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thenetworkgrinch
2023-08-09 16:23:30 -05:00
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@@ -1,18 +1,17 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Apr 08 13:46:47 CDT 2023 -->
<title>SwerveController</title>
<!-- Generated by javadoc (17) -->
<title>SwerveController (YAGSL-Lib API)</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib, class: SwerveController">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
<link rel="stylesheet" type="text/css" href="../script-dir/jquery-ui.min.css" title="Style">
<link rel="stylesheet" type="text/css" href="../jquery-ui.overrides.css" title="Style">
<script type="text/javascript" src="../script.js"></script>
<script type="text/javascript" src="../script-dir/jquery-3.5.1.min.js"></script>
<script type="text/javascript" src="../script-dir/jquery-3.6.1.min.js"></script>
<script type="text/javascript" src="../script-dir/jquery-ui.min.js"></script>
</head>
<body class="class-declaration-page">
@@ -36,7 +35,7 @@ loadScripts(document, 'script');</script>
<li><a href="package-summary.html">Package</a></li>
<li class="nav-bar-cell1-rev">Class</li>
<li><a href="package-tree.html">Tree</a></li>
<li><a href="../index-files/index-1.html">Index</a></li>
<li><a href="../index-all.html">Index</a></li>
<li><a href="../help-doc.html#class">Help</a></li>
</ul>
</div>
@@ -99,8 +98,8 @@ loadScripts(document, 'script');</script>
<div class="col-first odd-row-color"><code>final <a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></code></div>
<div class="col-second odd-row-color"><code><a href="#config" class="member-name-link">config</a></code></div>
<div class="col-last odd-row-color">
<div class="block"><a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> object storing data to generate the <code>PIDController</code> for controlling the
robot heading, and deadband for heading joystick.</div>
<div class="block"><a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> object storing data to generate the <code>PIDController</code>
for controlling the robot heading, and deadband for heading joystick.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#lastAngleScalar" class="member-name-link">lastAngleScalar</a></code></div>
@@ -135,8 +134,8 @@ loadScripts(document, 'script');</script>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveControllerConfiguration)" class="member-name-link">SwerveController</a><wbr>(<a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a>&nbsp;cfg)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct the SwerveController object which is used for determining the speeds of the robot based on controller
input.</div>
<div class="block">Construct the SwerveController object which is used for determining the speeds of the robot
based on controller input.</div>
</div>
</div>
</section>
@@ -170,7 +169,8 @@ loadScripts(document, 'script');</script>
double&nbsp;ySpeed,
double&nbsp;omega)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the <code>ChassisSpeeds</code> based of raw speeds desired in meters/second and heading in radians.</div>
<div class="block">Get the <code>ChassisSpeeds</code> based of raw speeds desired in meters/second and heading in
radians.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRawTargetSpeeds(double,double,double,double)" class="member-name-link">getRawTargetSpeeds</a><wbr>(double&nbsp;xSpeed,
@@ -178,7 +178,8 @@ loadScripts(document, 'script');</script>
double&nbsp;targetHeadingAngleRadians,
double&nbsp;currentHeadingAngleRadians)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the <code>ChassisSpeeds</code> based of raw speeds desired in meters/second and heading in radians.</div>
<div class="block">Get the <code>ChassisSpeeds</code> based of raw speeds desired in meters/second and heading in
radians.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getTargetSpeeds(double,double,double,double)" class="member-name-link">getTargetSpeeds</a><wbr>(double&nbsp;xInput,
@@ -240,8 +241,8 @@ loadScripts(document, 'script');</script>
<section class="detail" id="config">
<h3>config</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type"><a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></span>&nbsp;<span class="element-name">config</span></div>
<div class="block"><a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> object storing data to generate the <code>PIDController</code> for controlling the
robot heading, and deadband for heading joystick.</div>
<div class="block"><a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> object storing data to generate the <code>PIDController</code>
for controlling the robot heading, and deadband for heading joystick.</div>
</section>
</li>
<li>
@@ -291,11 +292,12 @@ loadScripts(document, 'script');</script>
<section class="detail" id="&lt;init&gt;(swervelib.parser.SwerveControllerConfiguration)">
<h3>SwerveController</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveController</span><wbr><span class="parameters">(<a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a>&nbsp;cfg)</span></div>
<div class="block">Construct the SwerveController object which is used for determining the speeds of the robot based on controller
input.</div>
<div class="block">Construct the SwerveController object which is used for determining the speeds of the robot
based on controller input.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>cfg</code> - <a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> containing the PIDF variables for the heading PIDF.</dd>
<dd><code>cfg</code> - <a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> containing the PIDF variables for the heading
PIDF.</dd>
</dl>
</section>
</li>
@@ -326,8 +328,8 @@ loadScripts(document, 'script');</script>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addSlewRateLimiters</span><wbr><span class="parameters">(edu.wpi.first.math.filter.SlewRateLimiter&nbsp;x,
edu.wpi.first.math.filter.SlewRateLimiter&nbsp;y,
edu.wpi.first.math.filter.SlewRateLimiter&nbsp;angle)</span></div>
<div class="block">Add slew rate limiters to all controls. This prevents the robot from ramping up too much. To disable a
<code>SlewRateLimiter</code> set the desired one to null.</div>
<div class="block">Add slew rate limiters to all controls. This prevents the robot from ramping up too much. To
disable a <code>SlewRateLimiter</code> set the desired one to null.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>x</code> - The <code>SlewRateLimiter</code> for the X velocity in meters/second.</dd>
@@ -347,8 +349,7 @@ loadScripts(document, 'script');</script>
<dd><code>x</code> - The x value for the joystick in which the deadband should be applied.</dd>
<dd><code>y</code> - The y value for the joystick in which the deadband should be applied.</dd>
<dt>Returns:</dt>
<dd>Whether the values are within the deadband from
<a href="parser/SwerveControllerConfiguration.html#angleJoyStickRadiusDeadband"><code>SwerveControllerConfiguration.angleJoyStickRadiusDeadband</code></a>.</dd>
<dd>Whether the values are within the deadband from <a href="parser/SwerveControllerConfiguration.html#angleJoyStickRadiusDeadband"><code>SwerveControllerConfiguration.angleJoyStickRadiusDeadband</code></a>.</dd>
</dl>
</section>
</li>
@@ -394,8 +395,8 @@ loadScripts(document, 'script');</script>
double&nbsp;headingX,
double&nbsp;headingY,
double&nbsp;currentHeadingAngleRadians)</span></div>
<div class="block">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.</div>
<div class="block">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.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>xInput</code> - X joystick input for the robot to move in the X direction.</dd>
@@ -414,7 +415,8 @@ loadScripts(document, 'script');</script>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">getRawTargetSpeeds</span><wbr><span class="parameters">(double&nbsp;xSpeed,
double&nbsp;ySpeed,
double&nbsp;omega)</span></div>
<div class="block">Get the <code>ChassisSpeeds</code> based of raw speeds desired in meters/second and heading in radians.</div>
<div class="block">Get the <code>ChassisSpeeds</code> based of raw speeds desired in meters/second and heading in
radians.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>xSpeed</code> - X speed in meters per second.</dd>
@@ -432,7 +434,8 @@ loadScripts(document, 'script');</script>
double&nbsp;ySpeed,
double&nbsp;targetHeadingAngleRadians,
double&nbsp;currentHeadingAngleRadians)</span></div>
<div class="block">Get the <code>ChassisSpeeds</code> based of raw speeds desired in meters/second and heading in radians.</div>
<div class="block">Get the <code>ChassisSpeeds</code> based of raw speeds desired in meters/second and heading in
radians.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>xSpeed</code> - X speed in meters per second.</dd>
@@ -464,8 +467,7 @@ loadScripts(document, 'script');</script>
<h3>setMaximumAngularVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setMaximumAngularVelocity</span><wbr><span class="parameters">(double&nbsp;angularVelocity)</span></div>
<div class="block">Set a new maximum angular velocity that is different from the auto-generated one. Modified the
<a href="parser/SwerveControllerConfiguration.html#maxAngularVelocity"><code>SwerveControllerConfiguration.maxAngularVelocity</code></a> field which is used in the <a href="SwerveController.html" title="class in swervelib"><code>SwerveController</code></a> class
for <code>ChassisSpeeds</code> generation.</div>
<a href="parser/SwerveControllerConfiguration.html#maxAngularVelocity"><code>SwerveControllerConfiguration.maxAngularVelocity</code></a> field which is used in the <a href="SwerveController.html" title="class in swervelib"><code>SwerveController</code></a> class for <code>ChassisSpeeds</code> generation.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>angularVelocity</code> - Angular velocity in radians per second.</dd>