +
    Invert the swerve module state.
    +
    +
    static SwerveModuleState2
    +
    optimize(SwerveModuleState2 desiredState, edu.wpi.first.math.geometry.Rotation2d currentAngle, SwerveModuleState2 lastState, double moduleSteerFeedForwardClosedLoop)
    -
    -
    Minimize the change in heading the desired swerve module state would require by potentially reversing the direction - the wheel spins.
    +
    +
    Minimize the change in heading the desired swerve module state would require by potentially + reversing the direction the wheel spins.
    -
    edu.wpi.first.math.kinematics.SwerveModuleState
    -
    toSwerveModuleState()
    -
    +
    edu.wpi.first.math.kinematics.SwerveModuleState
    +
    toSwerveModuleState()
    +
    Convert to a SwerveModuleState.
    @@ -221,7 +226,8 @@ loadScripts(document, 'script');

    SwerveModuleState2

    public SwerveModuleState2(edu.wpi.first.math.kinematics.SwerveModuleState state, double omegaRadPerSecond)
    -
    Create a SwerveModuleState2 based on the SwerveModuleState with the radians per second defined.
    +
    Create a SwerveModuleState2 based on the SwerveModuleState with the radians per + second defined.
    Parameters:
    state - First order kinematic module state.
    @@ -244,21 +250,33 @@ loadScripts(document, 'script'); edu.wpi.first.math.geometry.Rotation2d currentAngle, SwerveModuleState2 lastState, double moduleSteerFeedForwardClosedLoop)
    -
    Minimize the change in heading the desired swerve module state would require by potentially reversing the direction - the wheel spins. If this is used with the PIDController class's continuous input functionality, the furthest a - wheel will ever rotate is 90 degrees.
    +
    Minimize the change in heading the desired swerve module state would require by potentially + reversing the direction the wheel spins. If this is used with the PIDController class's + continuous input functionality, the furthest a wheel will ever rotate is 90 degrees.
    Parameters:
    desiredState - The desired state.
    currentAngle - The current module angle.
    lastState - The last state of the module.
    -
    moduleSteerFeedForwardClosedLoop - The module feed forward closed loop for the angle motor.
    +
    moduleSteerFeedForwardClosedLoop - The module feed forward closed loop for the angle + motor.
    Returns:
    Optimized swerve module state.
  • +
    +

    invert

    +
    public SwerveModuleState2 invert()
    +
    Invert the swerve module state.
    +
    +
    Returns:
    +
    Current inverted SwerveModuleState2
    +
    +
    +
    • +

  • toSwerveModuleState

    public edu.wpi.first.math.kinematics.SwerveModuleState toSwerveModuleState()
    diff --git a/docs/swervelib/math/SwervePoseEstimator2.InterpolationRecord.html b/docs/swervelib/math/SwervePoseEstimator2.InterpolationRecord.html deleted file mode 100644 index 4f347b7..0000000 --- a/docs/swervelib/math/SwervePoseEstimator2.InterpolationRecord.html +++ /dev/null @@ -1,295 +0,0 @@ - - - - -SwervePoseEstimator2.InterpolationRecord - - - - - - - - - - - - - - - -
    - -
    -
    - -
    -
    Package swervelib.math
    -

    Class SwervePoseEstimator2.InterpolationRecord

    -
    -
    java.lang.Object -
    swervelib.math.SwervePoseEstimator2.InterpolationRecord
    -
    -
    -
    -
    All Implemented Interfaces:
    -
    edu.wpi.first.math.interpolation.Interpolatable<SwervePoseEstimator2.InterpolationRecord>
    -
    -
    -
    Enclosing class:
    -
    SwervePoseEstimator2
    -
    -
    -
    private class SwervePoseEstimator2.InterpolationRecord -extends Object -implements edu.wpi.first.math.interpolation.Interpolatable<SwervePoseEstimator2.InterpolationRecord>
    -
    Represents an odometry record. The record contains the inputs provided as well as the pose that was observed based - on these inputs, as well as the previous record and its inputs.
    -
    -
    -
      - -
    • -
      -

      Field Summary

      -
      Fields
      -
      -
      Modifier and Type
      -
      Field
      -
      Description
      -
      private final edu.wpi.first.math.geometry.Rotation2d
      -
      gyroAngle
      -
       
      -
      private final edu.wpi.first.math.geometry.Rotation2d
      -
      gyroPitch
      -
       
      -
      private final edu.wpi.first.math.geometry.Rotation2d
      -
      gyroRoll
      -
       
      -
      private final edu.wpi.first.math.kinematics.SwerveModulePosition[]
      -
      modulePositions
      -
       
      -
      private final edu.wpi.first.math.geometry.Pose2d
      -
      poseMeters
      -
       
      -
      -
      -
      • - -
    • -
      -

      Constructor Summary

      -
      Constructors
      -
      -
      Modifier
      -
      Constructor
      -
      Description
      -
      private
      -
      InterpolationRecord(edu.wpi.first.math.geometry.Pose2d poseMeters, - edu.wpi.first.math.geometry.Rotation2d gyro, - edu.wpi.first.math.geometry.Rotation2d gyroPitch, - edu.wpi.first.math.geometry.Rotation2d gyroRoll, - edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions)
      -
      -
      Constructs an Interpolation Record with the specified parameters.
      -
      -
      -
      -
      • - -
    • -
      -

      Method Summary

      -
      -
      -
      -
      -
      Modifier and Type
      -
      Method
      -
      Description
      -
      boolean
      -
      equals(Object obj)
      -
       
      -
      int
      -
      hashCode()
      -
       
      -
      SwervePoseEstimator2.InterpolationRecord
      -
      interpolate(SwervePoseEstimator2.InterpolationRecord endValue, - double t)
      -
      -
      Return the interpolated record.
      -
      -
      -
      -
      -
      -

      Methods inherited from class java.lang.Object

      -clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait
      -
      -
      • -
    -
    -
    -
      - -
    • -
      -

      Field Details

      -
        -
      • -
        -

        poseMeters

        -
        private final edu.wpi.first.math.geometry.Pose2d poseMeters
        -
        -
        • -
      • -
        -

        gyroAngle

        -
        private final edu.wpi.first.math.geometry.Rotation2d gyroAngle
        -
        -
        • -
      • -
        -

        gyroPitch

        -
        private final edu.wpi.first.math.geometry.Rotation2d gyroPitch
        -
        -
        • -
      • -
        -

        gyroRoll

        -
        private final edu.wpi.first.math.geometry.Rotation2d gyroRoll
        -
        -
        • -
      • -
        -

        modulePositions

        -
        private final edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions
        -
        -
        • -
      -
      -
      • - -
    • -
      -

      Constructor Details

      -
        -
      • -
        -

        InterpolationRecord

        -
        private InterpolationRecord(edu.wpi.first.math.geometry.Pose2d poseMeters, - edu.wpi.first.math.geometry.Rotation2d gyro, - edu.wpi.first.math.geometry.Rotation2d gyroPitch, - edu.wpi.first.math.geometry.Rotation2d gyroRoll, - edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions)
        -
        Constructs an Interpolation Record with the specified parameters.
        -
        -
        Parameters:
        -
        poseMeters - The pose observed given the current sensor inputs and the previous pose.
        -
        gyro - The current gyro angle.
        -
        gyroPitch - The current gyro pitch.
        -
        gyroRoll - The current gyro roll.
        -
        modulePositions - The distances and rotations measured at each wheel.
        -
        -
        -
        • -
      -
      -
      • - -
    • -
      -

      Method Details

      - -
      -
      • -
    -
    - -
    -
    -
    - - diff --git a/docs/swervelib/math/SwervePoseEstimator2.html b/docs/swervelib/math/SwervePoseEstimator2.html index a864c81..6c33d76 100644 --- a/docs/swervelib/math/SwervePoseEstimator2.html +++ b/docs/swervelib/math/SwervePoseEstimator2.html @@ -1,18 +1,17 @@ - -SwervePoseEstimator2 + +SwervePoseEstimator2 (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -44,14 +43,14 @@ loadScripts(document, 'script');
    @@ -78,70 +77,11 @@ loadScripts(document, 'script');
    public class SwervePoseEstimator2 extends Object
    -
    Clone of SwerveDrivePoseEstimator which takes into account gyroscope pitch and roll to achieve a more - accurate estimation, originally made by Team 1466.
    +
    Clone of SwerveDrivePoseEstimator which takes into account gyroscope pitch and roll to + achieve a more accurate estimation, originally made by Team 1466.
      - -
    • -
      -

      Nested Class Summary

      -
      Nested Classes
      -
      -
      Modifier and Type
      -
      Class
      -
      Description
      -
      private class 
      -
      SwervePoseEstimator2.InterpolationRecord
      -
      -
      Represents an odometry record.
      -
      -
      -
      -
      • - -
    • -
      -

      Field Summary

      -
      Fields
      -
      -
      Modifier and Type
      -
      Field
      -
      Description
      -
      private final edu.wpi.first.math.kinematics.SwerveDriveKinematics
      -
      m_kinematics
      -
      -
      Swerve drive kinematics.
      -
      -
      private final int
      -
      m_numModules
      -
      -
      Number of swerve modules.
      -
      -
      private final SwerveDriveOdometry2
      -
      m_odometry
      -
      -
      Enhanced swerve drive odometry.
      -
      -
      private final edu.wpi.first.math.interpolation.TimeInterpolatableBuffer<SwervePoseEstimator2.InterpolationRecord>
      -
      m_poseBuffer
      -
      -
      Interpolation buffer.
      -
      -
      private final edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
      -
      m_q
      -
      -
      Matrix quotient.
      -
      -
      private final edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N3>
      -
      m_visionK
      -
      -
      Vision standard deviations.
      -
      -
      -
      -
    • @@ -155,7 +95,8 @@ loadScripts(document, 'script'); edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions, edu.wpi.first.math.geometry.Pose2d initialPoseMeters)
    -
    Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements.
    +
    Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision + measurements.
    SwervePoseEstimator2(edu.wpi.first.math.kinematics.SwerveDriveKinematics kinematics, edu.wpi.first.math.geometry.Rotation2d gyroAngle, @@ -239,56 +180,6 @@ loadScripts(document, 'script');
      - -
    • -
      -

      Field Details

      -
        -
      • -
        -

        m_kinematics

        -
        private final edu.wpi.first.math.kinematics.SwerveDriveKinematics m_kinematics
        -
        Swerve drive kinematics.
        -
        -
        • -
      • -
        -

        m_odometry

        -
        private final SwerveDriveOdometry2 m_odometry
        -
        Enhanced swerve drive odometry.
        -
        -
        • -
      • -
        -

        m_q

        -
        private final edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> m_q
        -
        Matrix quotient.
        -
        -
        • -
      • -
        -

        m_numModules

        -
        private final int m_numModules
        -
        Number of swerve modules.
        -
        -
        • -
      • -
        -

        m_poseBuffer

        -
        private final edu.wpi.first.math.interpolation.TimeInterpolatableBuffer<SwervePoseEstimator2.InterpolationRecord> m_poseBuffer
        -
        Interpolation buffer.
        -
        -
        • -
      • -
        -

        m_visionK

        -
        private final edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N3> m_visionK
        -
        Vision standard deviations.
        -
        -
        • -
      -
      -
    • @@ -301,11 +192,12 @@ loadScripts(document, 'script'); edu.wpi.first.math.geometry.Rotation2d gyroAngle, edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions, edu.wpi.first.math.geometry.Pose2d initialPoseMeters)
    -
    Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements. +
    Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision + measurements.

    The default standard deviations of the model states are 0.1 meters for x, 0.1 meters for y, - and 0.1 radians for heading. The default standard deviations of the vision measurements are 0.9 meters for x, 0.9 - meters for y, and 0.9 radians for heading.

    + and 0.1 radians for heading. The default standard deviations of the vision measurements are 0.9 + meters for x, 0.9 meters for y, and 0.9 radians for heading.
    Parameters:
    kinematics - A correctly-configured kinematics object for your drivetrain.
    @@ -331,12 +223,12 @@ loadScripts(document, 'script');
    gyroAngle - The current gyro angle.
    modulePositions - The current distance and rotation measurements of the swerve modules.
    initialPoseMeters - The starting pose estimate.
    -
    stateStdDevs - Standard deviations of the pose estimate (x position in meters, y position in - meters, and heading in radians). Increase these numbers to trust your state - estimate less.
    -
    visionMeasurementStdDevs - Standard deviations of the vision pose measurement (x position in meters, y - position in meters, and heading in radians). Increase these numbers to trust the - vision pose measurement less.
    +
    stateStdDevs - Standard deviations of the pose estimate (x position in meters, y position + in meters, and heading in radians). Increase these numbers to trust your state estimate + less.
    +
    visionMeasurementStdDevs - Standard deviations of the vision pose measurement (x position + in meters, y position in meters, and heading in radians). Increase these numbers to trust + the vision pose measurement less.
    @@ -352,13 +244,14 @@ loadScripts(document, 'script');

    setVisionMeasurementStdDevs

    public void setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)
    -
    Sets the pose estimator's trust of global measurements. This might be used to change trust in vision measurements - after the autonomous period, or to change trust as distance to a vision target increases.
    +
    Sets the pose estimator's trust of global measurements. This might be used to change trust in + vision measurements after the autonomous period, or to change trust as distance to a vision + target increases.
    Parameters:
    -
    visionMeasurementStdDevs - Standard deviations of the vision measurements. Increase these numbers to trust - global measurements from vision less. This matrix is in the form [x, y, theta]^T, - with units in meters and radians.
    +
    visionMeasurementStdDevs - Standard deviations of the vision measurements. Increase these + numbers to trust global measurements from vision less. This matrix is in the form [x, y, + theta]^T, with units in meters and radians.
    @@ -396,23 +289,23 @@ loadScripts(document, 'script');

    addVisionMeasurement

    public void addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d visionRobotPoseMeters, double timestampSeconds)
    -
    Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate while still accounting - for measurement noise. +
    Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate + while still accounting for measurement noise.

    This method can be called as infrequently as you want, as long as you are calling SwerveDrivePoseEstimator.update(edu.wpi.first.math.geometry.Rotation2d, edu.wpi.first.math.kinematics.SwerveModulePosition[]) every loop.

    To promote stability of the pose estimate and make it robust to bad vision data, we - recommend only adding vision measurements that are already within one meter or so of the current pose estimate.

    + recommend only adding vision measurements that are already within one meter or so of the + current pose estimate.
    Parameters:
    visionRobotPoseMeters - The pose of the robot as measured by the vision camera.
    -
    timestampSeconds - The timestamp of the vision measurement in seconds. Note that if you don't use your - own time source by calling - SwerveDrivePoseEstimator.updateWithTime(double, Rotation2d, SwerveModulePosition[]) then you must use a timestamp with an epoch since FPGA - startup (i.e., the epoch of this timestamp is the same epoch as - Timer.getFPGATimestamp().) This means that you should - use Timer.getFPGATimestamp() as your time source or sync - the epochs.
    +
    timestampSeconds - The timestamp of the vision measurement in seconds. Note that if you + don't use your own time source by calling SwerveDrivePoseEstimator.updateWithTime(double, Rotation2d, SwerveModulePosition[]) then + you must use a timestamp with an epoch since FPGA startup (i.e., the epoch of this + timestamp is the same epoch as Timer.getFPGATimestamp().) + This means that you should use Timer.getFPGATimestamp() as + your time source or sync the epochs.
    @@ -422,30 +315,29 @@ loadScripts(document, 'script');
    public void addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d visionRobotPoseMeters, double timestampSeconds, edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)
    -
    Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate while still accounting - for measurement noise. +
    Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate + while still accounting for measurement noise.

    This method can be called as infrequently as you want, as long as you are calling SwerveDrivePoseEstimator.update(edu.wpi.first.math.geometry.Rotation2d, edu.wpi.first.math.kinematics.SwerveModulePosition[]) every loop.

    To promote stability of the pose estimate and make it robust to bad vision data, we - recommend only adding vision measurements that are already within one meter or so of the current pose estimate. + recommend only adding vision measurements that are already within one meter or so of the + current pose estimate.

    Note that the vision measurement standard deviations passed into this method will continue - to apply to future measurements until a subsequent call to - SwerveDrivePoseEstimator.setVisionMeasurementStdDevs(Matrix) or this method.

    + to apply to future measurements until a subsequent call to PoseEstimator.setVisionMeasurementStdDevs(Matrix) or this method.
    Parameters:
    visionRobotPoseMeters - The pose of the robot as measured by the vision camera.
    -
    timestampSeconds - The timestamp of the vision measurement in seconds. Note that if you don't use your - own time source by calling - SwerveDrivePoseEstimator.updateWithTime(double, Rotation2d, SwerveModulePosition[]), then you must use a timestamp with an epoch since FPGA - startup (i.e., the epoch of this timestamp is the same epoch as - Timer.getFPGATimestamp()). This means that you should - use Timer.getFPGATimestamp() as your time source in - this case.
    -
    visionMeasurementStdDevs - Standard deviations of the vision pose measurement (x position in meters, y - position in meters, and heading in radians). Increase these numbers to trust the - vision pose measurement less.
    +
    timestampSeconds - The timestamp of the vision measurement in seconds. Note that if you + don't use your own time source by calling SwerveDrivePoseEstimator.updateWithTime(double, Rotation2d, SwerveModulePosition[]), then + you must use a timestamp with an epoch since FPGA startup (i.e., the epoch of this + timestamp is the same epoch as Timer.getFPGATimestamp()). + This means that you should use Timer.getFPGATimestamp() as + your time source in this case.
    +
    visionMeasurementStdDevs - Standard deviations of the vision pose measurement (x position + in meters, y position in meters, and heading in radians). Increase these numbers to trust + the vision pose measurement less.
    @@ -456,7 +348,8 @@ loadScripts(document, 'script'); edu.wpi.first.math.geometry.Rotation2d gyroPitch, edu.wpi.first.math.geometry.Rotation2d gyroRoll, edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions) -
    Updates the pose estimator with wheel encoder and gyro information. This should be called every loop.
    +
    Updates the pose estimator with wheel encoder and gyro information. This should be called every + loop.
    Parameters:
    gyroAngle - The current gyro angle.
    @@ -476,7 +369,8 @@ loadScripts(document, 'script'); edu.wpi.first.math.geometry.Rotation2d gyroPitch, edu.wpi.first.math.geometry.Rotation2d gyroRoll, edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions) -
    Updates the pose estimator with wheel encoder and gyro information. This should be called every loop.
    +
    Updates the pose estimator with wheel encoder and gyro information. This should be called every + loop.
    Parameters:
    currentTimeSeconds - Time at which this method was called, in seconds.
    diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index 9ab1125..8620a2e 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,18 +1,17 @@ - -swervelib.math + +swervelib.math (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -61,8 +60,7 @@ loadScripts(document, 'script');
    package swervelib.math
    -
    Mathematics for swerve drives. Original second order kinematics was developed by Team 3181 - here. +
    Mathematics for swerve drives. Original second order kinematics was developed by Team 3181 here.
    @@ -92,12 +90,13 @@ loadScripts(document, 'script');
    SwerveDriveOdometry2
    -
    Clone of SwerveDriveOdometry except uses gyro pitch and roll to achieve a more accurate estimation.
    +
    Clone of SwerveDriveOdometry except uses gyro pitch and roll to achieve a more accurate + estimation.
    SwerveKinematics2
    -
    Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis - speed.
    +
    Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules + states from chassis speed.
    SwerveMath
    @@ -109,8 +108,8 @@ loadScripts(document, 'script');
    SwervePoseEstimator2
    -
    Clone of SwerveDrivePoseEstimator which takes into account gyroscope pitch and roll to achieve a more - accurate estimation, originally made by Team 1466.
    +
    Clone of SwerveDrivePoseEstimator which takes into account gyroscope pitch and roll to + achieve a more accurate estimation, originally made by Team 1466.
    diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index 29c472b..dfa10c5 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,18 +1,17 @@ - -swervelib.math Class Hierarchy + +swervelib.math Class Hierarchy (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -60,16 +59,20 @@ loadScripts(document, 'script');
  • java.lang.Object
    • swervelib.math.Matter
      • -
    • edu.wpi.first.math.kinematics.SwerveDriveKinematics +
    • edu.wpi.first.math.kinematics.Odometry<T> -
    • edu.wpi.first.math.kinematics.SwerveDriveOdometry
      • +
    +
    • +
  • edu.wpi.first.math.kinematics.SwerveDriveKinematics (implements edu.wpi.first.math.kinematics.Kinematics<S,P>) + +
  • swervelib.math.SwerveMath
  • edu.wpi.first.math.kinematics.SwerveModuleState (implements java.lang.Comparable<T>)
      @@ -77,7 +80,6 @@ loadScripts(document, 'script');
  • swervelib.math.SwervePoseEstimator2
    • -
  • swervelib.math.SwervePoseEstimator2.InterpolationRecord (implements edu.wpi.first.math.interpolation.Interpolatable<T>)
    • diff --git a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html index add4d6a..2758b20 100644 --- a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html +++ b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html @@ -1,18 +1,17 @@ - -SparkMaxBrushedMotorSwerve + +SparkMaxBrushedMotorSwerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -103,19 +102,14 @@ loadScripts(document, 'script');
    Integrated encoder.
    -
    private boolean
    -
    factoryDefaultOccurred
    +
    com.revrobotics.CANSparkMax
    +
    motor
    -
    Factory default already occurred.
    -
    -
    com.revrobotics.CANSparkMax
    -
    motor
    -
    SparkMAX Instance.
    -
    com.revrobotics.SparkMaxPIDController
    -
    pid
    -
    +
    com.revrobotics.SparkMaxPIDController
    +
    pid
    +
    Closed-loop PID controller.
    @@ -235,8 +229,8 @@ loadScripts(document, 'script');
    void
    setCurrentLimit(int currentLimit)
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation.
    void
    setInverted(boolean inverted)
    @@ -321,13 +315,6 @@ loadScripts(document, 'script');
    Closed-loop PID controller.
    -
  • -
    -

    factoryDefaultOccurred

    -
    private boolean factoryDefaultOccurred
    -
    Factory default already occurred.
    -
    -
    • @@ -350,8 +337,10 @@ loadScripts(document, 'script');
    motor - The SwerveMotor as a SparkMax object.
    isDriveMotor - Is the motor being initialized a drive motor?
    encoderType - SparkMaxRelativeEncoder.Type of encoder to use for the CANSparkMax device.
    -
    countsPerRevolution - The number of encoder pulses for the SparkMaxRelativeEncoder.Type encoder per revolution.
    -
    useDataPortQuadEncoder - Use the encoder attached to the data port of the spark max for a quadrature encoder.
    +
    countsPerRevolution - The number of encoder pulses for the SparkMaxRelativeEncoder.Type encoder per + revolution.
    +
    useDataPortQuadEncoder - Use the encoder attached to the data port of the spark max for a + quadrature encoder.
    @@ -369,8 +358,10 @@ loadScripts(document, 'script');
    id - CAN ID of the SparkMax.
    isDriveMotor - Is the motor being initialized a drive motor?
    encoderType - SparkMaxRelativeEncoder.Type of encoder to use for the CANSparkMax device.
    -
    countsPerRevolution - The number of encoder pulses for the SparkMaxRelativeEncoder.Type encoder per revolution.
    -
    useDataPortQuadEncoder - Use the encoder attached to the data port of the spark max for a quadrature encoder.
    +
    countsPerRevolution - The number of encoder pulses for the SparkMaxRelativeEncoder.Type encoder per + revolution.
    +
    useDataPortQuadEncoder - Use the encoder attached to the data port of the spark max for a + quadrature encoder.
    @@ -399,8 +390,8 @@ loadScripts(document, 'script');

    setCurrentLimit

    public void setCurrentLimit(int currentLimit)
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation. This is useful to protect the motor from current spikes.
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation. This is useful to protect the motor from current spikes.
    Specified by:
    setCurrentLimit in class SwerveMotor
    @@ -489,7 +480,8 @@ loadScripts(document, 'script');

    configureIntegratedEncoder

    public void configureIntegratedEncoder(double positionConversionFactor)
    -
    Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
    +
    Configure the integrated encoder for the swerve module. Sets the conversion factors for + position and velocity.
    Specified by:
    configureIntegratedEncoder in class SwerveMotor
    diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html deleted file mode 100644 index 97ecde7..0000000 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ /dev/null @@ -1,268 +0,0 @@ - - - - -SparkMaxSwerve.SparkMAX_slotIdx - - - - - - - - - - - - - - - -
    - -
    -
    - -
    -
    Package swervelib.motors
    -

    Enum Class SparkMaxSwerve.SparkMAX_slotIdx

    -
    -
    java.lang.Object -
    java.lang.Enum<SparkMaxSwerve.SparkMAX_slotIdx> -
    swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
    -
    -
    -
    -
    -
    All Implemented Interfaces:
    -
    Serializable, Comparable<SparkMaxSwerve.SparkMAX_slotIdx>, Constable
    -
    -
    -
    Enclosing class:
    -
    SparkMaxSwerve
    -
    -
    -
    static enum SparkMaxSwerve.SparkMAX_slotIdx -extends Enum<SparkMaxSwerve.SparkMAX_slotIdx>
    -
    REV Slots for PID configuration.
    -
    -
    - -
    -
    -
      - -
    • -
      -

      Enum Constant Details

      - -
      -
      • - -
    • -
      -

      Constructor Details

      -
        -
      • -
        -

        SparkMAX_slotIdx

        -
        private SparkMAX_slotIdx()
        -
        -
        • -
      -
      -
      • - -
    • -
      -

      Method Details

      -
        -
      • -
        -

        values

        -
        public static SparkMaxSwerve.SparkMAX_slotIdx[] values()
        -
        Returns an array containing the constants of this enum class, in -the order they are declared.
        -
        -
        Returns:
        -
        an array containing the constants of this enum class, in the order they are declared
        -
        -
        -
        • -
      • -
        -

        valueOf

        -
        public static SparkMaxSwerve.SparkMAX_slotIdx valueOf(String name)
        -
        Returns the enum constant of this class with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this class. (Extraneous whitespace characters are -not permitted.)
        -
        -
        Parameters:
        -
        name - the name of the enum constant to be returned.
        -
        Returns:
        -
        the enum constant with the specified name
        -
        Throws:
        -
        IllegalArgumentException - if this enum class has no constant with the specified name
        -
        NullPointerException - if the argument is null
        -
        -
        -
        • -
      -
      -
      • -
    -
    - -
    -
    -
    - - diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index e1184ef..1bc95a5 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,18 +1,17 @@ - -SparkMaxSwerve + +SparkMaxSwerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -44,7 +43,7 @@ loadScripts(document, 'script');
    • Summary: 
      • -
    • Nested | 
      • +
    • Nested | 
    • Field | 
    • Constr | 
    • Method
      • @@ -84,23 +83,6 @@ loadScripts(document, 'script');
      - -
    • -
      -

      Nested Class Summary

      -
      Nested Classes
      -
      -
      Modifier and Type
      -
      Class
      -
      Description
      -
      (package private) static enum 
      -
      SparkMaxSwerve.SparkMAX_slotIdx
      -
      -
      REV Slots for PID configuration.
      -
      -
      -
      -
    • @@ -120,19 +102,14 @@ loadScripts(document, 'script');
      Integrated encoder.
      -
      private boolean
      -
      factoryDefaultOccurred
      +
      com.revrobotics.CANSparkMax
      +
      motor
      -
      Factory default already occurred.
      -
      -
      com.revrobotics.CANSparkMax
      -
      motor
      -
      SparkMAX Instance.
      -
      com.revrobotics.SparkMaxPIDController
      -
      pid
      -
      +
      com.revrobotics.SparkMaxPIDController
      +
      pid
      +
      Closed-loop PID controller.
      @@ -246,8 +223,8 @@ loadScripts(document, 'script');
      void
      setCurrentLimit(int currentLimit)
      -
      Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
      +
      Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation.
      void
      setInverted(boolean inverted)
      @@ -332,13 +309,6 @@ loadScripts(document, 'script');
      Closed-loop PID controller.
      • -
    • -
      -

      factoryDefaultOccurred

      -
      private boolean factoryDefaultOccurred
      -
      Factory default already occurred.
      -
      -
    @@ -398,8 +368,8 @@ loadScripts(document, 'script');

    setCurrentLimit

    public void setCurrentLimit(int currentLimit)
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation. This is useful to protect the motor from current spikes.
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation. This is useful to protect the motor from current spikes.
    Specified by:
    setCurrentLimit in class SwerveMotor
    @@ -488,7 +458,8 @@ loadScripts(document, 'script');

    configureIntegratedEncoder

    public void configureIntegratedEncoder(double positionConversionFactor)
    -
    Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
    +
    Configure the integrated encoder for the swerve module. Sets the conversion factors for + position and velocity.
    Specified by:
    configureIntegratedEncoder in class SwerveMotor
    diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index 110bd2f..12b7364 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,18 +1,17 @@ - -SwerveMotor + +SwerveMotor (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -191,8 +190,8 @@ loadScripts(document, 'script');
    abstract void
    setCurrentLimit(int currentLimit)
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation.
    abstract void
    setInverted(boolean inverted)
    @@ -309,7 +308,8 @@ loadScripts(document, 'script');

    configureIntegratedEncoder

    public abstract void configureIntegratedEncoder(double positionConversionFactor)
    -
    Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
    +
    Configure the integrated encoder for the swerve module. Sets the conversion factors for + position and velocity.
    Parameters:
    positionConversionFactor - The conversion factor to apply for position.
    @@ -456,8 +456,8 @@ loadScripts(document, 'script');

    setCurrentLimit

    public abstract void setCurrentLimit(int currentLimit)
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation. This is useful to protect the motor from current spikes.
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation. This is useful to protect the motor from current spikes.
    Parameters:
    currentLimit - Current limit in AMPS at free speed.
    diff --git a/docs/swervelib/motors/TalonFXSwerve.CTRE_pidIdx.html b/docs/swervelib/motors/TalonFXSwerve.CTRE_pidIdx.html deleted file mode 100644 index 5c0077d..0000000 --- a/docs/swervelib/motors/TalonFXSwerve.CTRE_pidIdx.html +++ /dev/null @@ -1,450 +0,0 @@ - - - - - -TalonFXSwerve.CTRE_pidIdx - - - - - - - - - - - - - - - -
    - -
    - -
    -
    -
    Package swervelib.motors
    -

    Enum TalonFXSwerve.CTRE_pidIdx

    -
    -
    - -
    - -
    -
    - -
    -
    -
      -
    • - -
      - -
      - -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          CTRE_pidIdx

          -
          private CTRE_pidIdx()
          -
          • -
        -
        • -
      -
      - -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          values

          -
          public static TalonFXSwerve.CTRE_pidIdx[] values()
          -
          Returns an array containing the constants of this enum type, in -the order they are declared. This method may be used to iterate -over the constants as follows: -
          -for (TalonFXSwerve.CTRE_pidIdx c : TalonFXSwerve.CTRE_pidIdx.values())
-    System.out.println(c);
-
          -
          -
          Returns:
          -
          an array containing the constants of this enum type, in the order they are declared
          -
          -
          • -
        - - - -
          -
        • -

          valueOf

          -
          public static TalonFXSwerve.CTRE_pidIdx valueOf​(String name)
          -
          Returns the enum constant of this type with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this type. (Extraneous whitespace characters are -not permitted.)
          -
          -
          Parameters:
          -
          name - the name of the enum constant to be returned.
          -
          Returns:
          -
          the enum constant with the specified name
          -
          Throws:
          -
          IllegalArgumentException - if this enum type has no constant with the specified name
          -
          NullPointerException - if the argument is null
          -
          -
          • -
        -
        • -
      -
      -
      • -
    -
    -
    -
    - - - - diff --git a/docs/swervelib/motors/TalonFXSwerve.CTRE_remoteSensor.html b/docs/swervelib/motors/TalonFXSwerve.CTRE_remoteSensor.html deleted file mode 100644 index 951c78e..0000000 --- a/docs/swervelib/motors/TalonFXSwerve.CTRE_remoteSensor.html +++ /dev/null @@ -1,424 +0,0 @@ - - - - - -TalonFXSwerve.CTRE_remoteSensor - - - - - - - - - - - - - - - -
    - -
    - -
    -
    -
    Package swervelib.motors
    -

    Enum TalonFXSwerve.CTRE_remoteSensor

    -
    -
    - -
    - -
    -
    - -
    -
    -
      -
    • - -
      - -
      - -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          CTRE_remoteSensor

          -
          private CTRE_remoteSensor()
          -
          • -
        -
        • -
      -
      - -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          values

          -
          public static TalonFXSwerve.CTRE_remoteSensor[] values()
          -
          Returns an array containing the constants of this enum type, in -the order they are declared. This method may be used to iterate -over the constants as follows: -
          -for (TalonFXSwerve.CTRE_remoteSensor c : TalonFXSwerve.CTRE_remoteSensor.values())
-    System.out.println(c);
-
          -
          -
          Returns:
          -
          an array containing the constants of this enum type, in the order they are declared
          -
          -
          • -
        - - - -
          -
        • -

          valueOf

          -
          public static TalonFXSwerve.CTRE_remoteSensor valueOf​(String name)
          -
          Returns the enum constant of this type with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this type. (Extraneous whitespace characters are -not permitted.)
          -
          -
          Parameters:
          -
          name - the name of the enum constant to be returned.
          -
          Returns:
          -
          the enum constant with the specified name
          -
          Throws:
          -
          IllegalArgumentException - if this enum type has no constant with the specified name
          -
          NullPointerException - if the argument is null
          -
          -
          • -
        -
        • -
      -
      -
      • -
    -
    -
    -
    - - - - diff --git a/docs/swervelib/motors/TalonFXSwerve.CTRE_slotIdx.html b/docs/swervelib/motors/TalonFXSwerve.CTRE_slotIdx.html deleted file mode 100644 index c327356..0000000 --- a/docs/swervelib/motors/TalonFXSwerve.CTRE_slotIdx.html +++ /dev/null @@ -1,450 +0,0 @@ - - - - - -TalonFXSwerve.CTRE_slotIdx - - - - - - - - - - - - - - - -
    - -
    - -
    -
    -
    Package swervelib.motors
    -

    Enum TalonFXSwerve.CTRE_slotIdx

    -
    -
    - -
    - -
    -
    - -
    -
    -
      -
    • - -
      - -
      - -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          CTRE_slotIdx

          -
          private CTRE_slotIdx()
          -
          • -
        -
        • -
      -
      - -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          values

          -
          public static TalonFXSwerve.CTRE_slotIdx[] values()
          -
          Returns an array containing the constants of this enum type, in -the order they are declared. This method may be used to iterate -over the constants as follows: -
          -for (TalonFXSwerve.CTRE_slotIdx c : TalonFXSwerve.CTRE_slotIdx.values())
-    System.out.println(c);
-
          -
          -
          Returns:
          -
          an array containing the constants of this enum type, in the order they are declared
          -
          -
          • -
        - - - -
          -
        • -

          valueOf

          -
          public static TalonFXSwerve.CTRE_slotIdx valueOf​(String name)
          -
          Returns the enum constant of this type with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this type. (Extraneous whitespace characters are -not permitted.)
          -
          -
          Parameters:
          -
          name - the name of the enum constant to be returned.
          -
          Returns:
          -
          the enum constant with the specified name
          -
          Throws:
          -
          IllegalArgumentException - if this enum type has no constant with the specified name
          -
          NullPointerException - if the argument is null
          -
          -
          • -
        -
        • -
      -
      -
      • -
    -
    -
    -
    - - - - diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index 6cb8931..1b5722e 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,18 +1,17 @@ - -TalonFXSwerve + +TalonFXSwerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -51,7 +50,7 @@ loadScripts(document, 'script'); @@ -88,47 +87,6 @@ loadScripts(document, 'script');

  • Field Summary

    -
    Fields
    -
    -
    Modifier and Type
    -
    Field
    -
    Description
    -
    private final boolean
    -
    absoluteEncoder
    -
    -
    Whether the absolute encoder is integrated.
    -
    -
    private boolean
    -
    configChanged
    -
    -
    If the TalonFX configuration has changed.
    -
    -
    private final com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration
    -
    configuration
    -
    -
    Current TalonFX configuration.
    -
    -
    private final boolean
    -
    factoryDefaultOccurred
    -
    -
    Factory default already occurred.
    -
    -
    (package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonFX
    -
    motor
    -
    -
    TalonFX motor controller.
    -
    -
    private double
    -
    nominalVoltage
    -
    -
    Nominal voltage default to use with feedforward.
    -
    -
    private double
    -
    positionConversionFactor
    -
    -
    The position conversion factor to convert raw sensor units to Meters Per 100ms, or Ticks to Degrees.
    -
    -

    Fields inherited from class swervelib.motors.SwerveMotor

    isDriveMotor
    @@ -262,8 +220,8 @@ loadScripts(document, 'script');
    void
    setCurrentLimit(int currentLimit)
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation.
    void
    setInverted(boolean inverted)
    @@ -315,79 +273,6 @@ loadScripts(document, 'script');
      - -
    • -
      -

      Field Details

      -
        -
      • -
        -

        factoryDefaultOccurred

        -
        private final boolean factoryDefaultOccurred
        -
        Factory default already occurred.
        -
        -
        See Also:
        -
        - -
        -
        -
        -
        • -
      • -
        -

        configuration

        -
        private final com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration configuration
        -
        Current TalonFX configuration.
        -
        -
        • -
      • -
        -

        absoluteEncoder

        -
        private final boolean absoluteEncoder
        -
        Whether the absolute encoder is integrated.
        -
        -
        See Also:
        -
        - -
        -
        -
        -
        • -
      • -
        -

        motor

        -
        com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor
        -
        TalonFX motor controller.
        -
        -
        • -
      • -
        -

        positionConversionFactor

        -
        private double positionConversionFactor
        -
        The position conversion factor to convert raw sensor units to Meters Per 100ms, or Ticks to Degrees.
        -
        -
        • -
      • -
        -

        configChanged

        -
        private boolean configChanged
        -
        If the TalonFX configuration has changed.
        -
        -
        • -
      • -
        -

        nominalVoltage

        -
        private double nominalVoltage
        -
        Nominal voltage default to use with feedforward.
        -
        -
        • -
      -
      -
    • @@ -483,20 +368,21 @@ loadScripts(document, 'script');

      configureIntegratedEncoder

      public void configureIntegratedEncoder(double positionConversionFactor)
      -
      Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
      +
      Configure the integrated encoder for the swerve module. Sets the conversion factors for + position and velocity.
      Specified by:
      configureIntegratedEncoder in class SwerveMotor
      Parameters:
      positionConversionFactor - The conversion factor to apply for position. -


      - Degrees:
      - +


      + Degrees:
      + 360 / (angleGearRatio * encoderTicksPerRotation)
      -


      - Meters:
      - +


      + Meters:
      + (Math.PI * wheelDiameter) / (driveGearRatio * encoderTicksPerRotation)

      @@ -531,8 +417,8 @@ loadScripts(document, 'script');
      Parameters:
      CANStatus1 - Applied Motor Output, Fault Information, Limit Switch Information
      -
      CANStatus2 - Selected Sensor Position (PID 0), Selected Sensor Velocity (PID 0), Brushed Supply Current - Measurement, Sticky Fault Information
      +
      CANStatus2 - Selected Sensor Position (PID 0), Selected Sensor Velocity (PID 0), Brushed + Supply Current Measurement, Sticky Fault Information
      CANStatus3 - Quadrature Information
      CANStatus4 - Analog Input, Supply Battery Voltage, Controller Temperature
      CANStatus8 - Pulse Width Information
      @@ -541,7 +427,8 @@ loadScripts(document, 'script');
      CANStatus13 - PID0 (Primary PID) Information
      CANStatus14 - PID1 (Auxiliary PID) Information
      CANStatus21 - Integrated Sensor Position (Talon FX), Integrated Sensor Velocity (Talon FX)
      -
      CANStatusCurrent - Brushless Supply Current Measurement, Brushless Stator Current Measurement
      +
      CANStatusCurrent - Brushless Supply Current Measurement, Brushless Stator Current + Measurement
      • @@ -726,8 +613,8 @@ loadScripts(document, 'script');

      setCurrentLimit

      public void setCurrentLimit(int currentLimit)
      -
      Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation. This is useful to protect the motor from current spikes.
      +
      Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation. This is useful to protect the motor from current spikes.
      Specified by:
      setCurrentLimit in class SwerveMotor
      diff --git a/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html b/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html deleted file mode 100644 index c20e087..0000000 --- a/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html +++ /dev/null @@ -1,279 +0,0 @@ - - - - -TalonSRXSwerve.CTRE_pidIdx - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.motors
      -

      Enum Class TalonSRXSwerve.CTRE_pidIdx

      -
      -
      java.lang.Object -
      java.lang.Enum<TalonSRXSwerve.CTRE_pidIdx> -
      swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
      -
      -
      -
      -
      -
      All Implemented Interfaces:
      -
      Serializable, Comparable<TalonSRXSwerve.CTRE_pidIdx>, Constable
      -
      -
      -
      Enclosing class:
      -
      TalonSRXSwerve
      -
      -
      -
      static enum TalonSRXSwerve.CTRE_pidIdx -extends Enum<TalonSRXSwerve.CTRE_pidIdx>
      -
      The Talon PID to use onboard.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Enum Constant Details

        - -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          CTRE_pidIdx

          -
          private CTRE_pidIdx()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          values

          -
          public static TalonSRXSwerve.CTRE_pidIdx[] values()
          -
          Returns an array containing the constants of this enum class, in -the order they are declared.
          -
          -
          Returns:
          -
          an array containing the constants of this enum class, in the order they are declared
          -
          -
          -
          • -
        • -
          -

          valueOf

          -
          public static TalonSRXSwerve.CTRE_pidIdx valueOf(String name)
          -
          Returns the enum constant of this class with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this class. (Extraneous whitespace characters are -not permitted.)
          -
          -
          Parameters:
          -
          name - the name of the enum constant to be returned.
          -
          Returns:
          -
          the enum constant with the specified name
          -
          Throws:
          -
          IllegalArgumentException - if this enum class has no constant with the specified name
          -
          NullPointerException - if the argument is null
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html b/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html deleted file mode 100644 index f0a77d1..0000000 --- a/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html +++ /dev/null @@ -1,257 +0,0 @@ - - - - -TalonSRXSwerve.CTRE_remoteSensor - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.motors
      -

      Enum Class TalonSRXSwerve.CTRE_remoteSensor

      -
      -
      java.lang.Object -
      java.lang.Enum<TalonSRXSwerve.CTRE_remoteSensor> -
      swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
      -
      -
      -
      -
      -
      All Implemented Interfaces:
      -
      Serializable, Comparable<TalonSRXSwerve.CTRE_remoteSensor>, Constable
      -
      -
      -
      Enclosing class:
      -
      TalonSRXSwerve
      -
      -
      -
      static enum TalonSRXSwerve.CTRE_remoteSensor -extends Enum<TalonSRXSwerve.CTRE_remoteSensor>
      -
      The remote sensor.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Enum Constant Details

        - -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          CTRE_remoteSensor

          -
          private CTRE_remoteSensor()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          values

          -
          public static TalonSRXSwerve.CTRE_remoteSensor[] values()
          -
          Returns an array containing the constants of this enum class, in -the order they are declared.
          -
          -
          Returns:
          -
          an array containing the constants of this enum class, in the order they are declared
          -
          -
          -
          • -
        • -
          -

          valueOf

          -
          public static TalonSRXSwerve.CTRE_remoteSensor valueOf(String name)
          -
          Returns the enum constant of this class with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this class. (Extraneous whitespace characters are -not permitted.)
          -
          -
          Parameters:
          -
          name - the name of the enum constant to be returned.
          -
          Returns:
          -
          the enum constant with the specified name
          -
          Throws:
          -
          IllegalArgumentException - if this enum class has no constant with the specified name
          -
          NullPointerException - if the argument is null
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html b/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html deleted file mode 100644 index 8f62215..0000000 --- a/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html +++ /dev/null @@ -1,279 +0,0 @@ - - - - -TalonSRXSwerve.CTRE_slotIdx - - - - - - - - - - - - - - - -
      - -
      -
      - -
      -
      Package swervelib.motors
      -

      Enum Class TalonSRXSwerve.CTRE_slotIdx

      -
      -
      java.lang.Object -
      java.lang.Enum<TalonSRXSwerve.CTRE_slotIdx> -
      swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
      -
      -
      -
      -
      -
      All Implemented Interfaces:
      -
      Serializable, Comparable<TalonSRXSwerve.CTRE_slotIdx>, Constable
      -
      -
      -
      Enclosing class:
      -
      TalonSRXSwerve
      -
      -
      -
      static enum TalonSRXSwerve.CTRE_slotIdx -extends Enum<TalonSRXSwerve.CTRE_slotIdx>
      -
      The Talon SRX Slot profile used to configure the motor to use for the PID.
      -
      -
      - -
      -
      -
        - -
      • -
        -

        Enum Constant Details

        - -
        -
        • - -
      • -
        -

        Constructor Details

        -
          -
        • -
          -

          CTRE_slotIdx

          -
          private CTRE_slotIdx()
          -
          -
          • -
        -
        -
        • - -
      • -
        -

        Method Details

        -
          -
        • -
          -

          values

          -
          public static TalonSRXSwerve.CTRE_slotIdx[] values()
          -
          Returns an array containing the constants of this enum class, in -the order they are declared.
          -
          -
          Returns:
          -
          an array containing the constants of this enum class, in the order they are declared
          -
          -
          -
          • -
        • -
          -

          valueOf

          -
          public static TalonSRXSwerve.CTRE_slotIdx valueOf(String name)
          -
          Returns the enum constant of this class with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this class. (Extraneous whitespace characters are -not permitted.)
          -
          -
          Parameters:
          -
          name - the name of the enum constant to be returned.
          -
          Returns:
          -
          the enum constant with the specified name
          -
          Throws:
          -
          IllegalArgumentException - if this enum class has no constant with the specified name
          -
          NullPointerException - if the argument is null
          -
          -
          -
          • -
        -
        -
        • -
      -
      - -
      -
      -
      - - diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index fb3bd1a..5cc8c74 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,18 +1,17 @@ - -TalonSRXSwerve + +TalonSRXSwerve (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    @@ -51,7 +50,7 @@ loadScripts(document, 'script'); @@ -88,47 +87,6 @@ loadScripts(document, 'script');

  • Field Summary

    -
    Fields
    -
    -
    Modifier and Type
    -
    Field
    -
    Description
    -
    private final boolean
    -
    absoluteEncoder
    -
    -
    Whether the absolute encoder is integrated.
    -
    -
    private boolean
    -
    configChanged
    -
    -
    If the TalonFX configuration has changed.
    -
    -
    private final com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration
    -
    configuration
    -
    -
    Current TalonFX configuration.
    -
    -
    private final boolean
    -
    factoryDefaultOccurred
    -
    -
    Factory default already occurred.
    -
    -
    (package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX
    -
    motor
    -
    -
    TalonSRX motor controller.
    -
    -
    private double
    -
    nominalVoltage
    -
    -
    Nominal voltage default to use with feedforward.
    -
    -
    private double
    -
    positionConversionFactor
    -
    -
    The position conversion factor to convert raw sensor units to Meters Per 100ms, or Ticks to Degrees.
    -
    -

    Fields inherited from class swervelib.motors.SwerveMotor

    isDriveMotor
    @@ -256,8 +214,8 @@ loadScripts(document, 'script');
    void
    setCurrentLimit(int currentLimit)
    -
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation.
    +
    Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation.
    void
    setInverted(boolean inverted)
    @@ -309,79 +267,6 @@ loadScripts(document, 'script');
      - -
    • -
      -

      Field Details

      -
        -
      • -
        -

        factoryDefaultOccurred

        -
        private final boolean factoryDefaultOccurred
        -
        Factory default already occurred.
        -
        -
        See Also:
        -
        - -
        -
        -
        -
        • -
      • -
        -

        configuration

        -
        private final com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration configuration
        -
        Current TalonFX configuration.
        -
        -
        • -
      • -
        -

        absoluteEncoder

        -
        private final boolean absoluteEncoder
        -
        Whether the absolute encoder is integrated.
        -
        -
        See Also:
        -
        - -
        -
        -
        -
        • -
      • -
        -

        motor

        -
        com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor
        -
        TalonSRX motor controller.
        -
        -
        • -
      • -
        -

        positionConversionFactor

        -
        private double positionConversionFactor
        -
        The position conversion factor to convert raw sensor units to Meters Per 100ms, or Ticks to Degrees.
        -
        -
        • -
      • -
        -

        configChanged

        -
        private boolean configChanged
        -
        If the TalonFX configuration has changed.
        -
        -
        • -
      • -
        -

        nominalVoltage

        -
        private double nominalVoltage
        -
        Nominal voltage default to use with feedforward.
        -
        -
        • -
      -
      -
    • @@ -462,20 +347,21 @@ loadScripts(document, 'script');

      configureIntegratedEncoder

      public void configureIntegratedEncoder(double positionConversionFactor)
      -
      Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
      +
      Configure the integrated encoder for the swerve module. Sets the conversion factors for + position and velocity.
      Specified by:
      configureIntegratedEncoder in class SwerveMotor
      Parameters:
      positionConversionFactor - The conversion factor to apply for position. -


      - Degrees:
      - +


      + Degrees:
      + 360 / (angleGearRatio * encoderTicksPerRotation)
      -


      - Meters:
      - +


      + Meters:
      + (Math.PI * wheelDiameter) / (driveGearRatio * encoderTicksPerRotation)

      @@ -510,8 +396,8 @@ loadScripts(document, 'script');
      Parameters:
      CANStatus1 - Applied Motor Output, Fault Information, Limit Switch Information
      -
      CANStatus2 - Selected Sensor Position (PID 0), Selected Sensor Velocity (PID 0), Brushed Supply Current - Measurement, Sticky Fault Information
      +
      CANStatus2 - Selected Sensor Position (PID 0), Selected Sensor Velocity (PID 0), Brushed + Supply Current Measurement, Sticky Fault Information
      CANStatus3 - Quadrature Information
      CANStatus4 - Analog Input, Supply Battery Voltage, Controller Temperature
      CANStatus8 - Pulse Width Information
      @@ -520,7 +406,8 @@ loadScripts(document, 'script');
      CANStatus13 - PID0 (Primary PID) Information
      CANStatus14 - PID1 (Auxiliary PID) Information
      CANStatus21 - Integrated Sensor Position (Talon FX), Integrated Sensor Velocity (Talon FX)
      -
      CANStatusCurrent - Brushless Supply Current Measurement, Brushless Stator Current Measurement
      +
      CANStatusCurrent - Brushless Supply Current Measurement, Brushless Stator Current + Measurement
      • @@ -705,8 +592,8 @@ loadScripts(document, 'script');

      setCurrentLimit

      public void setCurrentLimit(int currentLimit)
      -
      Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with - voltage compensation. This is useful to protect the motor from current spikes.
      +
      Set the current limit for the swerve drive motor, remember this may cause jumping if used in + conjunction with voltage compensation. This is useful to protect the motor from current spikes.
      Specified by:
      setCurrentLimit in class SwerveMotor
      diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index 2c99cc9..c16f0ad 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,26 +1,21 @@ - -swervelib.motors + +swervelib.motors (YAGSL-Lib API) - - + -
    @@ -84,9 +79,8 @@ loadScripts(document, 'script');
  • -
    -
    -
    +
    Classes
    +
    Class
    Description
    SparkMaxBrushedMotorSwerve
    @@ -97,25 +91,20 @@ loadScripts(document, 'script');
    An implementation of CANSparkMax as a SwerveMotor.
    -
    SparkMaxSwerve.SparkMAX_slotIdx
    -
    -
    REV Slots for PID configuration.
    -
    -
    SwerveMotor
    -
    +
    SwerveMotor
    +
    Swerve motor abstraction which defines a standard interface for motors within a swerve module.
    -
    TalonFXSwerve
    -
    +
    TalonFXSwerve
    +
    TalonFX Swerve Motor.
    -
    TalonSRXSwerve
    -
    +
    TalonSRXSwerve
    +
    WPI_TalonSRX Swerve Motor.
    -
    • diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index fe997da..43c71b6 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,18 +1,17 @@ - -swervelib.motors Class Hierarchy + +swervelib.motors Class Hierarchy (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -71,20 +70,6 @@ loadScripts(document, 'script');
    -
    -

    Enum Class Hierarchy

    - -
    diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index 311a3e1..2a8261e 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,18 +1,17 @@ - -swervelib + +swervelib (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index 9dbf51c..20a8dc9 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,18 +1,17 @@ - -swervelib Class Hierarchy + +swervelib Class Hierarchy (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index 5c5bece..a1f7f6c 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,18 +1,17 @@ - -PIDFConfig + +PIDFConfig (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index 8caf081..9ef1616 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ -1,18 +1,17 @@ - -SwerveControllerConfiguration + +SwerveControllerConfiguration (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -206,8 +205,8 @@ loadScripts(document, 'script');

    SwerveControllerConfiguration

    public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF)
    -
    Construct the swerve controller configuration. Assumes hypotenuse deadband of 0.5 (minimum radius for angle to be - set on angle joystick is .5 of the controller).
    +
    Construct the swerve controller configuration. Assumes hypotenuse deadband of 0.5 (minimum + radius for angle to be set on angle joystick is .5 of the controller).
    Parameters:
    driveCfg - Drive configuration.
    diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index d2f2f01..bef1fa4 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,18 +1,17 @@ - -SwerveDriveConfiguration + +SwerveDriveConfiguration (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index 8f424ba..a84b687 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,18 +1,17 @@ - -SwerveModuleConfiguration + +SwerveModuleConfiguration (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -397,7 +396,8 @@ loadScripts(document, 'script');
    velocityPIDF - Velocity PIDF configuration.
    maxSpeed - Maximum speed in meters per second.
    physicalCharacteristics - Physical characteristics of the swerve module.
    -
    angleMotorEncoderPulsePerRevolution - The encoder pulse per revolution for the angle motor encoder.
    +
    angleMotorEncoderPulsePerRevolution - The encoder pulse per revolution for the angle motor + encoder.
    name - The name for the swerve module.
    @@ -416,8 +416,8 @@ loadScripts(document, 'script'); double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics, String name) -
    Construct a configuration object for swerve modules. Assumes the absolute encoder and drive motor are not - inverted.
    +
    Construct a configuration object for swerve modules. Assumes the absolute encoder and drive + motor are not inverted.
    Parameters:
    driveMotor - Drive SwerveMotor.
    diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index 7e78c11..e523337 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,18 +1,17 @@ - -SwerveModulePhysicalCharacteristics + +SwerveModulePhysicalCharacteristics (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -130,8 +129,9 @@ loadScripts(document, 'script');
    final double
    moduleSteerFFCL
    -
    Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that - your drive train does not drift towards the direction you are rotating while you translate.
    +
    Angle motor kV used for second order kinematics to tune the feedforward, this variable should + be adjusted so that your drive train does not drift towards the direction you are rotating + while you translate.
    final double
    optimalVoltage
    @@ -216,7 +216,8 @@ loadScripts(document, 'script');

    driveGearRatio

    public final double driveGearRatio
    -
    Drive gear ratio. How many times the motor has to spin before the wheel makes a complete rotation.
    +
    Drive gear ratio. How many times the motor has to spin before the wheel makes a complete + rotation.
  • @@ -286,9 +287,9 @@ loadScripts(document, 'script');

    moduleSteerFFCL

    public final double moduleSteerFFCL
    -
    Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that - your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the - calculated kV will be used.
    +
    Angle motor kV used for second order kinematics to tune the feedforward, this variable should + be adjusted so that your drive train does not drift towards the direction you are rotating + while you translate. When set to 0 the calculated kV will be used.
    • @@ -318,21 +319,25 @@ loadScripts(document, 'script');
    Parameters:
    driveGearRatio - Gear ratio of the drive motor. Number of motor rotations to rotate the - wheel.
    -
    angleGearRatio - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.
    + wheel. +
    angleGearRatio - Gear ratio of the angle motor. Number of motor rotations to spin the + wheel.
    wheelDiameter - Wheel diameter in meters.
    -
    wheelGripCoefficientOfFriction - Wheel grip coefficient of friction on carpet given by manufacturer.
    +
    wheelGripCoefficientOfFriction - Wheel grip coefficient of friction on carpet given by + manufacturer.
    optimalVoltage - Optimal robot voltage.
    driveMotorCurrentLimit - Current limit for the drive motor.
    angleMotorCurrentLimit - Current limit for the angle motor.
    -
    driveMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents - over drawing power from battery)
    -
    angleMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents - overdrawing power and power loss).
    -
    driveEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for integrated encoders.
    -
    angleEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for integrated encoders.
    -
    moduleSteerFFCL - The kV applied to the steering motor to ensure your drivetrain does not drift - towards a direction when rotating while translating.
    +
    driveMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. + (Prevents over drawing power from battery)
    +
    angleMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. + (Prevents overdrawing power and power loss).
    +
    driveEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for + integrated encoders.
    +
    angleEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for + integrated encoders.
    +
    moduleSteerFFCL - The kV applied to the steering motor to ensure your drivetrain does not + drift towards a direction when rotating while translating.
    @@ -346,20 +351,24 @@ loadScripts(document, 'script'); double angleMotorRampRate, int driveEncoderPulsePerRotation, int angleEncoderPulsePerRotation) -
    Construct the swerve module physical characteristics. Assume coefficient of friction is 1.19 (taken from blue - nitrile on carpet from Studica) and optimal voltage is 12v. Assumes the drive motor current limit is 40A, and the - angle motor current limit is 20A.
    +
    Construct the swerve module physical characteristics. Assume coefficient of friction is 1.19 + (taken from blue nitrile on carpet from Studica) and optimal voltage is 12v. Assumes the drive + motor current limit is 40A, and the angle motor current limit is 20A.
    Parameters:
    -
    driveGearRatio - Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.
    -
    angleGearRatio - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.
    +
    driveGearRatio - Gear ratio of the drive motor. Number of motor rotations to rotate the + wheel.
    +
    angleGearRatio - Gear ratio of the angle motor. Number of motor rotations to spin the + wheel.
    wheelDiameter - Wheel diameter in meters.
    -
    driveMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents over - drawing power from battery)
    -
    angleMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents - overdrawing power and power loss).
    -
    driveEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for integrated encoders.
    -
    angleEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for integrated encoders.
    +
    driveMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. + (Prevents over drawing power from battery)
    +
    angleMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. + (Prevents overdrawing power and power loss).
    +
    driveEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for + integrated encoders.
    +
    angleEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for + integrated encoders.
    diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index 7c2b8f8..88e5652 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,18 +1,17 @@ - -SwerveParser + +SwerveParser (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -96,29 +95,24 @@ loadScripts(document, 'script');
    Parsed controllerproperties.json
    -
    private static final HashMap<String,Integer>
    -
    moduleConfigs
    +
    static ModuleJson[]
    +
    moduleJsons
    -
    Module number mapped to the JSON name.
    -
    -
    static ModuleJson[]
    -
    moduleJsons
    -
    Array holding the module jsons given in SwerveDriveJson.
    -
    static PhysicalPropertiesJson
    -
    physicalPropertiesJson
    -
    +
    static PhysicalPropertiesJson
    +
    physicalPropertiesJson
    +
    Parsed modules/physicalproperties.json
    -
    static PIDFPropertiesJson
    -
    pidfPropertiesJson
    -
    +
    static PIDFPropertiesJson
    +
    pidfPropertiesJson
    +
    Parsed modules/pidfproperties.json
    -
    static SwerveDriveJson
    -
    swerveDriveJson
    -
    +
    static SwerveDriveJson
    +
    swerveDriveJson
    +
    Parsed swervedrive.json
    @@ -150,27 +144,17 @@ loadScripts(document, 'script');
    Modifier and Type
    Method
    Description
    -
    private void
    -
    checkDirectory(File directory)
    +
    SwerveDrive
    +
    createSwerveDrive()
    -
    Check directory structure.
    -
    -
    SwerveDrive
    -
    createSwerveDrive()
    -
    Create SwerveDrive from JSON configuration directory.
    -
    static SwerveModule
    -
    getModuleConfigurationByName(String name, +
    static SwerveModule
    +
    getModuleConfigurationByName(String name, SwerveDriveConfiguration driveConfiguration)
    -
    +
    Get the swerve module by the json name.
    -
    private com.fasterxml.jackson.databind.JsonNode
    -
    openJson(File file)
    -
    -
    Open JSON file.
    -
    @@ -189,13 +173,6 @@ loadScripts(document, 'script');

    Field Details

    • -
      -

      moduleConfigs

      -
      private static final HashMap<String,Integer> moduleConfigs
      -
      Module number mapped to the JSON name.
      -
      -
      • -

    • swerveDriveJson

      public static SwerveDriveJson swerveDriveJson
      @@ -276,30 +253,6 @@ loadScripts(document, 'script');
    • -
      -

      openJson

      -
      private com.fasterxml.jackson.databind.JsonNode openJson(File file)
      -
      Open JSON file.
      -
      -
      Parameters:
      -
      file - JSON File to open.
      -
      Returns:
      -
      JsonNode of file.
      -
      -
      -
      • -
    • -
      -

      checkDirectory

      -
      private void checkDirectory(File directory)
      -
      Check directory structure.
      -
      -
      Parameters:
      -
      directory - JSON Configuration Directory
      -
      -
      -
      • -

    • createSwerveDrive

      public SwerveDrive createSwerveDrive()
      diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index 7e4e3d9..2ad1fb9 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,18 +1,17 @@ - -PIDFRange + +PIDFRange (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index 6e40a85..63265e8 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,18 +1,17 @@ - -swervelib.parser.deserializer + +swervelib.parser.deserializer (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index ea4041e..ec51ada 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,18 +1,17 @@ - -swervelib.parser.deserializer Class Hierarchy + +swervelib.parser.deserializer Class Hierarchy (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index 4bfb1eb..e32cc2f 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,18 +1,17 @@ - -ControllerPropertiesJson + +ControllerPropertiesJson (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index 498e84b..cc29e60 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,18 +1,17 @@ - -DeviceJson + +DeviceJson (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -134,7 +133,7 @@ loadScripts(document, 'script');
    Method
    Description
    SwerveAbsoluteEncoder
    -
    createEncoder()
    +
    createEncoder(SwerveMotor motor)
    Create a SwerveAbsoluteEncoder from the current configuration.
    @@ -153,6 +152,11 @@ loadScripts(document, 'script');
    Create a SwerveMotor from the given configuration.
    +
    int
    +
    getPulsePerRotation(int angleEncoderPulsePerRotation)
    +
    +
    Get the encoder pulse per rotation based off of the encoder type.
    +
    @@ -214,11 +218,14 @@ loadScripts(document, 'script');

    Method Details

    +
  • +
    +

    getPulsePerRotation

    +
    public int getPulsePerRotation(int angleEncoderPulsePerRotation)
    +
    Get the encoder pulse per rotation based off of the encoder type.
    +
    +
    Parameters:
    +
    angleEncoderPulsePerRotation - The configured pulse per rotation.
    +
    Returns:
    +
    The correct pulse per rotation based off of the encoder type.
    +
    +
    +
    • diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index b35dbe2..36f370f 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,18 +1,17 @@ - -ModuleJson + +ModuleJson (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html deleted file mode 100644 index a8b4c0c..0000000 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ /dev/null @@ -1,193 +0,0 @@ - - - - -MotorConfigDouble - - - - - - - - - - - - - - - -
    - -
    -
    - -
    -
    Package swervelib.parser.json
    -

    Class MotorConfigDouble

    -
    -
    java.lang.Object -
    swervelib.parser.json.MotorConfigDouble
    -
    -
    -
    -
    class MotorConfigDouble -extends Object
    -
    Used to store doubles for motor configuration.
    -
    -
    - -
    -
    -
      - -
    • -
      -

      Field Details

      -
        -
      • -
        -

        drive

        -
        public double drive
        -
        Drive motor.
        -
        -
        • -
      • -
        -

        angle

        -
        public double angle
        -
        Angle motor.
        -
        -
        • -
      -
      -
      • - -
    • -
      -

      Constructor Details

      -
        -
      • -
        -

        MotorConfigDouble

        -
        public MotorConfigDouble()
        -
        Default constructor.
        -
        -
        • -
      • -
        -

        MotorConfigDouble

        -
        public MotorConfigDouble(double angle, - double drive)
        -
        Default constructor.
        -
        -
        Parameters:
        -
        angle - Angle data.
        -
        drive - Drive data.
        -
        -
        -
        • -
      -
      -
      • -
    -
    - -
    -
    -
    - - diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html deleted file mode 100644 index e511f1e..0000000 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ /dev/null @@ -1,193 +0,0 @@ - - - - -MotorConfigInt - - - - - - - - - - - - - - - -
    - -
    -
    - -
    -
    Package swervelib.parser.json
    -

    Class MotorConfigInt

    -
    -
    java.lang.Object -
    swervelib.parser.json.MotorConfigInt
    -
    -
    -
    -
    class MotorConfigInt -extends Object
    -
    Used to store ints for motor configuration.
    -
    -
    - -
    -
    -
      - -
    • -
      -

      Field Details

      -
        -
      • -
        -

        drive

        -
        public int drive
        -
        Drive motor.
        -
        -
        • -
      • -
        -

        angle

        -
        public int angle
        -
        Angle motor.
        -
        -
        • -
      -
      -
      • - -
    • -
      -

      Constructor Details

      -
        -
      • -
        -

        MotorConfigInt

        -
        public MotorConfigInt()
        -
        Default constructor.
        -
        -
        • -
      • -
        -

        MotorConfigInt

        -
        public MotorConfigInt(int drive, - int angle)
        -
        Default constructor with values.
        -
        -
        Parameters:
        -
        drive - Drive data.
        -
        angle - Angle data.
        -
        -
        -
        • -
      -
      -
      • -
    -
    - -
    -
    -
    - - diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index 13842ca..dd8eee2 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,18 +1,17 @@ - -PIDFPropertiesJson + +PIDFPropertiesJson (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index bd8f3b2..67bf610 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,18 +1,17 @@ - -PhysicalPropertiesJson + +PhysicalPropertiesJson (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -78,7 +77,8 @@ loadScripts(document, 'script');
    public class PhysicalPropertiesJson extends Object
    -
    SwerveModulePhysicalCharacteristics parsed data. Used to configure the SwerveModule.
    +
    SwerveModulePhysicalCharacteristics parsed data. Used to configure the + SwerveModule.
      @@ -94,30 +94,33 @@ loadScripts(document, 'script');
      double
      angleMotorFreeSpeedRPM
      -
      DEPRECATED: No longer needed, tune moduleFeedForwardClosedLoop instead.
      +
      DEPRECATED: No longer needed, tune moduleFeedForwardClosedLoop + instead.
      -
      MotorConfigInt
      +
      swervelib.parser.json.MotorConfigInt
      currentLimit
      The current limit in AMPs to apply to the motors.
      -
      MotorConfigInt
      +
      swervelib.parser.json.MotorConfigInt
      encoderPulsePerRotation
      Encoder pulse per rotation for non-integrated encoders.
      -
      MotorConfigDouble
      +
      swervelib.parser.json.MotorConfigDouble
      gearRatio
      -
      Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
      +
      Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a + single time.
      double
      moduleFeedForwardClosedLoop
      -
      Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that - your drive train does not drift towards the direction you are rotating while you translate.
      +
      Angle motor kV used for second order kinematics to tune the feedforward, this variable should + be adjusted so that your drive train does not drift towards the direction you are rotating + while you translate.
      -
      MotorConfigDouble
      +
      swervelib.parser.json.MotorConfigDouble
      rampRate
      The minimum number of seconds to take for the motor to go from 0 to full throttle.
      @@ -191,28 +194,29 @@ loadScripts(document, 'script');

    • gearRatio

      -
      public MotorConfigDouble gearRatio
      -
      Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
      +
      public swervelib.parser.json.MotorConfigDouble gearRatio
      +
      Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a + single time.

    • encoderPulsePerRotation

      -
      public MotorConfigInt encoderPulsePerRotation
      +
      public swervelib.parser.json.MotorConfigInt encoderPulsePerRotation
      Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders.

    • currentLimit

      -
      public MotorConfigInt currentLimit
      +
      public swervelib.parser.json.MotorConfigInt currentLimit
      The current limit in AMPs to apply to the motors.

    • rampRate

      -
      public MotorConfigDouble rampRate
      +
      public swervelib.parser.json.MotorConfigDouble rampRate
      The minimum number of seconds to take for the motor to go from 0 to full throttle.
      • @@ -220,23 +224,26 @@ loadScripts(document, 'script');

      wheelGripCoefficientOfFriction

      public double wheelGripCoefficientOfFriction
      -
      The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.
      +
      The grip tape coefficient of friction on carpet. Used to calculate the practical maximum + acceleration.

    • moduleFeedForwardClosedLoop

      public double moduleFeedForwardClosedLoop
      -
      Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that - your drive train does not drift towards the direction you are rotating while you translate. Default value is 0. If - robot arcs while translating and rotating negate this.
      +
      Angle motor kV used for second order kinematics to tune the feedforward, this variable should + be adjusted so that your drive train does not drift towards the direction you are rotating + while you translate. Default value is 0. If robot arcs while translating and rotating negate + this.

    • angleMotorFreeSpeedRPM

      public double angleMotorFreeSpeedRPM
      -
      DEPRECATED: No longer needed, tune moduleFeedForwardClosedLoop instead.
      +
      DEPRECATED: No longer needed, tune moduleFeedForwardClosedLoop + instead.
    @@ -268,7 +275,8 @@ loadScripts(document, 'script');
    Create the physical characteristics based off the parsed data.
    Parameters:
    -
    optimalVoltage - Optimal voltage to compensate for and use to calculate drive motor feedforward.
    +
    optimalVoltage - Optimal voltage to compensate for and use to calculate drive motor + feedforward.
    Returns:
    SwerveModulePhysicalCharacteristics based on parsed data.
    diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index c8e725e..620ef45 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,18 +1,17 @@ - -SwerveDriveJson + +SwerveDriveJson (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -74,7 +73,8 @@ loadScripts(document, 'script');
    public class SwerveDriveJson extends Object
    -
    SwerveDrive JSON parsed class. Used to access parsed data from the swervedrive.json file.
    +
    SwerveDrive JSON parsed class. Used to access parsed data from the + swervedrive.json file.
      diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index 782e87a..1953893 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,18 +1,17 @@ - -BoolMotorJson + +BoolMotorJson (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index d281991..9f814b3 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,18 +1,17 @@ - -LocationJson + +LocationJson (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -74,8 +73,9 @@ loadScripts(document, 'script');
    public class LocationJson extends Object
    -
    Location JSON parsed class. Used to access the JSON data. Module locations, in inches, as distances to the center of - the robot. +x is towards the robot front, and +y is towards robot left.
    +
    Location JSON parsed class. Used to access the JSON data. Module locations, in inches, as + distances to the center of the robot. +x is towards the robot front, and +y is towards robot + left.
      diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index 4307ba8..b615a16 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,18 +1,17 @@ - -swervelib.parser.json.modules + +swervelib.parser.json.modules (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html index f88dcaf..35c74ce 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,18 +1,17 @@ - -swervelib.parser.json.modules Class Hierarchy + +swervelib.parser.json.modules Class Hierarchy (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html index 545cb19..32f4245 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,18 +1,17 @@ - -swervelib.parser.json + +swervelib.parser.json (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -104,14 +103,6 @@ loadScripts(document, 'script');
    SwerveModule JSON parsed class.
    -
    MotorConfigDouble
    -
    -
    Used to store doubles for motor configuration.
    -
    -
    MotorConfigInt
    -
    -
    Used to store ints for motor configuration.
    -
    PhysicalPropertiesJson
    SwerveModulePhysicalCharacteristics parsed data.
    diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index 39ea619..6d26f9e 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,18 +1,17 @@ - -swervelib.parser.json Class Hierarchy + +swervelib.parser.json Class Hierarchy (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -62,8 +61,6 @@ loadScripts(document, 'script');
  • swervelib.parser.json.ControllerPropertiesJson
  • swervelib.parser.json.DeviceJson
  • swervelib.parser.json.ModuleJson
    • -
  • swervelib.parser.json.MotorConfigDouble
    • -
  • swervelib.parser.json.MotorConfigInt
  • swervelib.parser.json.PhysicalPropertiesJson
  • swervelib.parser.json.PIDFPropertiesJson
  • swervelib.parser.json.SwerveDriveJson
    • diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index 7060d8d..2963aa0 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,18 +1,17 @@ - -swervelib.parser + +swervelib.parser (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index 8a71b22..c202f42 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,18 +1,17 @@ - -swervelib.parser Class Hierarchy + +swervelib.parser Class Hierarchy (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html index e092890..ed0e979 100644 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ b/docs/swervelib/simulation/SwerveIMUSimulation.html @@ -1,18 +1,17 @@ - -SwerveIMUSimulation + +SwerveIMUSimulation (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -45,13 +44,13 @@ loadScripts(document, 'script'); @@ -82,33 +81,6 @@ loadScripts(document, 'script');
      - -
    • -
      -

      Field Summary

      -
      Fields
      -
      -
      Modifier and Type
      -
      Field
      -
      Description
      -
      private double
      -
      angle
      -
      -
      Heading of the robot.
      -
      -
      private double
      -
      lastTime
      -
      -
      The last time the timer was read, used to determine position changes.
      -
      -
      private final edu.wpi.first.wpilibj.Timer
      -
      timer
      -
      -
      Main timer to control movement estimations.
      -
      -
      -
      -
    • @@ -171,8 +143,7 @@ loadScripts(document, 'script'); edu.wpi.first.math.geometry.Pose2d[] modulePoses, edu.wpi.first.wpilibj.smartdashboard.Field2d field)
      -
      Update the odometry of the simulated SwerveDrive and post the SwerveModule - states to the Field2d.
      +
      Update the odometry of the simulated SwerveDrive and post the SwerveModule states to the Field2d.
      @@ -186,35 +157,6 @@ loadScripts(document, 'script');
        - -
      • -
        -

        Field Details

        -
          -
        • -
          -

          timer

          -
          private final edu.wpi.first.wpilibj.Timer timer
          -
          Main timer to control movement estimations.
          -
          -
          • -
        • -
          -

          lastTime

          -
          private double lastTime
          -
          The last time the timer was read, used to determine position changes.
          -
          -
          • -
        • -
          -

          angle

          -
          private double angle
          -
          Heading of the robot.
          -
          -
          • -
        -
        -
      • @@ -283,7 +225,8 @@ loadScripts(document, 'script');

        getAccel

        public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
        -
        Fetch the acceleration [x, y, z] from the IMU in m/s/s. If acceleration isn't supported returns empty.
        +
        Fetch the acceleration [x, y, z] from the IMU in m/s/s. If acceleration isn't supported returns + empty.
        Returns:
        Translation3d of the acceleration as an Optional.
        @@ -297,8 +240,7 @@ loadScripts(document, 'script'); SwerveModuleState2[] states, edu.wpi.first.math.geometry.Pose2d[] modulePoses, edu.wpi.first.wpilibj.smartdashboard.Field2d field) -
        Update the odometry of the simulated SwerveDrive and post the SwerveModule - states to the Field2d.
        +
        Update the odometry of the simulated SwerveDrive and post the SwerveModule states to the Field2d.
        Parameters:
        kinematics - SwerveKinematics2 of the swerve drive.
        diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html index 7b3d435..471972b 100644 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ b/docs/swervelib/simulation/SwerveModuleSimulation.html @@ -1,18 +1,17 @@ - -SwerveModuleSimulation + +SwerveModuleSimulation (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
      • Package
      • Class
      • Tree
        • -
      • Index
        • +
      • Index
      • Help
      @@ -45,13 +44,13 @@ loadScripts(document, 'script'); @@ -82,48 +81,6 @@ loadScripts(document, 'script');
        - -
      • -
        -

        Field Summary

        -
        Fields
        -
        -
        Modifier and Type
        -
        Field
        -
        Description
        -
        private double
        -
        dt
        -
        -
        Time delta since last update
        -
        -
        private double
        -
        fakePos
        -
        -
        Fake motor position.
        -
        -
        private double
        -
        fakeSpeed
        -
        -
        The fake speed of the previous state, used to calculate fakePos.
        -
        -
        private double
        -
        lastTime
        -
        -
        Last time queried.
        -
        -
        private SwerveModuleState2
        -
        state
        -
        -
        Current simulated swerve module state.
        -
        -
        private final edu.wpi.first.wpilibj.Timer
        -
        timer
        -
        -
        Main timer to simulate the passage of time.
        -
        -
        -
        -
      • @@ -177,56 +134,6 @@ loadScripts(document, 'script');
          - -
        • -
          -

          Field Details

          -
            -
          • -
            -

            timer

            -
            private final edu.wpi.first.wpilibj.Timer timer
            -
            Main timer to simulate the passage of time.
            -
            -
            • -
          • -
            -

            dt

            -
            private double dt
            -
            Time delta since last update
            -
            -
            • -
          • -
            -

            fakePos

            -
            private double fakePos
            -
            Fake motor position.
            -
            -
            • -
          • -
            -

            fakeSpeed

            -
            private double fakeSpeed
            -
            The fake speed of the previous state, used to calculate fakePos.
            -
            -
            • -
          • -
            -

            lastTime

            -
            private double lastTime
            -
            Last time queried.
            -
            -
            • -
          • -
            -

            state

            -
            private SwerveModuleState2 state
            -
            Current simulated swerve module state.
            -
            -
            • -
          -
          -
        • @@ -251,8 +158,7 @@ loadScripts(document, 'script');

          updateStateAndPosition

          public void updateStateAndPosition(SwerveModuleState2 desiredState)
          -
          Update the position and state of the module. Called from SwerveModule.setDesiredState(swervelib.math.SwerveModuleState2, boolean, boolean) function - when simulated.
          +
          Update the position and state of the module. Called from SwerveModule.setDesiredState(swervelib.math.SwerveModuleState2, boolean, boolean) function when simulated.
          Parameters:
          desiredState - State the swerve module is set to.
          diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html deleted file mode 100644 index d9ebae4..0000000 --- a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html +++ /dev/null @@ -1,220 +0,0 @@ - - - - -PhysicsSim.SimProfile - - - - - - - - - - - - - - - -
          - -
          -
          - -
          -
          Package swervelib.simulation.ctre
          -

          Class PhysicsSim.SimProfile

          -
          -
          java.lang.Object -
          swervelib.simulation.ctre.PhysicsSim.SimProfile
          -
          -
          -
          -
          Direct Known Subclasses:
          -
          TalonFXSimProfile, TalonSRXSimProfile, VictorSPXSimProfile
          -
          -
          -
          Enclosing class:
          -
          PhysicsSim
          -
          -
          -
          static class PhysicsSim.SimProfile -extends Object
          -
          Holds information about a simulated device.
          -
          -
          -
            - -
          • -
            -

            Field Summary

            -
            Fields
            -
            -
            Modifier and Type
            -
            Field
            -
            Description
            -
            private long
            -
            _lastTime
            -
             
            -
            private boolean
            -
            _running
            -
             
            -
            -
            -
            • - -
          • -
            -

            Constructor Summary

            -
            Constructors
            -
            -
            Constructor
            -
            Description
            -
            SimProfile()
            -
             
            -
            -
            -
            • - -
          • -
            -

            Method Summary

            -
            -
            -
            -
            -
            Modifier and Type
            -
            Method
            -
            Description
            -
            protected double
            -
            getPeriod()
            -
            -
            Returns the time since last call, in milliseconds.
            -
            -
            void
            -
            run()
            -
            -
            Runs the simulation profile.
            -
            -
            -
            -
            -
            -

            Methods inherited from class java.lang.Object

            -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
            -
            -
            • -
          -
          -
          -
            - -
          • -
            -

            Field Details

            -
              -
            • -
              -

              _lastTime

              -
              private long _lastTime
              -
              -
              • -
            • -
              -

              _running

              -
              private boolean _running
              -
              -
              • -
            -
            -
            • - -
          • -
            -

            Constructor Details

            -
              -
            • -
              -

              SimProfile

              -
              SimProfile()
              -
              -
              • -
            -
            -
            • - -
          • -
            -

            Method Details

            -
              -
            • -
              -

              run

              -
              public void run()
              -
              Runs the simulation profile. Implemented by device-specific profiles.
              -
              -
              • -
            • -
              -

              getPeriod

              -
              protected double getPeriod()
              -
              Returns the time since last call, in milliseconds.
              -
              -
              • -
            -
            -
            • -
          -
          - -
          -
          -
          - - diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.html b/docs/swervelib/simulation/ctre/PhysicsSim.html index eca4eb8..c68582c 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.html @@ -1,18 +1,17 @@ - -PhysicsSim + +PhysicsSim (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
        • Package
        • Class
        • Tree
          • -
        • Index
          • +
        • Index
        • Help
        @@ -44,14 +43,14 @@ loadScripts(document, 'script');
        @@ -82,41 +81,6 @@ loadScripts(document, 'script');
          - -
        • -
          -

          Nested Class Summary

          -
          Nested Classes
          -
          -
          Modifier and Type
          -
          Class
          -
          Description
          -
          (package private) static class 
          -
          PhysicsSim.SimProfile
          -
          -
          Holds information about a simulated device.
          -
          -
          -
          -
          • - -
        • -
          -

          Field Summary

          -
          Fields
          -
          -
          Modifier and Type
          -
          Field
          -
          Description
          -
          private final ArrayList<PhysicsSim.SimProfile>
          -
          _simProfiles
          -
           
          -
          private static PhysicsSim
          -
          sim
          -
           
          -
          -
          -
        • @@ -181,13 +145,6 @@ loadScripts(document, 'script');
          Gets the robot simulator instance.
          -
          (package private) static double
          -
          random(double max)
          -
           
          -
          (package private) static double
          -
          random(double min, - double max)
          -
           
          void
          run()
          @@ -205,26 +162,6 @@ loadScripts(document, 'script');
            - -
          • -
            -

            Field Details

            - -
            -
          • @@ -256,19 +193,6 @@ loadScripts(document, 'script');
          • -
            -

            random

            -
            static double random(double min, - double max)
            -
            -
            • -
          • -
            -

            random

            -
            static double random(double max)
            -
            -
            • -

          • addTalonSRX

            public void addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX talon, diff --git a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html deleted file mode 100644 index 3759583..0000000 --- a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html +++ /dev/null @@ -1,259 +0,0 @@ - - - - -TalonFXSimProfile - - - - - - - - - - - - - - - -
            - -
            -
            - -
            -
            Package swervelib.simulation.ctre
            -

            Class TalonFXSimProfile

            -
            -
            java.lang.Object -
            swervelib.simulation.ctre.PhysicsSim.SimProfile -
            swervelib.simulation.ctre.TalonFXSimProfile
            -
            -
            -
            -
            -
            class TalonFXSimProfile -extends PhysicsSim.SimProfile
            -
            Holds information about a simulated TalonFX.
            -
            -
            -
              - -
            • -
              -

              Field Summary

              -
              Fields
              -
              -
              Modifier and Type
              -
              Field
              -
              Description
              -
              private final double
              -
              _accelToFullTime
              -
               
              -
              private final com.ctre.phoenix.motorcontrol.can.TalonFX
              -
              _falcon
              -
               
              -
              private final double
              -
              _fullVel
              -
               
              -
              private final boolean
              -
              _sensorPhase
              -
               
              -
              private double
              -
              _vel
              -
              -
              The current velocity
              -
              -
              -
              -
              • - -
            • -
              -

              Constructor Summary

              -
              Constructors
              -
              -
              Constructor
              -
              Description
              -
              TalonFXSimProfile(com.ctre.phoenix.motorcontrol.can.TalonFX falcon, - double accelToFullTime, - double fullVel, - boolean sensorPhase)
              -
              -
              Creates a new simulation profile for a TalonFX device.
              -
              -
              -
              -
              • - -
            • -
              -

              Method Summary

              -
              -
              -
              -
              -
              Modifier and Type
              -
              Method
              -
              Description
              -
              void
              -
              run()
              -
              -
              Runs the simulation profile.
              -
              -
              -
              -
              -
              -

              Methods inherited from class swervelib.simulation.ctre.PhysicsSim.SimProfile

              -getPeriod
              -
              -

              Methods inherited from class java.lang.Object

              -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
              -
              -
              • -
            -
            -
            -
              - -
            • -
              -

              Field Details

              -
                -
              • -
                -

                _falcon

                -
                private final com.ctre.phoenix.motorcontrol.can.TalonFX _falcon
                -
                -
                • -
              • -
                -

                _accelToFullTime

                -
                private final double _accelToFullTime
                -
                -
                • -
              • -
                -

                _fullVel

                -
                private final double _fullVel
                -
                -
                • -
              • -
                -

                _sensorPhase

                -
                private final boolean _sensorPhase
                -
                -
                • -
              • -
                -

                _vel

                -
                private double _vel
                -
                The current velocity
                -
                -
                • -
              -
              -
              • - -
            • -
              -

              Constructor Details

              -
                -
              • -
                -

                TalonFXSimProfile

                -
                public TalonFXSimProfile(com.ctre.phoenix.motorcontrol.can.TalonFX falcon, - double accelToFullTime, - double fullVel, - boolean sensorPhase)
                -
                Creates a new simulation profile for a TalonFX device.
                -
                -
                Parameters:
                -
                falcon - The TalonFX device
                -
                accelToFullTime - The time the motor takes to accelerate from 0 to full, in seconds
                -
                fullVel - The maximum motor velocity, in ticks per 100ms
                -
                sensorPhase - The phase of the TalonFX sensors
                -
                -
                -
                • -
              -
              -
              • - -
            • -
              -

              Method Details

              -
                -
              • -
                -

                run

                -
                public void run()
                -
                Runs the simulation profile. - -

                This uses very rudimentary physics simulation and exists to allow users to test features of - our products in simulation using our examples out of the box. Users may modify this to utilize more accurate - physics simulation.

                -
                -
                Overrides:
                -
                run in class PhysicsSim.SimProfile
                -
                -
                -
                • -
              -
              -
              • -
            -
            - -
            -
            -
            - - diff --git a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html deleted file mode 100644 index d6103b9..0000000 --- a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html +++ /dev/null @@ -1,259 +0,0 @@ - - - - -TalonSRXSimProfile - - - - - - - - - - - - - - - -
            - -
            -
            - -
            -
            Package swervelib.simulation.ctre
            -

            Class TalonSRXSimProfile

            -
            -
            java.lang.Object -
            swervelib.simulation.ctre.PhysicsSim.SimProfile -
            swervelib.simulation.ctre.TalonSRXSimProfile
            -
            -
            -
            -
            -
            class TalonSRXSimProfile -extends PhysicsSim.SimProfile
            -
            Holds information about a simulated TalonSRX.
            -
            -
            -
              - -
            • -
              -

              Field Summary

              -
              Fields
              -
              -
              Modifier and Type
              -
              Field
              -
              Description
              -
              private final double
              -
              _accelToFullTime
              -
               
              -
              private final double
              -
              _fullVel
              -
               
              -
              private final boolean
              -
              _sensorPhase
              -
               
              -
              private final com.ctre.phoenix.motorcontrol.can.TalonSRX
              -
              _talon
              -
               
              -
              private double
              -
              _vel
              -
              -
              The current velocity
              -
              -
              -
              -
              • - -
            • -
              -

              Constructor Summary

              -
              Constructors
              -
              -
              Constructor
              -
              Description
              -
              TalonSRXSimProfile(com.ctre.phoenix.motorcontrol.can.TalonSRX talon, - double accelToFullTime, - double fullVel, - boolean sensorPhase)
              -
              -
              Creates a new simulation profile for a TalonSRX device.
              -
              -
              -
              -
              • - -
            • -
              -

              Method Summary

              -
              -
              -
              -
              -
              Modifier and Type
              -
              Method
              -
              Description
              -
              void
              -
              run()
              -
              -
              Runs the simulation profile.
              -
              -
              -
              -
              -
              -

              Methods inherited from class swervelib.simulation.ctre.PhysicsSim.SimProfile

              -getPeriod
              -
              -

              Methods inherited from class java.lang.Object

              -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
              -
              -
              • -
            -
            -
            -
              - -
            • -
              -

              Field Details

              -
                -
              • -
                -

                _talon

                -
                private final com.ctre.phoenix.motorcontrol.can.TalonSRX _talon
                -
                -
                • -
              • -
                -

                _accelToFullTime

                -
                private final double _accelToFullTime
                -
                -
                • -
              • -
                -

                _fullVel

                -
                private final double _fullVel
                -
                -
                • -
              • -
                -

                _sensorPhase

                -
                private final boolean _sensorPhase
                -
                -
                • -
              • -
                -

                _vel

                -
                private double _vel
                -
                The current velocity
                -
                -
                • -
              -
              -
              • - -
            • -
              -

              Constructor Details

              -
                -
              • -
                -

                TalonSRXSimProfile

                -
                public TalonSRXSimProfile(com.ctre.phoenix.motorcontrol.can.TalonSRX talon, - double accelToFullTime, - double fullVel, - boolean sensorPhase)
                -
                Creates a new simulation profile for a TalonSRX device.
                -
                -
                Parameters:
                -
                talon - The TalonSRX device
                -
                accelToFullTime - The time the motor takes to accelerate from 0 to full, in seconds
                -
                fullVel - The maximum motor velocity, in ticks per 100ms
                -
                sensorPhase - The phase of the TalonSRX sensors
                -
                -
                -
                • -
              -
              -
              • - -
            • -
              -

              Method Details

              -
                -
              • -
                -

                run

                -
                public void run()
                -
                Runs the simulation profile. - -

                This uses very rudimentary physics simulation and exists to allow users to test features of - our products in simulation using our examples out of the box. Users may modify this to utilize more accurate - physics simulation.

                -
                -
                Overrides:
                -
                run in class PhysicsSim.SimProfile
                -
                -
                -
                • -
              -
              -
              • -
            -
            - -
            -
            -
            - - diff --git a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html deleted file mode 100644 index c67bc0f..0000000 --- a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html +++ /dev/null @@ -1,211 +0,0 @@ - - - - -VictorSPXSimProfile - - - - - - - - - - - - - - - -
            - -
            -
            - -
            -
            Package swervelib.simulation.ctre
            -

            Class VictorSPXSimProfile

            -
            -
            java.lang.Object -
            swervelib.simulation.ctre.PhysicsSim.SimProfile -
            swervelib.simulation.ctre.VictorSPXSimProfile
            -
            -
            -
            -
            -
            class VictorSPXSimProfile -extends PhysicsSim.SimProfile
            -
            Holds information about a simulated VictorSPX.
            -
            -
            -
              - -
            • -
              -

              Field Summary

              -
              Fields
              -
              -
              Modifier and Type
              -
              Field
              -
              Description
              -
              final com.ctre.phoenix.motorcontrol.can.VictorSPX
              -
              _victor
              -
               
              -
              -
              -
              • - -
            • -
              -

              Constructor Summary

              -
              Constructors
              -
              -
              Constructor
              -
              Description
              -
              VictorSPXSimProfile(com.ctre.phoenix.motorcontrol.can.VictorSPX victor)
              -
              -
              Creates a new simulation profile for a VictorSPX device.
              -
              -
              -
              -
              • - -
            • -
              -

              Method Summary

              -
              -
              -
              -
              -
              Modifier and Type
              -
              Method
              -
              Description
              -
              void
              -
              run()
              -
              -
              Runs the simulation profile.
              -
              -
              -
              -
              -
              -

              Methods inherited from class swervelib.simulation.ctre.PhysicsSim.SimProfile

              -getPeriod
              -
              -

              Methods inherited from class java.lang.Object

              -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
              -
              -
              • -
            -
            -
            -
              - -
            • -
              -

              Field Details

              -
                -
              • -
                -

                _victor

                -
                public final com.ctre.phoenix.motorcontrol.can.VictorSPX _victor
                -
                -
                • -
              -
              -
              • - -
            • -
              -

              Constructor Details

              -
                -
              • -
                -

                VictorSPXSimProfile

                -
                public VictorSPXSimProfile(com.ctre.phoenix.motorcontrol.can.VictorSPX victor)
                -
                Creates a new simulation profile for a VictorSPX device.
                -
                -
                Parameters:
                -
                victor - The VictorSPX device
                -
                -
                -
                • -
              -
              -
              • - -
            • -
              -

              Method Details

              -
                -
              • -
                -

                run

                -
                public void run()
                -
                Runs the simulation profile. - -

                This uses very rudimentary physics simulation and exists to allow users to test features of - our products in simulation using our examples out of the box. Users may modify this to utilize more accurate - physics simulation.

                -
                -
                Overrides:
                -
                run in class PhysicsSim.SimProfile
                -
                -
                -
                • -
              -
              -
              • -
            -
            - -
            -
            -
            - - diff --git a/docs/swervelib/simulation/ctre/package-summary.html b/docs/swervelib/simulation/ctre/package-summary.html index e559d8d..917f352 100644 --- a/docs/swervelib/simulation/ctre/package-summary.html +++ b/docs/swervelib/simulation/ctre/package-summary.html @@ -1,18 +1,17 @@ - -swervelib.simulation.ctre + +swervelib.simulation.ctre (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
          • Package
          • Class
          • Tree
            • -
          • Index
            • +
          • Index
          • Help
          @@ -88,22 +87,6 @@ loadScripts(document, 'script');
          Manages physics simulation for CTRE products.
          -
          PhysicsSim.SimProfile
          -
          -
          Holds information about a simulated device.
          -
          -
          TalonFXSimProfile
          -
          -
          Holds information about a simulated TalonFX.
          -
          -
          TalonSRXSimProfile
          -
          -
          Holds information about a simulated TalonSRX.
          -
          -
          VictorSPXSimProfile
          -
          -
          Holds information about a simulated VictorSPX.
          -
          • diff --git a/docs/swervelib/simulation/ctre/package-tree.html b/docs/swervelib/simulation/ctre/package-tree.html index ac03e9e..9df5910 100644 --- a/docs/swervelib/simulation/ctre/package-tree.html +++ b/docs/swervelib/simulation/ctre/package-tree.html @@ -1,18 +1,17 @@ - -swervelib.simulation.ctre Class Hierarchy + +swervelib.simulation.ctre Class Hierarchy (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
        • Package
        • Class
        • Tree
          • -
        • Index
          • +
        • Index
        • Help
        @@ -60,13 +59,6 @@ loadScripts(document, 'script');
      • java.lang.Object
      diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html index 15ad3f2..f12084c 100644 --- a/docs/swervelib/simulation/package-summary.html +++ b/docs/swervelib/simulation/package-summary.html @@ -1,18 +1,17 @@ - -swervelib.simulation + +swervelib.simulation (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html index 808b840..f397bec 100644 --- a/docs/swervelib/simulation/package-tree.html +++ b/docs/swervelib/simulation/package-tree.html @@ -1,18 +1,17 @@ - -swervelib.simulation Class Hierarchy + +swervelib.simulation Class Hierarchy (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html index a6be0be..2fd5de8 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html @@ -1,18 +1,17 @@ - -SwerveDriveTelemetry.TelemetryVerbosity + +SwerveDriveTelemetry.TelemetryVerbosity (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -128,21 +127,6 @@ loadScripts(document, 'script');
    - -
  • -
    -

    Constructor Summary

    -
    Constructors
    -
    -
    Modifier
    -
    Constructor
    -
    Description
    -
    private
    -
    TelemetryVerbosity()
    -
     
    -
    -
    -
  • @@ -216,20 +200,6 @@ the order they are declared.
    • - -
  • -
    -

    Constructor Details

    -
      -
    • -
      -

      TelemetryVerbosity

      -
      private TelemetryVerbosity()
      -
      -
      • -
    -
    -
  • diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html index 4142b28..7051a5f 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html @@ -1,18 +1,17 @@ - -SwerveDriveTelemetry + +SwerveDriveTelemetry (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
  • Index
  • Help
    • @@ -78,7 +77,8 @@ loadScripts(document, 'script');
    public class SwerveDriveTelemetry extends Object
    -
    Telemetry to describe the SwerveDrive following frc-web-components. (Which follows AdvantageKit)
    +
    Telemetry to describe the SwerveDrive following frc-web-components. (Which + follows AdvantageKit)
      @@ -313,24 +313,25 @@ loadScripts(document, 'script');

      forwardDirection

      public static String forwardDirection
      -
      The direction the robot should be facing when the "Robot Rotation" is zero or blank. This option is often useful to - align with odometry data or match videos. 'up', 'right', 'down' or 'left'
      +
      The direction the robot should be facing when the "Robot Rotation" is zero or blank. This + option is often useful to align with odometry data or match videos. 'up', 'right', 'down' or + 'left'

    • maxAngularVelocity

      public static double maxAngularVelocity
      -
      The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the - chassis speeds properties.
      +
      The maximum achievable angular velocity of the robot. This is used to visualize the angular + velocity from the chassis speeds properties.

    • measuredChassisSpeeds

      public static double[] measuredChassisSpeeds
      -
      The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the - chassis speeds properties.
      +
      The maximum achievable angular velocity of the robot. This is used to visualize the angular + velocity from the chassis speeds properties.
    • diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html index b0e28e6..ca4469d 100644 --- a/docs/swervelib/telemetry/package-summary.html +++ b/docs/swervelib/telemetry/package-summary.html @@ -1,18 +1,17 @@ - -swervelib.telemetry + +swervelib.telemetry (YAGSL-Lib API) - - + @@ -36,7 +35,7 @@ loadScripts(document, 'script');
    • Package
    • Class
    • Tree
      • -
    • Index
      • +
    • Index
    • Help
    diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html index b05398e..9443fa8 100644 --- a/docs/swervelib/telemetry/package-tree.html +++ b/docs/swervelib/telemetry/package-tree.html @@ -1,18 +1,17 @@ - -swervelib.telemetry Class Hierarchy + +swervelib.telemetry Class Hierarchy (YAGSL-Lib API) - - + @@ -32,7 +31,7 @@ loadScripts(document, 'script');
  • Package
  • Class
  • Tree
    • -
  • Index
    • +
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    • diff --git a/docs/tag-search-index.js b/docs/tag-search-index.js index f2a440c..0367dae 100644 --- a/docs/tag-search-index.js +++ b/docs/tag-search-index.js @@ -1 +1 @@ -tagSearchIndex = [{"l":"Constant Field Values","h":"","u":"constant-values.html"}];updateSearchResults(); \ No newline at end of file +tagSearchIndex = [];updateSearchResults(); \ No newline at end of file diff --git a/docs/type-search-index.js b/docs/type-search-index.js index fd1ed39..1631d5b 100644 --- a/docs/type-search-index.js +++ b/docs/type-search-index.js @@ -1 +1 @@ -typeSearchIndex = [{"p":"swervelib.imu","l":"ADIS16448Swerve"},{"p":"swervelib.imu","l":"ADIS16470Swerve"},{"p":"swervelib.imu","l":"ADXRS450Swerve"},{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"swervelib.encoders","l":"AnalogAbsoluteEncoderSwerve"},{"p":"swervelib.imu","l":"AnalogGyroSwerve"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.math","l":"SwervePoseEstimator2.InterpolationRecord"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.math","l":"Matter"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.simulation.ctre","l":"PhysicsSim"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.simulation.ctre","l":"PhysicsSim.SimProfile"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.motors","l":"SparkMaxBrushedMotorSwerve"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.math","l":"SwerveDriveOdometry2"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.simulation","l":"SwerveIMUSimulation"},{"p":"swervelib.math","l":"SwerveKinematics2"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.simulation","l":"SwerveModuleSimulation"},{"p":"swervelib.math","l":"SwerveModuleState2"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.math","l":"SwervePoseEstimator2"},{"p":"swervelib.simulation.ctre","l":"TalonFXSimProfile"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.simulation.ctre","l":"TalonSRXSimProfile"},{"p":"swervelib.motors","l":"TalonSRXSwerve"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry.TelemetryVerbosity"},{"p":"swervelib.simulation.ctre","l":"VictorSPXSimProfile"}];updateSearchResults(); 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\ No newline at end of file