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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>SwerveModuleState2</title>
<!-- Generated by javadoc (17) -->
<title>SwerveModuleState2 (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.math, class: SwerveModuleState2">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<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>
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<li><a href="../../help-doc.html#class">Help</a></li>
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@@ -129,7 +128,8 @@ loadScripts(document, 'script');</script>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveModuleState,double)" class="member-name-link">SwerveModuleState2</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;state,
double&nbsp;omegaRadPerSecond)</code></div>
<div class="col-last even-row-color">
<div class="block">Create a <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> based on the <code>SwerveModuleState</code> with the radians per second defined.</div>
<div class="block">Create a <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> based on the <code>SwerveModuleState</code> with the radians per
second defined.</div>
</div>
</div>
</section>
@@ -145,18 +145,23 @@ loadScripts(document, 'script');</script>
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,swervelib.math.SwerveModuleState2,double)" class="member-name-link">optimize</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#invert()" class="member-name-link">invert</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Invert the swerve module state.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,swervelib.math.SwerveModuleState2,double)" class="member-name-link">optimize</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle,
<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;lastState,
double&nbsp;moduleSteerFeedForwardClosedLoop)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
the wheel spins.</div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially
reversing the direction the wheel spins.</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.SwerveModuleState</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toSwerveModuleState()" class="member-name-link">toSwerveModuleState</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toSwerveModuleState()" class="member-name-link">toSwerveModuleState</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Convert to a <code>SwerveModuleState</code>.</div>
</div>
</div>
@@ -221,7 +226,8 @@ loadScripts(document, 'script');</script>
<h3>SwerveModuleState2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleState2</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;state,
double&nbsp;omegaRadPerSecond)</span></div>
<div class="block">Create a <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> based on the <code>SwerveModuleState</code> with the radians per second defined.</div>
<div class="block">Create a <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> based on the <code>SwerveModuleState</code> with the radians per
second defined.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>state</code> - First order kinematic module state.</dd>
@@ -244,21 +250,33 @@ loadScripts(document, 'script');</script>
edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle,
<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;lastState,
double&nbsp;moduleSteerFeedForwardClosedLoop)</span></div>
<div class="block">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.</div>
<div class="block">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.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>desiredState</code> - The desired state.</dd>
<dd><code>currentAngle</code> - The current module angle.</dd>
<dd><code>lastState</code> - The last state of the module.</dd>
<dd><code>moduleSteerFeedForwardClosedLoop</code> - The module feed forward closed loop for the angle motor.</dd>
<dd><code>moduleSteerFeedForwardClosedLoop</code> - The module feed forward closed loop for the angle
motor.</dd>
<dt>Returns:</dt>
<dd>Optimized swerve module state.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="invert()">
<h3>invert</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">invert</span>()</div>
<div class="block">Invert the swerve module state.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>Current inverted <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="toSwerveModuleState()">
<h3>toSwerveModuleState</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState</span>&nbsp;<span class="element-name">toSwerveModuleState</span>()</div>