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https://github.com/BroncBotz3481/YAGSL
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Updated javadocs
This commit is contained in:
thenetworkgrinch
@@ -1,18 +1,17 @@
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<!DOCTYPE HTML>
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<html lang="en">
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<head>
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<!-- Generated by javadoc (17) on Sat Apr 08 13:46:47 CDT 2023 -->
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<title>SwerveMath</title>
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<!-- Generated by javadoc (17) -->
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<title>SwerveMath (YAGSL-Lib API)</title>
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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<meta name="dc.created" content="2023-04-08">
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<meta name="description" content="declaration: package: swervelib.math, class: SwerveMath">
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<meta name="generator" content="javadoc/ClassWriterImpl">
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<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
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<link rel="stylesheet" type="text/css" href="../../script-dir/jquery-ui.min.css" title="Style">
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<link rel="stylesheet" type="text/css" href="../../jquery-ui.overrides.css" title="Style">
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<script type="text/javascript" src="../../script.js"></script>
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<script type="text/javascript" src="../../script-dir/jquery-3.5.1.min.js"></script>
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<script type="text/javascript" src="../../script-dir/jquery-3.6.1.min.js"></script>
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<script type="text/javascript" src="../../script-dir/jquery-ui.min.js"></script>
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</head>
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<body class="class-declaration-page">
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@@ -36,7 +35,7 @@ loadScripts(document, 'script');</script>
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<li><a href="package-summary.html">Package</a></li>
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<li class="nav-bar-cell1-rev">Class</li>
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<li><a href="package-tree.html">Tree</a></li>
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<li><a href="../../index-files/index-1.html">Index</a></li>
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<li><a href="../../index-all.html">Index</a></li>
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<li><a href="../../help-doc.html#class">Help</a></li>
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</ul>
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</div>
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@@ -120,80 +119,73 @@ loadScripts(document, 'script');</script>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Algebraically apply a deadband using a piece wise function.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>private static double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">calcMaxAccel</a><wbr>(edu.wpi.first.math.geometry.Rotation2d angle,
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<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a><<a href="Matter.html" title="class in swervelib.math">Matter</a>> matter,
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double robotMass,
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<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> config)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateDegreesPerSteeringRotation(double,double)" class="member-name-link">calculateDegreesPerSteeringRotation</a><wbr>(double angleGearRatio,
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateDegreesPerSteeringRotation(double,double)" class="member-name-link">calculateDegreesPerSteeringRotation</a><wbr>(double angleGearRatio,
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double pulsePerRotation)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Calculate the degrees per steering rotation for the integrated encoder.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAcceleration(double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double cof)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAcceleration(double,double,double,double,double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double stallTorqueNm,
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAcceleration(double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double cof)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of
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friction.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAcceleration(double,double,double,double,double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double stallTorqueNm,
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double gearRatio,
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double moduleCount,
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double wheelDiameter,
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double robotMass)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Calculate the maximum theoretical acceleration without friction.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAngularVelocity(double,double,double)" class="member-name-link">calculateMaxAngularVelocity</a><wbr>(double maxSpeed,
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAngularVelocity(double,double,double)" class="member-name-link">calculateMaxAngularVelocity</a><wbr>(double maxSpeed,
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double furthestModuleX,
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double furthestModuleY)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Calculate the maximum angular velocity.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMetersPerRotation(double,double,double)" class="member-name-link">calculateMetersPerRotation</a><wbr>(double wheelDiameter,
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMetersPerRotation(double,double,double)" class="member-name-link">calculateMetersPerRotation</a><wbr>(double wheelDiameter,
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double driveGearRatio,
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double pulsePerRotation)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Calculate the meters per rotation for the integrated encoder.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="../parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getSwerveModule(swervelib.SwerveModule%5B%5D,boolean,boolean)" class="member-name-link">getSwerveModule</a><wbr>(<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[] modules,
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="../parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getSwerveModule(swervelib.SwerveModule%5B%5D,boolean,boolean)" class="member-name-link">getSwerveModule</a><wbr>(<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[] modules,
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boolean front,
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boolean left)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Get the fruthest module from center based on the module locations.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Translation2d</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,java.util.List,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">limitVelocity</a><wbr>(edu.wpi.first.math.geometry.Translation2d commandedVelocity,
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Translation2d</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,java.util.List,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">limitVelocity</a><wbr>(edu.wpi.first.math.geometry.Translation2d commandedVelocity,
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edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity,
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edu.wpi.first.math.geometry.Pose2d robotPose,
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double loopTime,
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double robotMass,
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||||
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a><<a href="Matter.html" title="class in swervelib.math">Matter</a>> matter,
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||||
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> config)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by <a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration)</code></a>.</div>
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</div>
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||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#normalizeAngle(double)" class="member-name-link">normalizeAngle</a><wbr>(double angle)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Normalize an angle to be within 0 to 360.</div>
|
||||
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by <code>calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration)</code>.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double scopeReference,
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double newAngle)</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#normalizeAngle(double)" class="member-name-link">normalizeAngle</a><wbr>(double angle)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Normalize an angle to be within 0 to 360.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double scopeReference,
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double newAngle)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Put an angle within the 360 deg scope of a reference.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Twist2d</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#PoseLog(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">PoseLog</a><wbr>(edu.wpi.first.math.geometry.Pose2d transform)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Twist2d</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#PoseLog(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">PoseLog</a><wbr>(edu.wpi.first.math.geometry.Pose2d transform)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Logical inverse of the Pose exponential from 254.</div>
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</div>
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</div>
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@@ -233,13 +225,14 @@ loadScripts(document, 'script');</script>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double</span> <span class="element-name">calculateMetersPerRotation</span><wbr><span class="parameters">(double wheelDiameter,
|
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double driveGearRatio,
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double pulsePerRotation)</span></div>
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<div class="block">Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels * pi [circumfrence]
|
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/ gear ratio.</div>
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<div class="block">Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels
|
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* pi [circumfrence] / gear ratio.</div>
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<dl class="notes">
|
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<dt>Parameters:</dt>
|
||||
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
|
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<dd><code>driveGearRatio</code> - The gear ratio of the drive motor.</dd>
|
||||
<dd><code>pulsePerRotation</code> - The number of encoder pulses per rotation. 1 if using an integrated encoder.</dd>
|
||||
<dd><code>pulsePerRotation</code> - The number of encoder pulses per rotation. 1 if using an integrated
|
||||
encoder.</dd>
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||||
<dt>Returns:</dt>
|
||||
<dd>Meters per rotation for the drive motor.</dd>
|
||||
</dl>
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@@ -280,12 +273,14 @@ loadScripts(document, 'script');</script>
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<h3>calculateDegreesPerSteeringRotation</h3>
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||||
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double</span> <span class="element-name">calculateDegreesPerSteeringRotation</span><wbr><span class="parameters">(double angleGearRatio,
|
||||
double pulsePerRotation)</span></div>
|
||||
<div class="block">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.</div>
|
||||
<div class="block">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.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>angleGearRatio</code> - The gear ratio of the steering motor.</dd>
|
||||
<dd><code>pulsePerRotation</code> - The number of pulses in a complete rotation for the encoder, 1 if integrated.</dd>
|
||||
<dd><code>pulsePerRotation</code> - The number of pulses in a complete rotation for the encoder, 1 if
|
||||
integrated.</dd>
|
||||
<dt>Returns:</dt>
|
||||
<dd>Degrees per steering rotation for the angle motor.</dd>
|
||||
</dl>
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||||
@@ -312,7 +307,8 @@ loadScripts(document, 'script');</script>
|
||||
<section class="detail" id="calculateMaxAcceleration(double)">
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||||
<h3>calculateMaxAcceleration</h3>
|
||||
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double</span> <span class="element-name">calculateMaxAcceleration</span><wbr><span class="parameters">(double cof)</span></div>
|
||||
<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.</div>
|
||||
<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of
|
||||
friction.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>cof</code> - Coefficient of Friction of the wheel grip tape.</dd>
|
||||
@@ -333,7 +329,8 @@ loadScripts(document, 'script');</script>
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<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>stallTorqueNm</code> - Stall torque of driving motor in nM.</dd>
|
||||
<dd><code>gearRatio</code> - Gear ratio for driving motor number of motor rotations until one wheel rotation.</dd>
|
||||
<dd><code>gearRatio</code> - Gear ratio for driving motor number of motor rotations until one wheel
|
||||
rotation.</dd>
|
||||
<dd><code>moduleCount</code> - Number of swerve modules.</dd>
|
||||
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
|
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<dd><code>robotMass</code> - Mass of the robot in kg.</dd>
|
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@@ -343,27 +340,6 @@ loadScripts(document, 'script');</script>
|
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</section>
|
||||
</li>
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||||
<li>
|
||||
<section class="detail" id="calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)">
|
||||
<h3>calcMaxAccel</h3>
|
||||
<div class="member-signature"><span class="modifiers">private static</span> <span class="return-type">double</span> <span class="element-name">calcMaxAccel</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation2d angle,
|
||||
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a><<a href="Matter.html" title="class in swervelib.math">Matter</a>> matter,
|
||||
double robotMass,
|
||||
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> config)</span></div>
|
||||
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from
|
||||
NetworkTables and is passed the direction in question.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>angle</code> - The direction in which to calculate max acceleration, as a Rotation2d. Note that this is
|
||||
robot-relative.</dd>
|
||||
<dd><code>matter</code> - Matter that the robot is composed of in kg. (Includes chassis)</dd>
|
||||
<dd><code>robotMass</code> - The weight of the robot in kg. (Including manipulators, etc).</dd>
|
||||
<dd><code>config</code> - The swerve drive configuration.</dd>
|
||||
<dt>Returns:</dt>
|
||||
<dd>Maximum acceleration allowed in the robot direction.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="PoseLog(edu.wpi.first.math.geometry.Pose2d)">
|
||||
<h3>PoseLog</h3>
|
||||
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">edu.wpi.first.math.geometry.Twist2d</span> <span class="element-name">PoseLog</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d transform)</span></div>
|
||||
@@ -386,21 +362,20 @@ loadScripts(document, 'script');</script>
|
||||
double robotMass,
|
||||
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a><<a href="Matter.html" title="class in swervelib.math">Matter</a>> matter,
|
||||
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> config)</span></div>
|
||||
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by <a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration)</code></a>.
|
||||
Note that this takes and returns field-relative velocities.</div>
|
||||
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by <code>calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration)</code>. Note that this takes and returns field-relative velocities.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>commandedVelocity</code> - The desired velocity</dd>
|
||||
<dd><code>fieldVelocity</code> - The velocity of the robot within a field relative state.</dd>
|
||||
<dd><code>robotPose</code> - The current pose of the robot.</dd>
|
||||
<dd><code>loopTime</code> - The time it takes to update the velocity in seconds. <b>Note: this should include the
|
||||
100ms that it takes for a SparkMax velocity to update.</b></dd>
|
||||
<dd><code>loopTime</code> - The time it takes to update the velocity in seconds. <b>Note: this should
|
||||
include the 100ms that it takes for a SparkMax velocity to update.</b></dd>
|
||||
<dd><code>matter</code> - Matter that the robot is composed of with position in meters and mass in kg.</dd>
|
||||
<dd><code>robotMass</code> - The weight of the robot in kg. (Including manipulators, etc).</dd>
|
||||
<dd><code>config</code> - The swerve drive configuration.</dd>
|
||||
<dt>Returns:</dt>
|
||||
<dd>The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable
|
||||
velocity.</dd>
|
||||
<dd>The limited velocity. This is either the commanded velocity, if attainable, or the
|
||||
closest attainable velocity.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
@@ -426,8 +401,9 @@ loadScripts(document, 'script');</script>
|
||||
<h3>placeInAppropriate0To360Scope</h3>
|
||||
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double</span> <span class="element-name">placeInAppropriate0To360Scope</span><wbr><span class="parameters">(double scopeReference,
|
||||
double newAngle)</span></div>
|
||||
<div class="block">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.</div>
|
||||
<div class="block">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.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>scopeReference</code> - Current Angle (deg)</dd>
|
||||
|
||||
Reference in New Issue
Block a user