diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index d89a5cc..da70b13 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,7 +1,7 @@ - + All Classes and Interfaces diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index fc8c369..90c81d9 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,7 +1,7 @@ - + All Packages diff --git a/docs/constant-values.html b/docs/constant-values.html index 7052299..69282e9 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,7 +1,7 @@ - + Constant Field Values diff --git a/docs/help-doc.html b/docs/help-doc.html index adcaa79..3ff6108 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,7 +1,7 @@ - + API Help diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index 4717846..8b8fc07 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,7 +1,7 @@ - + A-Index @@ -85,6 +85,11 @@ loadScripts(document, 'script');
Absolute encoder offset from 0 in degrees.
+
addVisionMeasurement(Pose2d, double) - Method in class swervelib.SwerveDrive
+
+
Add a vision measurement to the SwerveDrivePoseEstimator with the given timestamp of the vision + measurement.
+
angle - Variable in class swervelib.math.SwerveModuleState2
Swerve module angle as a Rotation2d.
diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index 121c26b..54a7ee5 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,7 +1,7 @@ - + K-Index diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index 6d4593d..fdcc4ca 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,7 +1,7 @@ - + L-Index diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index e719236..5f4fc9c 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,7 +1,7 @@ - + M-Index diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index bea492b..264fc88 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,7 +1,7 @@ - + N-Index diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index c6ea037..36ebc69 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,7 +1,7 @@ - + O-Index diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index 935367f..44dbaf6 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,7 +1,7 @@ - + P-Index diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 38c2af1..25cc069 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,7 +1,7 @@ - + R-Index diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index 02cbc57..7c289e8 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,7 +1,7 @@ - + S-Index diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index 4012044..fb8b0cc 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,7 +1,7 @@ - + T-Index diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index bf43b34..a577ec2 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,7 +1,7 @@ - + U-Index diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index f32dd63..f98c56d 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,7 +1,7 @@ - + B-Index diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index 0a62e4d..f0b82ac 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,7 +1,7 @@ - + V-Index diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index ff99812..525e931 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,7 +1,7 @@ - + W-Index diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index 43b393c..b7a5b15 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,7 +1,7 @@ - + X-Index diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index d39e66a..67ee03e 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,7 +1,7 @@ - + Y-Index diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index a101b0e..937c94d 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,7 +1,7 @@ - + Z-Index diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index 7da97c3..3255396 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,7 +1,7 @@ - + C-Index diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index 3fb5442..07c5a32 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,7 +1,7 @@ - + D-Index diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index ac6f1cf..7db777a 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,7 +1,7 @@ - + E-Index diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index c790771..85d7636 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,7 +1,7 @@ - + F-Index diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index 9b100c7..8d4e640 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,7 +1,7 @@ - + G-Index diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index e1f7438..d8ab539 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,7 +1,7 @@ - + H-Index diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index 9922e96..3fe8909 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,7 +1,7 @@ - + I-Index diff --git a/docs/index.html b/docs/index.html index 48fbc8e..c860336 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,7 +1,7 @@ - + Overview diff --git a/docs/member-search-index.js b/docs/member-search-index.js index 2a7bc46..57e921f 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = 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double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib.imu","c":"NavXSwerve","l":"yawOffset"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/overview-summary.html b/docs/overview-summary.html index b94ae93..1e6f0e9 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -1,7 +1,7 @@ - + Generated Documentation (Untitled) diff --git a/docs/overview-tree.html b/docs/overview-tree.html index 0af576b..049c1e2 100644 --- a/docs/overview-tree.html +++ b/docs/overview-tree.html @@ -1,7 +1,7 @@ - + Class Hierarchy diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html index b81ef81..983cebb 100644 --- a/docs/swervelib/SwerveController.html +++ b/docs/swervelib/SwerveController.html @@ -1,7 +1,7 @@ - + SwerveController diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index 9b49e1c..2b26e54 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,7 +1,7 @@ - + SwerveDrive @@ -172,112 +172,119 @@ loadScripts(document, 'script');
Method
Description
void
-
drive(edu.wpi.first.math.geometry.Translation2d translation, +
addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, + double timestamp)
+
+
Add a vision measurement to the SwerveDrivePoseEstimator with the given timestamp of the vision + measurement.
+
+
void
+
drive(edu.wpi.first.math.geometry.Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop)
-
+
The primary method for controlling the drivebase.
-
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getFieldVelocity()
-
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
getFieldVelocity()
+
Gets the current field-relative velocity (x, y and omega) of the robot
-
edu.wpi.first.math.geometry.Rotation3d
-
getGyroRotation3d()
-
+
edu.wpi.first.math.geometry.Rotation3d
+
getGyroRotation3d()
+
Gets the current gyro Rotation3d of the robot, as reported by the imu.
-
edu.wpi.first.math.kinematics.SwerveModulePosition[]
-
getModulePositions()
-
+
edu.wpi.first.math.kinematics.SwerveModulePosition[]
+
getModulePositions()
+
Gets the current module positions (azimuth and wheel position (meters))
-
edu.wpi.first.math.geometry.Rotation2d
-
getPitch()
-
+
edu.wpi.first.math.geometry.Rotation2d
+
getPitch()
+
Gets the current pitch angle of the robot, as reported by the imu.
-
edu.wpi.first.math.geometry.Pose2d
-
getPose()
-
+
edu.wpi.first.math.geometry.Pose2d
+
getPose()
+
Gets the current pose (position and rotation) of the robot, as reported by odometry.
-
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getRobotVelocity()
-
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
getRobotVelocity()
+
Gets the current robot-relative velocity (x, y and omega) of the robot
-
edu.wpi.first.math.geometry.Rotation2d
-
getRoll()
-
+
edu.wpi.first.math.geometry.Rotation2d
+
getRoll()
+
Gets the current roll angle of the robot, as reported by the imu.
-
SwerveModuleState2[]
-
getStates()
-
+
SwerveModuleState2[]
+
getStates()
+
Gets the current module states (azimuth and velocity)
-
edu.wpi.first.math.geometry.Pose2d[]
-
getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
-
+
edu.wpi.first.math.geometry.Pose2d[]
+
getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
+
Get the swerve module poses and on the field relative to the robot.
-
edu.wpi.first.math.geometry.Rotation2d
-
getYaw()
-
+
edu.wpi.first.math.geometry.Rotation2d
+
getYaw()
+
Gets the current yaw angle of the robot, as reported by the imu.
-
void
-
lock()
-
+
void
+
lock()
+
Lock the swerve drive to prevent it from moving.
-
void
-
replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
-
+
void
+
replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
+
Setup the swerve module feedforward.
-
void
-
resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
-
+
void
+
resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
+
Resets odometry to the given pose.
-
void
-
setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
-
+
void
+
setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
+
Set field-relative chassis speeds with closed-loop velocity control.
-
void
-
setDriveBrake()
-
+
void
+
setDriveBrake()
+
Point all modules toward the robot center, thus making the robot very difficult to move.
-
void
-
setModuleStates(SwerveModuleState2[] desiredStates, +
void
+
setModuleStates(SwerveModuleState2[] desiredStates, boolean isOpenLoop)
-
+
Set the module states (azimuth and velocity) directly.
-
void
-
setMotorBrake(boolean brake)
-
+
void
+
setMotorBrake(boolean brake)
+
Sets the drive motors to brake/coast mode.
-
void
-
synchronizeModuleEncoders()
-
+
void
+
synchronizeModuleEncoders()
+
Synchronize angle motor integrated encoders with data from absolute encoders.
-
void
-
updateOdometry()
-
+
void
+
updateOdometry()
+
Update odometry should be run every loop.
-
void
-
zeroGyro()
-
+
void
+
zeroGyro()
+
Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
@@ -630,6 +637,21 @@ loadScripts(document, 'script');
Synchronize angle motor integrated encoders with data from absolute encoders.
+
  • +
    +

    addVisionMeasurement

    +
    public void addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, + double timestamp)
    +
    Add a vision measurement to the SwerveDrivePoseEstimator with the given timestamp of the vision + measurement. THIS WILL BREAK IF UPDATED TOO OFTEN.
    +
    +
    Parameters:
    +
    robotPose - Robot Pose2d as measured by vision.
    +
    timestamp - Timestamp the measurement was taken as time since FPGATimestamp, could be taken from + Timer.getFPGATimestamp().
    +
    +
    +
    • diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index 2bfe44b..e012fc3 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,7 +1,7 @@ - + SwerveModule diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index 388b019..c76689d 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,7 +1,7 @@ - + CANCoderSwerve diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index 1d459ac..5ce3efb 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,7 +1,7 @@ - + SparkMaxEncoderSwerve diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index e7f6f7f..39d0ef8 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,7 +1,7 @@ - + SwerveAbsoluteEncoder diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index cef0a12..fa3dd18 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.encoders diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index d8a46cc..7e2a768 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.encoders Class Hierarchy diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index 63ca7a8..a0b33b1 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,7 +1,7 @@ - + NavXSwerve diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index c98f0fc..aebacb0 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,7 +1,7 @@ - + Pigeon2Swerve diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index 3a01db3..4b8bbdb 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,7 +1,7 @@ - + PigeonSwerve diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index 87a1a39..53660f6 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,7 +1,7 @@ - + SwerveIMU diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index f4db2cd..f3fcb50 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.imu diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index ad97d45..2345bfd 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.imu Class Hierarchy diff --git a/docs/swervelib/math/SwerveKinematics2.html b/docs/swervelib/math/SwerveKinematics2.html index 54c2a0b..1576335 100644 --- a/docs/swervelib/math/SwerveKinematics2.html +++ b/docs/swervelib/math/SwerveKinematics2.html @@ -1,7 +1,7 @@ - + SwerveKinematics2 @@ -81,8 +81,8 @@ loadScripts(document, 'script');
    public class SwerveKinematics2 extends edu.wpi.first.math.kinematics.SwerveDriveKinematics
    Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis - speed. - Makes use of SwerveModuleState2 to add the angular velocity that is required of the module as an output.
    + speed. Makes use of SwerveModuleState2 to add the angular velocity that is required of the module as an + output.
      diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index 5a4e174..ebc3af5 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,7 +1,7 @@ - + SwerveMath diff --git a/docs/swervelib/math/SwerveModuleState2.html b/docs/swervelib/math/SwerveModuleState2.html index 128774a..03efca3 100644 --- a/docs/swervelib/math/SwerveModuleState2.html +++ b/docs/swervelib/math/SwerveModuleState2.html @@ -1,7 +1,7 @@ - + SwerveModuleState2 diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index c881bcf..2cee4ec 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.math diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index 17473c9..04516c3 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.math Class Hierarchy diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html index e22edd7..f8e3e50 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html @@ -1,7 +1,7 @@ - + SparkMaxSwerve.SparkMAX_slotIdx diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index fcc44e8..3d851b5 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,7 +1,7 @@ - + SparkMaxSwerve diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index d54ee9b..25a3598 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,7 +1,7 @@ - + SwerveMotor diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index a668c08..a104784 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,7 +1,7 @@ - + TalonFXSwerve @@ -273,13 +273,6 @@ loadScripts(document, 'script');

      Field Details

      • -
        -

        motor

        -
        com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor
        -
        TalonFX motor controller.
        -
        -
        • -

      • factoryDefaultOccurred

        private final boolean factoryDefaultOccurred
        @@ -295,6 +288,13 @@ loadScripts(document, 'script');
      • +
        +

        motor

        +
        com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor
        +
        TalonFX motor controller.
        +
        +
        • +

      • absoluteEncoder

        private boolean absoluteEncoder
        diff --git a/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html b/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html index 2620809..fa6d70c 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html +++ b/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html @@ -1,7 +1,7 @@ - + TalonSRXSwerve.CTRE_pidIdx diff --git a/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html b/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html index 38c7904..a1bef98 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html +++ b/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html @@ -1,7 +1,7 @@ - + TalonSRXSwerve.CTRE_remoteSensor diff --git a/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html b/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html index 21dd08a..f2028ea 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html +++ b/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html @@ -1,7 +1,7 @@ - + TalonSRXSwerve.CTRE_slotIdx diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index ca52652..c48dd54 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,7 +1,7 @@ - + TalonSRXSwerve diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index bc04965..db39230 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.motors diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index c657952..7ff6dca 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.motors Class Hierarchy diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index 60e010d..63796dc 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,7 +1,7 @@ - + swervelib diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index e3a229a..9016fd2 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,7 +1,7 @@ - + swervelib Class Hierarchy diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index 21d7dd5..7646cd6 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,7 +1,7 @@ - + PIDFConfig diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index 751e66d..1b4040c 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ -1,7 +1,7 @@ - + SwerveControllerConfiguration diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index b3af8c3..e07fc7b 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,7 +1,7 @@ - + SwerveDriveConfiguration diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index b13390e..63a8803 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,7 +1,7 @@ - + SwerveModuleConfiguration diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index 5db3531..fb07157 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,7 +1,7 @@ - + SwerveModulePhysicalCharacteristics diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index a185a55..0fa420d 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,7 +1,7 @@ - + SwerveParser diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index 9d5d864..bc54823 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,7 +1,7 @@ - + PIDFRange diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index a130248..515b309 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.parser.deserializer diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index fd018a0..db63d6b 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser.deserializer Class Hierarchy diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index efbca26..c74f72d 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,7 +1,7 @@ - + ControllerPropertiesJson diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index e396ca5..f16c65d 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,7 +1,7 @@ - + DeviceJson diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index bdd82f1..df082bd 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,7 +1,7 @@ - + ModuleJson diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html index 7fbfeef..587d2f3 100644 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ b/docs/swervelib/parser/json/MotorConfigDouble.html @@ -1,7 +1,7 @@ - + MotorConfigDouble diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html index bc18b2b..d2dd9ab 100644 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ b/docs/swervelib/parser/json/MotorConfigInt.html @@ -1,7 +1,7 @@ - + MotorConfigInt diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index a54eb6c..7fc4ce6 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,7 +1,7 @@ - + PIDFPropertiesJson diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index b651770..4ff6a4b 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,7 +1,7 @@ - + PhysicalPropertiesJson diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index 06b7936..121e1e8 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,7 +1,7 @@ - + SwerveDriveJson diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index e81fef7..47fcd53 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,7 +1,7 @@ - + BoolMotorJson diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index b59d162..1755925 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,7 +1,7 @@ - + LocationJson diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index 4aed5ee..7fc9c8e 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.parser.json.modules diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html index 478ac97..38c0549 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser.json.modules Class Hierarchy diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html index 5c10706..09cacd8 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.parser.json diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index d1fde8e..0bfb2ff 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser.json Class Hierarchy diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index 3e332f5..4ef5f5b 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.parser diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index 1d13a4b..03d6b88 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser Class Hierarchy diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java index 06e4399..a8b0488 100644 --- a/swervelib/SwerveDrive.java +++ b/swervelib/SwerveDrive.java @@ -461,4 +461,17 @@ public class SwerveDrive module.synchronizeEncoders(); } } + + /** + * Add a vision measurement to the {@link SwerveDrivePoseEstimator} with the given timestamp of the vision + * measurement. THIS WILL BREAK IF UPDATED TOO OFTEN. + * + * @param robotPose Robot {@link Pose2d} as measured by vision. + * @param timestamp Timestamp the measurement was taken as time since FPGATimestamp, could be taken from + * {@link Timer#getFPGATimestamp()}. + */ + public void addVisionMeasurement(Pose2d robotPose, double timestamp) + { + swerveDrivePoseEstimator.addVisionMeasurement(robotPose, timestamp); + } } diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java index 5f1d12a..2e9d2cb 100644 --- a/swervelib/SwerveModule.java +++ b/swervelib/SwerveModule.java @@ -200,7 +200,7 @@ public class SwerveModule { velocity = driveMotor.getVelocity(); azimuth = Rotation2d.fromDegrees(angleMotor.getPosition()); - omega = angleMotor.getVelocity(); + omega = Math.toRadians(angleMotor.getVelocity()); } else { velocity = speed; diff --git a/swervelib/motors/TalonFXSwerve.java b/swervelib/motors/TalonFXSwerve.java index 4139994..d6ee95d 100644 --- a/swervelib/motors/TalonFXSwerve.java +++ b/swervelib/motors/TalonFXSwerve.java @@ -18,14 +18,14 @@ import swervelib.parser.PIDFConfig; public class TalonFXSwerve extends SwerveMotor { + /** + * Factory default already occurred. + */ + private final boolean factoryDefaultOccurred = false; /** * TalonFX motor controller. */ WPI_TalonFX motor; - /** - * Factory default already occurred. - */ - private final boolean factoryDefaultOccurred = false; /** * Whether the absolute encoder is integrated. */ @@ -218,7 +218,7 @@ public class TalonFXSwerve extends SwerveMotor @Override public double getVelocity() { - return motor.getSelectedSensorVelocity() * (100 * positionConversionFactor); + return motor.getSelectedSensorVelocity() * (10 * positionConversionFactor); } /** diff --git a/swervelib/motors/TalonSRXSwerve.java b/swervelib/motors/TalonSRXSwerve.java index 71317d3..3e43a8a 100644 --- a/swervelib/motors/TalonSRXSwerve.java +++ b/swervelib/motors/TalonSRXSwerve.java @@ -206,7 +206,7 @@ public class TalonSRXSwerve extends SwerveMotor @Override public double getVelocity() { - return motor.getSelectedSensorVelocity() * (100 * positionConversionFactor); + return motor.getSelectedSensorVelocity() * (10 * positionConversionFactor); } /**