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Added matter calculator

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thenetworkgrinch
2023-02-24 22:10:33 -06:00
parent 69edd17103
commit 4651cccb8e
112 changed files with 535 additions and 257 deletions
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14
swervelib/SwerveDrive.java
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@@ -59,33 +59,33 @@ public class SwerveDrive
/**
* Swerve controller for controlling heading of the robot.
*/
public SwerveController swerveController;
public SwerveController swerveController;
/**
* Trustworthiness of the internal model of how motors should be moving Measured in expected standard deviation
* (meters of position and degrees of rotation)
*/
public Matrix<N3, N1> stateStdDevs = VecBuilder.fill(0.1, 0.1, 0.1);
public Matrix<N3, N1> stateStdDevs = VecBuilder.fill(0.1, 0.1, 0.1);
/**
* Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of
* rotation)
*/
public Matrix<N3, N1> visionMeasurementStdDevs = VecBuilder.fill(0.9, 0.9, 0.9);
public Matrix<N3, N1> visionMeasurementStdDevs = VecBuilder.fill(0.9, 0.9, 0.9);
/**
* Swerve IMU device for sensing the heading of the robot.
*/
private SwerveIMU imu;
private SwerveIMU imu;
/**
* Simulation of the swerve drive.
*/
private SwerveIMUSimulation simIMU;
private SwerveIMUSimulation simIMU;
/**
* Counter to synchronize the modules relative encoder with absolute encoder when not moving.
*/
private int moduleSynchronizationCounter = 0;
private int moduleSynchronizationCounter = 0;
/**
* The last heading set in radians.
*/
private double lastHeadingRadians = 0;
private double lastHeadingRadians = 0;
/**
* Creates a new swerve drivebase subsystem. Robot is controlled via the {@link SwerveDrive#drive} method, or via the