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thenetworkgrinch
2023-02-24 22:10:33 -06:00
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Feb 24 19:09:47 CST 2023 -->
<!-- Generated by javadoc (17) on Fri Feb 24 22:08:26 CST 2023 -->
<title>All Classes and Interfaces</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -100,165 +100,169 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Location JSON parsed class.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a></div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/Matter.html" title="class in swervelib.math">Matter</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Object with significant mass that needs to be taken into account.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block"><a href="swervelib/SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a> JSON parsed class.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Used to store doubles for motor configuration.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Used to store ints for motor configuration.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Communicates with the NavX as the IMU.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block"><a href="swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser"><code>SwerveModulePhysicalCharacteristics</code></a> parsed data.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/ctre/PhysicsSim.html" title="class in swervelib.simulation.ctre">PhysicsSim</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/ctre/PhysicsSim.html" title="class in swervelib.simulation.ctre">PhysicsSim</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Manages physics simulation for CTRE products.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/ctre/PhysicsSim.SimProfile.html" title="class in swervelib.simulation.ctre">PhysicsSim.SimProfile</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/ctre/PhysicsSim.SimProfile.html" title="class in swervelib.simulation.ctre">PhysicsSim.SimProfile</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Holds information about a simulated device.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Hold the PIDF and Integral Zone values for a PID.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/PIDFPropertiesJson.html" title="class in swervelib.parser.json">PIDFPropertiesJson</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/PIDFPropertiesJson.html" title="class in swervelib.parser.json">PIDFPropertiesJson</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block"><a href="swervelib/SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a> PID with Feedforward for the drive motor and angle motor.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/deserializer/PIDFRange.html" title="class in swervelib.parser.deserializer">PIDFRange</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/deserializer/PIDFRange.html" title="class in swervelib.parser.deserializer">PIDFRange</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Class to hold the minimum and maximum input or output of the PIDF.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">SwerveIMU interface for the Pigeon2</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">SwerveIMU interface for the Pigeon.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/motors/SparkMaxBrushedMotorSwerve.html" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/motors/SparkMaxBrushedMotorSwerve.html" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Brushed motor control with SparkMax.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/encoders/SparkMaxEncoderSwerve.html" title="class in swervelib.encoders">SparkMaxEncoderSwerve</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/encoders/SparkMaxEncoderSwerve.html" title="class in swervelib.encoders">SparkMaxEncoderSwerve</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">SparkMax absolute encoder, attached through the data port.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">An implementation of <code>CANSparkMax</code> as a <a href="swervelib/motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a>.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">
<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab3">
<div class="block">REV Slots for PID configuration.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/SwerveController.html" title="class in swervelib">SwerveController</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/SwerveController.html" title="class in swervelib">SwerveController</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Controller class used to convert raw inputs into robot speeds.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Swerve Controller configuration class which is used to configure <a href="swervelib/SwerveController.html" title="class in swervelib"><code>SwerveController</code></a>.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Swerve Drive class representing and controlling the swerve drive.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Swerve drive configurations used during SwerveDrive construction.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block"><a href="swervelib/SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> JSON parsed class.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/telemetry/SwerveDriveTelemetry.html" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/telemetry/SwerveDriveTelemetry.html" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Telemetry to describe the <a href="swervelib/SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> following frc-web-components.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab3"><a href="swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab3">
<div class="col-first even-row-color all-classes-table all-classes-table-tab3"><a href="swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab3">
<div class="block">Verbosity of telemetry data sent back.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Swerve IMU abstraction to define a standard interface with a swerve drive.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Simulation for <a href="swervelib/SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> IMU.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
speed.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Mathematical functions which pertain to swerve drive.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">The Swerve Module class which represents and controls Swerve Modules for the swerve drive.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Swerve Module configuration class which is used to configure <a href="swervelib/SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Configuration class which stores physical characteristics shared between every swerve module.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Class to hold simulation data for <a href="swervelib/SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a></div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Second order kinematics swerve module state.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Swerve motor abstraction which defines a standard interface for motors within a swerve module.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/SwerveParser.html" title="class in swervelib.parser">SwerveParser</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/SwerveParser.html" title="class in swervelib.parser">SwerveParser</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Helper class used to parse the JSON directory with specified configuration options.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/ctre/TalonFXSimProfile.html" title="class in swervelib.simulation.ctre">TalonFXSimProfile</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/ctre/TalonFXSimProfile.html" title="class in swervelib.simulation.ctre">TalonFXSimProfile</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Holds information about a simulated TalonFX.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block"><code>TalonFX</code> Swerve Motor.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/ctre/TalonSRXSimProfile.html" title="class in swervelib.simulation.ctre">TalonSRXSimProfile</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/ctre/TalonSRXSimProfile.html" title="class in swervelib.simulation.ctre">TalonSRXSimProfile</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Holds information about a simulated TalonSRX.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block"><code>WPI_TalonSRX</code> Swerve Motor.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/ctre/VictorSPXSimProfile.html" title="class in swervelib.simulation.ctre">VictorSPXSimProfile</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/simulation/ctre/VictorSPXSimProfile.html" title="class in swervelib.simulation.ctre">VictorSPXSimProfile</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Holds information about a simulated VictorSPX.</div>
</div>
</div>

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<dd>
<div class="block">Last time queried.</div>
</dd>
<dt><a href="../swervelib/math/SwerveMath.html#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, double, Translation3d, SwerveDriveConfiguration)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
<dt><a href="../swervelib/math/SwerveMath.html#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(Translation2d, ChassisSpeeds, Pose2d, double, double, List&lt;Matter&gt;, SwerveDriveConfiguration)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
<dd>
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by
<a href="../swervelib/math/SwerveMath.html#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)"><code>SwerveMath.calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>.</div>
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by <a href="../swervelib/math/SwerveMath.html#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)"><code>SwerveMath.calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List&lt;swervelib.math.Matter&gt;, double, swervelib.parser.SwerveDriveConfiguration)</code></a>.</div>
</dd>
<dt><a href="../swervelib/parser/json/ModuleJson.html#location" class="member-name-link">location</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a></dt>
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<dd>
<div class="block">Only send the machine readable data related to swerve drive.</div>
</dd>
<dt><a href="../swervelib/math/Matter.html#mass" class="member-name-link">mass</a> - Variable in class swervelib.math.<a href="../swervelib/math/Matter.html" title="class in swervelib.math">Matter</a></dt>
<dd>
<div class="block">Mass in kg of object.</div>
</dd>
<dt><a href="../swervelib/math/Matter.html#massMoment()" class="member-name-link">massMoment()</a> - Method in class swervelib.math.<a href="../swervelib/math/Matter.html" title="class in swervelib.math">Matter</a></dt>
<dd>
<div class="block">Get the center mass of the object.</div>
</dd>
<dt><a href="../swervelib/math/Matter.html" class="type-name-link" title="class in swervelib.math">Matter</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">Object with significant mass that needs to be taken into account.</div>
</dd>
<dt><a href="../swervelib/math/Matter.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation3d,double)" class="member-name-link">Matter(Translation3d, double)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/Matter.html" title="class in swervelib.math">Matter</a></dt>
<dd>
<div class="block">Construct an object representing some significant matter on the robot.</div>
</dd>
<dt><a href="../swervelib/parser/deserializer/PIDFRange.html#max" class="member-name-link">max</a> - Variable in class swervelib.parser.deserializer.<a href="../swervelib/parser/deserializer/PIDFRange.html" title="class in swervelib.parser.deserializer">PIDFRange</a></dt>
<dd>
<div class="block">Maximum value.</div>

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<dd>
<div class="block">Put an angle within the the 360 deg scope of a reference.</div>
</dd>
<dt><a href="../swervelib/math/Matter.html#position" class="member-name-link">position</a> - Variable in class swervelib.math.<a href="../swervelib/math/Matter.html" title="class in swervelib.math">Matter</a></dt>
<dd>
<div class="block">Position in meters from robot center in 3d space.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html#Position" class="member-name-link">Position</a> - Enum constant in enum class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></dt>
<dd>
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<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">X</a>&nbsp;<a href="index-23.html">Y</a>&nbsp;<a href="index-24.html">Z</a>&nbsp;<a href="index-25.html">_</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a>
<h2 class="title" id="I:C">C</h2>
<dl class="index">
<dt><a href="../swervelib/math/SwerveMath.html#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
<dt><a href="../swervelib/math/SwerveMath.html#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">calcMaxAccel(Rotation2d, List&lt;Matter&gt;, double, SwerveDriveConfiguration)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
<dd>
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot.</div>
</dd>

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<title>Matter</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="2023-02-24">
<meta name="description" content="declaration: package: swervelib.math, class: Matter">
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<div class="header">
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.math</a></div>
<h1 title="Class Matter" class="title">Class Matter</h1>
</div>
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance">swervelib.math.Matter</div>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">Matter</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Object with significant mass that needs to be taken into account.</div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#mass" class="member-name-link">mass</a></code></div>
<div class="col-last even-row-color">
<div class="block">Mass in kg of object.</div>
</div>
<div class="col-first odd-row-color"><code>edu.wpi.first.math.geometry.Translation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#position" class="member-name-link">position</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Position in meters from robot center in 3d space.</div>
</div>
</div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation3d,double)" class="member-name-link">Matter</a><wbr>(edu.wpi.first.math.geometry.Translation3d&nbsp;position,
double&nbsp;mass)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct an object representing some significant matter on the robot.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
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<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<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-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Translation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#massMoment()" class="member-name-link">massMoment</a>()</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 center mass of the object.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="position">
<h3>position</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation3d</span>&nbsp;<span class="element-name">position</span></div>
<div class="block">Position in meters from robot center in 3d space.</div>
</section>
</li>
<li>
<section class="detail" id="mass">
<h3>mass</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">mass</span></div>
<div class="block">Mass in kg of object.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation3d,double)">
<h3>Matter</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">Matter</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Translation3d&nbsp;position,
double&nbsp;mass)</span></div>
<div class="block">Construct an object representing some significant matter on the robot.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>position</code> - Position of the matter in meters.</dd>
<dd><code>mass</code> - Mass in kg.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
<!-- ============ METHOD DETAIL ========== -->
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="massMoment()">
<h3>massMoment</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation3d</span>&nbsp;<span class="element-name">massMoment</span>()</div>
<div class="block">Get the center mass of the object.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>center mass = position * mass</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
<!-- ========= END OF CLASS DATA ========= -->
</main>
</div>
</div>
</body>
</html>

2
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Feb 24 19:09:47 CST 2023 -->
<!-- Generated by javadoc (17) on Fri Feb 24 22:08:26 CST 2023 -->
<title>SwerveKinematics2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

42
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Feb 24 19:09:47 CST 2023 -->
<!-- Generated by javadoc (17) on Fri Feb 24 22:08:26 CST 2023 -->
<title>SwerveMath</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -114,10 +114,9 @@ loadScripts(document, 'script');</script>
<div class="block">Algebraically apply a deadband using a piece wise function.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>private static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">calcMaxAccel</a><wbr>(edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;chassisMass,
<div class="col-second odd-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&nbsp;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>&lt;<a href="Matter.html" title="class in swervelib.math">Matter</a>&gt;&nbsp;matter,
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot.</div>
@@ -171,17 +170,15 @@ loadScripts(document, 'script');</script>
<div class="block">Get the fruthest module from center based on the module locations.</div>
</div>
<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>
<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,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">limitVelocity</a><wbr>(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
<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&nbsp;commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;fieldVelocity,
edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose,
double&nbsp;loopTime,
double&nbsp;chassisMass,
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<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>&lt;<a href="Matter.html" title="class in swervelib.math">Matter</a>&gt;&nbsp;matter,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by
<a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>.</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&lt;swervelib.math.Matter&gt;, double, swervelib.parser.SwerveDriveConfiguration)</code></a>.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<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&nbsp;angle)</code></div>
@@ -353,22 +350,20 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)">
<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>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calcMaxAccel</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;chassisMass,
<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>&lt;<a href="Matter.html" title="class in swervelib.math">Matter</a>&gt;&nbsp;matter,
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;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>chassisMass</code> - Chassis mass in kg. (The weight of just the chassis not anything else)</dd>
<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>chassisCenterOfGravity</code> - Chassis center of gravity.</dd>
<dd><code>config</code> - The swerve drive configuration.</dd>
<dt>Returns:</dt>
<dd>Maximum acceleration allowed in the robot direction.</dd>
@@ -376,29 +371,26 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)">
<section class="detail" id="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)">
<h3>limitVelocity</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d</span>&nbsp;<span class="element-name">limitVelocity</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;fieldVelocity,
edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose,
double&nbsp;loopTime,
double&nbsp;chassisMass,
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<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>&lt;<a href="Matter.html" title="class in swervelib.math">Matter</a>&gt;&nbsp;matter,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;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,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, 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 <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&lt;swervelib.math.Matter&gt;, double, swervelib.parser.SwerveDriveConfiguration)</code></a>.
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>chassisMass</code> - Chassis mass in kg. (The weight of just the chassis not anything else)</dd>
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>chassisCenterOfGravity</code> - Chassis center of gravity.</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

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Feb 24 19:09:47 CST 2023 -->
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<title>SwerveModuleState2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>swervelib.math</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -84,17 +84,21 @@ loadScripts(document, 'script');</script>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Class</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="Matter.html" title="class in swervelib.math">Matter</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">Object with significant mass that needs to be taken into account.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
speed.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="SwerveMath.html" title="class in swervelib.math">SwerveMath</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="SwerveMath.html" title="class in swervelib.math">SwerveMath</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">Mathematical functions which pertain to swerve drive.</div>
</div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Second order kinematics swerve module state.</div>
</div>
</div>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Feb 24 19:09:47 CST 2023 -->
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<title>swervelib.math Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -59,6 +59,7 @@ loadScripts(document, 'script');</script>
<ul>
<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" class="type-name-link external-link" title="class or interface in java.lang">Object</a>
<ul>
<li class="circle">swervelib.math.<a href="Matter.html" class="type-name-link" title="class in swervelib.math">Matter</a></li>
<li class="circle">edu.wpi.first.math.kinematics.SwerveDriveKinematics
<ul>
<li class="circle">swervelib.math.<a href="SwerveKinematics2.html" class="type-name-link" title="class in swervelib.math">SwerveKinematics2</a></li>

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<title>SparkMaxBrushedMotorSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>SparkMaxSwerve.SparkMAX_slotIdx</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Feb 24 19:09:47 CST 2023 -->
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<title>SparkMaxSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
<!-- Generated by javadoc (17) on Fri Feb 24 19:09:47 CST 2023 -->
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<title>SwerveMotor</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>TalonFXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>TalonSRXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Feb 24 19:09:47 CST 2023 -->
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<title>swervelib.motors</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
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<title>swervelib.motors Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
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<title>swervelib</title>
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<head>
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<title>swervelib Class Hierarchy</title>
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<title>PIDFConfig</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>SwerveControllerConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
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<title>SwerveDriveConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>SwerveModuleConfiguration</title>
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