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Update YAGSL to handle controls better

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thenetworkgrinch
2023-04-08 12:31:07 -05:00
parent d37a38bb7b
commit 5b38929c48
123 changed files with 871 additions and 805 deletions
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<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
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<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
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<title>A-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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@@ -167,10 +167,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Analog port in which the gyroscope is connected.</div>
</dd>
<dt><a href="../swervelib/math/SwerveModuleState2.html#angle" class="member-name-link">angle</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></dt>
<dd>
<div class="block">Swerve module angle as a <code>Rotation2d</code>.</div>
</dd>
<dt><a href="../swervelib/parser/json/ModuleJson.html#angle" class="member-name-link">angle</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a></dt>
<dd>
<div class="block">Angle motor device configuration.</div>
@@ -215,10 +211,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">hypotenuse deadband for the robot angle control joystick.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#angleKV" class="member-name-link">angleKV</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">Angle volt-meter-per-second.</div>
</dd>
<dt><a href="../swervelib/SwerveController.html#angleLimiter" class="member-name-link">angleLimiter</a> - Variable in class swervelib.<a href="../swervelib/SwerveController.html" title="class in swervelib">SwerveController</a></dt>
<dd>
<div class="block"><code>SlewRateLimiter</code> for angular movement in radians/second.</div>
@@ -239,36 +231,18 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">The integrated encoder pulse per revolution.</div>
</dd>
<dt><a href="../swervelib/parser/json/ModuleJson.html#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a></dt>
<dd>
<div class="block">Angle motor free speed RPM.</div>
</dd>
<dt><a href="../swervelib/parser/json/PhysicalPropertiesJson.html#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a></dt>
<dd>
<div class="block">Angle motor free speed rotations per minute.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></dt>
<dd>
<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
<div class="block">DEPRECATED: No longer needed, tune <a href="../swervelib/parser/json/PhysicalPropertiesJson.html#moduleFeedForwardClosedLoop"><code>PhysicalPropertiesJson.moduleFeedForwardClosedLoop</code></a> instead.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#angleMotorInverted" class="member-name-link">angleMotorInverted</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">State of inversion of the angle motor.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#angleMotorKV" class="member-name-link">angleMotorKV</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></dt>
<dd>
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#angleMotorRampRate" class="member-name-link">angleMotorRampRate</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></dt>
<dd>
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</dd>
<dt><a href="../swervelib/parser/json/PhysicalPropertiesJson.html#angleMotorsKV" class="member-name-link">angleMotorsKV</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a></dt>
<dd>
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#angleOffset" class="member-name-link">angleOffset</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">Angle offset in degrees for the Swerve Module.</div>

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<title>M-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -159,6 +159,11 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">The number of swerve modules</div>
</dd>
<dt><a href="../swervelib/parser/json/PhysicalPropertiesJson.html#moduleFeedForwardClosedLoop" class="member-name-link">moduleFeedForwardClosedLoop</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a></dt>
<dd>
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate.</div>
</dd>
<dt><a href="../swervelib/parser/json/ModuleJson.html" class="type-name-link" title="class in swervelib.parser.json">ModuleJson</a> - Class in <a href="../swervelib/parser/json/package-summary.html">swervelib.parser.json</a></dt>
<dd>
<div class="block"><a href="../swervelib/SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a> JSON parsed class.</div>
@@ -189,6 +194,15 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Swerve Modules.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#moduleSteerFFCL" class="member-name-link">moduleSteerFFCL</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">Angle volt-meter-per-second.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#moduleSteerFFCL" class="member-name-link">moduleSteerFFCL</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></dt>
<dd>
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Counter to synchronize the modules relative encoder with absolute encoder when not moving.</div>

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<title>N-Index</title>
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@@ -53,6 +53,10 @@ loadScripts(document, 'script');</script>
<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">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<a href="index-26.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:N">N</h2>
<dl class="index">
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#name" class="member-name-link">name</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">Name for the swerve module for telemetry.</div>
</dd>
<dt><a href="../swervelib/imu/NavXSwerve.html" class="type-name-link" title="class in swervelib.imu">NavXSwerve</a> - Class in <a href="../swervelib/imu/package-summary.html">swervelib.imu</a></dt>
<dd>
<div class="block">Communicates with the NavX as the IMU.</div>

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<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
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<title>O-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
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@@ -97,9 +97,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Optimal voltage of the robot.</div>
</dd>
<dt><a href="../swervelib/math/SwerveMath.html#optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,double)" class="member-name-link">optimize(SwerveModuleState2, Rotation2d, double)</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/SwerveModuleState2.html#optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,swervelib.math.SwerveModuleState2,double)" class="member-name-link">optimize(SwerveModuleState2, Rotation2d, SwerveModuleState2, double)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></dt>
<dd>
<div class="block">Optimize the angle of the <a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to be the closest angle to the current angle.</div>
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
the wheel spins.</div>
</dd>
<dt><a href="../swervelib/parser/PIDFConfig.html#output" class="member-name-link">output</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></dt>
<dd>

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<title>P-Index</title>
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<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -153,6 +153,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Put an angle within the 360 deg scope of a reference.</div>
</dd>
<dt><a href="../swervelib/math/SwerveMath.html#PoseLog(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">PoseLog(Pose2d)</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">Logical inverse of the Pose exponential from 254.</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>

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<meta name="viewport" content="width=device-width, initial-scale=1">
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@@ -103,7 +103,7 @@ loadScripts(document, 'script');</script>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds(ChassisSpeeds)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set chassis speeds with closed-loop velocity control.</div>
<div class="block">Set chassis speeds with closed-loop velocity control and second order kinematics.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html#setCurrentLimit(int)" class="member-name-link">setCurrentLimit(int)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></dt>
<dd>
@@ -410,10 +410,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">REV Slots for PID configuration.</div>
</dd>
<dt><a href="../swervelib/math/SwerveModuleState2.html#speedMetersPerSecond" class="member-name-link">speedMetersPerSecond</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></dt>
<dd>
<div class="block">Swerve module speed in meters per second.</div>
</dd>
<dt><a href="../swervelib/simulation/SwerveModuleSimulation.html#state" class="member-name-link">state</a> - Variable in class swervelib.simulation.<a href="../swervelib/simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></dt>
<dd>
<div class="block">Current simulated swerve module state.</div>
@@ -587,11 +583,11 @@ loadScripts(document, 'script');</script>
<dd>
<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>
</dd>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)" class="member-name-link">SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics)</a> - Constructor for class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,java.lang.String)" class="member-name-link">SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, double, String)</a> - Constructor for class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">Construct a configuration object for swerve modules.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,double)" class="member-name-link">SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, double, double)</a> - Constructor for class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)" class="member-name-link">SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, String)</a> - Constructor for class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">Construct a configuration object for swerve modules.</div>
</dd>
@@ -599,11 +595,11 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Configuration class which stores physical characteristics shared between every swerve module.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#%3Cinit%3E(double,double,double,double,double,double,int,int)" class="member-name-link">SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int)</a> - Constructor for class swervelib.parser.<a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></dt>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#%3Cinit%3E(double,double,double,double,double,int,int)" class="member-name-link">SwerveModulePhysicalCharacteristics(double, double, double, double, double, int, int)</a> - Constructor for class swervelib.parser.<a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></dt>
<dd>
<div class="block">Construct the swerve module physical characteristics.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int,double)" class="member-name-link">SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int, double, double, int, int, double)</a> - Constructor for class swervelib.parser.<a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></dt>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#%3Cinit%3E(double,double,double,double,double,int,int,double,double,int,int,double)" class="member-name-link">SwerveModulePhysicalCharacteristics(double, double, double, double, double, int, int, double, double, int, int, double)</a> - Constructor for class swervelib.parser.<a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></dt>
<dd>
<div class="block">Construct the swerve module physical characteristics.</div>
</dd>
@@ -631,6 +627,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Constructs a SwerveModuleState.</div>
</dd>
<dt><a href="../swervelib/math/SwerveModuleState2.html#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveModuleState,double)" class="member-name-link">SwerveModuleState2(SwerveModuleState, double)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></dt>
<dd>
<div class="block">Create a <a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> based on the <code>SwerveModuleState</code> with the radians per second defined.</div>
</dd>
<dt><a href="../swervelib/motors/SwerveMotor.html" class="type-name-link" title="class in swervelib.motors">SwerveMotor</a> - Class in <a href="../swervelib/motors/package-summary.html">swervelib.motors</a></dt>
<dd>
<div class="block">Swerve motor abstraction which defines a standard interface for motors within a swerve module.</div>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
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<title>T-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="index: T">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -115,6 +115,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</dd>
<dt><a href="../swervelib/math/SwerveModuleState2.html#toSwerveModuleState()" class="member-name-link">toSwerveModuleState()</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></dt>
<dd>
<div class="block">Convert to a <code>SwerveModuleState</code>.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">toSwerveModuleStates(ChassisSpeeds)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Performs inverse kinematics.</div>

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<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
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<meta name="description" content="index: B">
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<meta name="dc.created" content="2023-04-05">
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<meta name="dc.created" content="2023-04-05">
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<title>Z-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
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<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
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<title>_-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
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<html lang="en">
<head>
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<title>C-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
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<meta name="description" content="index: C">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -57,10 +57,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot.</div>
</dd>
<dt><a href="../swervelib/math/SwerveMath.html#calculateAngleKV(double,double,double)" class="member-name-link">calculateAngleKV(double, double, double)</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">Calculate the angle kV which will be multiplied by the radians per second for the feedforward.</div>
</dd>
<dt><a href="../swervelib/math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)" class="member-name-link">calculateDegreesPerSteeringRotation(double, double)</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">Calculate the degrees per steering rotation for the integrated encoder.</div>
@@ -332,7 +328,7 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Create a <a href="../swervelib/encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the data port on the motor controller.</div>
</dd>
<dt><a href="../swervelib/parser/json/ModuleJson.html#createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)" class="member-name-link">createModuleConfiguration(PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics)</a> - Method in class swervelib.parser.json.<a href="../swervelib/parser/json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a></dt>
<dt><a href="../swervelib/parser/json/ModuleJson.html#createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)" class="member-name-link">createModuleConfiguration(PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, String)</a> - Method in class swervelib.parser.json.<a href="../swervelib/parser/json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a></dt>
<dd>
<div class="block">Create the swerve module configuration based off of parsed data.</div>
</dd>

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<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib, class: SwerveController">
<meta name="generator" content="javadoc/ClassWriterImpl">
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14
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>SwerveDrive</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -319,7 +319,7 @@ loadScripts(document, 'script');</script>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set chassis speeds with closed-loop velocity control.</div>
<div class="block">Set chassis speeds with closed-loop velocity control and second order kinematics.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setGyro(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyro</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;gyro)</code></div>
@@ -586,10 +586,12 @@ loadScripts(document, 'script');</script>
<div class="block">Set the maximum speeds for desaturation.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>attainableMaxModuleSpeedMetersPerSecond</code> - The absolute max speed that a module can reach in meters per second.</dd>
<dd><code>attainableMaxModuleSpeedMetersPerSecond</code> - The absolute max speed that a module can reach in meters per
second.</dd>
<dd><code>attainableMaxTranslationalSpeedMetersPerSecond</code> - The absolute max speed that your robot can reach while
translating in meters per second.</dd>
<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can reach while rotating in radians per second.</dd>
<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can reach while rotating in
radians per second.</dd>
</dl>
</section>
</li>
@@ -623,7 +625,7 @@ loadScripts(document, 'script');</script>
<section class="detail" id="setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)">
<h3>setChassisSpeeds</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setChassisSpeeds</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</span></div>
<div class="block">Set chassis speeds with closed-loop velocity control.</div>
<div class="block">Set chassis speeds with closed-loop velocity control and second order kinematics.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>chassisSpeeds</code> - Chassis speeds to set.</dd>

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<title>SwerveModule</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
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<meta name="description" content="declaration: package: swervelib, class: SwerveModule">
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<title>AnalogAbsoluteEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
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<title>CANCoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.encoders, class: CANCoderSwerve">
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<title>SparkMaxEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.encoders, class: SparkMaxEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<head>
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<title>SwerveAbsoluteEncoder</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.encoders, class: SwerveAbsoluteEncoder">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
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<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
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<title>swervelib.encoders</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
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<meta name="description" content="declaration: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<title>swervelib.encoders Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
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<meta name="description" content="tree: package: swervelib.encoders">
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<title>ADIS16448Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16448Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>ADIS16470Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16470Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>ADXRS450Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.imu, class: ADXRS450Swerve">
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<title>AnalogGyroSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.imu, class: AnalogGyroSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>NavXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
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<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.imu, class: Pigeon2Swerve">
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.imu, class: PigeonSwerve">
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<title>SwerveIMU</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.imu, class: SwerveIMU">
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<title>swervelib.imu</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
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<title>swervelib.imu Class Hierarchy</title>
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<meta name="dc.created" content="2023-04-05">
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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="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.math, class: Matter">
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<title>SwerveKinematics2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveKinematics2">
<meta name="generator" content="javadoc/ClassWriterImpl">
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@@ -268,6 +268,12 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="m_moduleAccelTimer">
<h3>m_moduleAccelTimer</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj.Timer</span>&nbsp;<span class="element-name">m_moduleAccelTimer</span></div>
</section>
</li>
<li>
<section class="detail" id="m_prevCoR">
<h3>m_prevCoR</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d</span>&nbsp;<span class="element-name">m_prevCoR</span></div>
@@ -281,12 +287,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="m_moduleAccelTimer">
<h3>m_moduleAccelTimer</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj.Timer</span>&nbsp;<span class="element-name">m_moduleAccelTimer</span></div>
</section>
</li>
<li>
<section class="detail" id="m_prevModuleAccelTime">
<h3>m_prevModuleAccelTime</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">m_prevModuleAccelTime</span></div>
@@ -304,8 +304,7 @@ loadScripts(document, 'script');</script>
<section class="detail" id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d...)">
<h3>SwerveKinematics2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveKinematics2</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Translation2d...&nbsp;wheelsMeters)</span></div>
<div class="block">Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations as
Translation2ds.
<div class="block">Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations as Translation2ds.
The order in which you pass in the wheel locations is the same order that you will receive the module states when
performing inverse kinematics. It is also expected that you pass in the module states in the same order when
calling the forward kinematics methods.</div>
@@ -374,13 +373,11 @@ loadScripts(document, 'script');</script>
<h3>toSwerveModuleStates</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span>&nbsp;<span class="element-name">toSwerveModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</span></div>
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity. This method is often
used
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity. This method is often used
to convert joystick values into module speeds and angles.
<p>This function also supports variable centers of rotation. During normal operations, the
center of rotation is usually the same as the physical center of the robot; therefore, the argument is
defaulted to
center of rotation is usually the same as the physical center of the robot; therefore, the argument is defaulted to
that use case. However, if you wish to change the center of rotation for evasive maneuvers, vision alignment, or
for any other use case, you can do so.
@@ -391,10 +388,8 @@ loadScripts(document, 'script');</script>
<dd><code>toSwerveModuleStates</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
<dt>Parameters:</dt>
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
<dd><code>centerOfRotationMeters</code> - The center of rotation. For example, if you set the center of rotation at one
corner
of the robot and provide a chassis speed that only has a dtheta component, the
robot
<dd><code>centerOfRotationMeters</code> - The center of rotation. For example, if you set the center of rotation at one corner
of the robot and provide a chassis speed that only has a dtheta component, the robot
will rotate around that corner.</dd>
<dt>Returns:</dt>
<dd>An array containing the module states. Use caution because these module states are not normalized.

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<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -129,75 +129,61 @@ loadScripts(document, 'script');</script>
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>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="#calculateAngleKV(double,double,double)" class="member-name-link">calculateAngleKV</a><wbr>(double&nbsp;optimalVoltage,
double&nbsp;motorFreeSpeedRPM,
double&nbsp;angleGearRatio)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the angle kV which will be multiplied by the radians per second for the feedforward.</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="#calculateDegreesPerSteeringRotation(double,double)" class="member-name-link">calculateDegreesPerSteeringRotation</a><wbr>(double&nbsp;angleGearRatio,
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateDegreesPerSteeringRotation(double,double)" class="member-name-link">calculateDegreesPerSteeringRotation</a><wbr>(double&nbsp;angleGearRatio,
double&nbsp;pulsePerRotation)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the degrees per steering rotation for the integrated encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>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="#calculateMaxAcceleration(double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;cof)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<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="#calculateMaxAcceleration(double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;cof)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.</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="#calculateMaxAcceleration(double,double,double,double,double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;stallTorqueNm,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>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="#calculateMaxAcceleration(double,double,double,double,double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;stallTorqueNm,
double&nbsp;gearRatio,
double&nbsp;moduleCount,
double&nbsp;wheelDiameter,
double&nbsp;robotMass)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the maximum theoretical acceleration without friction.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>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="#calculateMaxAngularVelocity(double,double,double)" class="member-name-link">calculateMaxAngularVelocity</a><wbr>(double&nbsp;maxSpeed,
<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="#calculateMaxAngularVelocity(double,double,double)" class="member-name-link">calculateMaxAngularVelocity</a><wbr>(double&nbsp;maxSpeed,
double&nbsp;furthestModuleX,
double&nbsp;furthestModuleY)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the maximum angular velocity.</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="#calculateMetersPerRotation(double,double,double)" class="member-name-link">calculateMetersPerRotation</a><wbr>(double&nbsp;wheelDiameter,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>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="#calculateMetersPerRotation(double,double,double)" class="member-name-link">calculateMetersPerRotation</a><wbr>(double&nbsp;wheelDiameter,
double&nbsp;driveGearRatio,
double&nbsp;pulsePerRotation)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the meters per rotation for the integrated encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="../parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getSwerveModule(swervelib.SwerveModule%5B%5D,boolean,boolean)" class="member-name-link">getSwerveModule</a><wbr>(<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]&nbsp;modules,
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="../parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getSwerveModule(swervelib.SwerveModule%5B%5D,boolean,boolean)" class="member-name-link">getSwerveModule</a><wbr>(<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]&nbsp;modules,
boolean&nbsp;front,
boolean&nbsp;left)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Get the fruthest module from center based on the module locations.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,java.util.List,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">limitVelocity</a><wbr>(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
<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,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;robotMass,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a>&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 even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<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,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 odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>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="#normalizeAngle(double)" class="member-name-link">normalizeAngle</a><wbr>(double&nbsp;angle)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Normalize an angle to be within 0 to 360.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,double)" class="member-name-link">optimize</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle,
double&nbsp;secondOrderOffsetDegrees)</code></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>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Optimize the angle of the <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to be the closest angle to the current angle.</div>
<div class="block">Normalize an angle to be within 0 to 360.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>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="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double&nbsp;scopeReference,
@@ -205,6 +191,11 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Put an angle within the 360 deg scope of a reference.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Twist2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#PoseLog(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">PoseLog</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;transform)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Logical inverse of the Pose exponential from 254.</div>
</div>
</div>
</div>
</div>
@@ -237,24 +228,6 @@ loadScripts(document, 'script');</script>
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="calculateAngleKV(double,double,double)">
<h3>calculateAngleKV</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calculateAngleKV</span><wbr><span class="parameters">(double&nbsp;optimalVoltage,
double&nbsp;motorFreeSpeedRPM,
double&nbsp;angleGearRatio)</span></div>
<div class="block">Calculate the angle kV which will be multiplied by the radians per second for the feedforward. Volt * seconds /
degree == (maxVolts) / (maxSpeed)</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>optimalVoltage</code> - Optimal voltage to use when calculating the angle kV.</dd>
<dd><code>motorFreeSpeedRPM</code> - Motor free speed in Rotations per Minute.</dd>
<dd><code>angleGearRatio</code> - Angle gear ratio, the amount of times the motor as to turn for the wheel rotation.</dd>
<dt>Returns:</dt>
<dd>angle kV for feedforward.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="calculateMetersPerRotation(double,double,double)">
<h3>calculateMetersPerRotation</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calculateMetersPerRotation</span><wbr><span class="parameters">(double&nbsp;wheelDiameter,
@@ -391,6 +364,17 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="PoseLog(edu.wpi.first.math.geometry.Pose2d)">
<h3>PoseLog</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Twist2d</span>&nbsp;<span class="element-name">PoseLog</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d&nbsp;transform)</span></div>
<div class="block">Logical inverse of the Pose exponential from 254. Taken from team 3181.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>transform</code> - Pose to perform the log on.</dd>
</dl>
</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,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,
@@ -436,25 +420,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,double)">
<h3>optimize</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">optimize</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle,
double&nbsp;secondOrderOffsetDegrees)</span></div>
<div class="block">Optimize the angle of the <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to be the closest angle to the current angle. Taken from Team
3181 at
https://github.com/pittsfordrobotics/REVSwerve2023/blob/master/src/main/java/com/team3181/lib/swerve/SwerveOptimizer.java</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>desiredState</code> - Desired <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to achieve.</dd>
<dd><code>currentAngle</code> - Current angle as a <code>Rotation2d</code>.</dd>
<dd><code>secondOrderOffsetDegrees</code> - Offset calculated using 2nd order kinematics.</dd>
<dt>Returns:</dt>
<dd>Optimized <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="placeInAppropriate0To360Scope(double,double)">
<h3>placeInAppropriate0To360Scope</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">placeInAppropriate0To360Scope</span><wbr><span class="parameters">(double&nbsp;scopeReference,

125
docs/swervelib/math/SwerveModuleState2.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>SwerveModuleState2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveModuleState2">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -16,7 +16,11 @@
<script type="text/javascript" src="../../script-dir/jquery-ui.min.js"></script>
</head>
<body class="class-declaration-page">
<script type="text/javascript">var pathtoroot = "../../";
<script type="text/javascript">var evenRowColor = "even-row-color";
var oddRowColor = "odd-row-color";
var tableTab = "table-tab";
var activeTableTab = "active-table-tab";
var pathtoroot = "../../";
loadScripts(document, 'script');</script>
<noscript>
<div>JavaScript is disabled on your browser.</div>
@@ -49,7 +53,7 @@ loadScripts(document, 'script');</script>
<li>Detail:&nbsp;</li>
<li><a href="#field-detail">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
<li>Method</li>
<li><a href="#method-detail">Method</a></li>
</ul>
</div>
<div class="nav-list-search"><label for="search-input">SEARCH:</label>
@@ -93,22 +97,15 @@ loadScripts(document, 'script');</script>
<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>edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color"><code><a href="#angle" class="member-name-link">angle</a></code></div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#omegaRadPerSecond" class="member-name-link">omegaRadPerSecond</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve module angle as a <code>Rotation2d</code>.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#omegaRadPerSecond" class="member-name-link">omegaRadPerSecond</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Rad per sec</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#speedMetersPerSecond" class="member-name-link">speedMetersPerSecond</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve module speed in meters per second.</div>
</div>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-edu.wpi.first.math.kinematics.SwerveModuleState">Fields inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveModuleState</h3>
<code>angle, speedMetersPerSecond</code></div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
@@ -129,6 +126,11 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Constructs a SwerveModuleState.</div>
</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveModuleState,double)" class="member-name-link">SwerveModuleState2</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;state,
double&nbsp;omegaRadPerSecond)</code></div>
<div class="col-last even-row-color">
<div class="block">Create a <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> based on the <code>SwerveModuleState</code> with the radians per second defined.</div>
</div>
</div>
</section>
</li>
@@ -136,6 +138,30 @@ loadScripts(document, 'script');</script>
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<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-tab1" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab1', 3)" class="table-tab">Static 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>
<div id="method-summary-table.tabpanel" role="tabpanel">
<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-tab1 method-summary-table-tab4"><code>static <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,swervelib.math.SwerveModuleState2,double)" class="member-name-link">optimize</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle,
<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;lastState,
double&nbsp;moduleSteerFeedForwardClosedLoop)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
the wheel spins.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toSwerveModuleState()" class="member-name-link">toSwerveModuleState</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Convert to a <code>SwerveModuleState</code>.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-edu.wpi.first.math.kinematics.SwerveModuleState">Methods inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveModuleState</h3>
<code>compareTo, equals, hashCode, optimize, toString</code></div>
@@ -154,26 +180,12 @@ loadScripts(document, 'script');</script>
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="speedMetersPerSecond">
<h3>speedMetersPerSecond</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">speedMetersPerSecond</span></div>
<div class="block">Swerve module speed in meters per second.</div>
</section>
</li>
<li>
<section class="detail" id="omegaRadPerSecond">
<h3>omegaRadPerSecond</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">omegaRadPerSecond</span></div>
<div class="block">Rad per sec</div>
</section>
</li>
<li>
<section class="detail" id="angle">
<h3>angle</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">angle</span></div>
<div class="block">Swerve module angle as a <code>Rotation2d</code>.</div>
</section>
</li>
</ul>
</section>
</li>
@@ -204,6 +216,59 @@ loadScripts(document, 'script');</script>
</dl>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(edu.wpi.first.math.kinematics.SwerveModuleState,double)">
<h3>SwerveModuleState2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleState2</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;state,
double&nbsp;omegaRadPerSecond)</span></div>
<div class="block">Create a <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> based on the <code>SwerveModuleState</code> with the radians per second defined.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>state</code> - First order kinematic module state.</dd>
<dd><code>omegaRadPerSecond</code> - Module wheel angular rotation in radians per second.</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="optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,swervelib.math.SwerveModuleState2,double)">
<h3>optimize</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">optimize</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle,
<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;lastState,
double&nbsp;moduleSteerFeedForwardClosedLoop)</span></div>
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
the wheel spins. If this is used with the PIDController class's continuous input functionality, the furthest a
wheel will ever rotate is 90 degrees.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>desiredState</code> - The desired state.</dd>
<dd><code>currentAngle</code> - The current module angle.</dd>
<dd><code>lastState</code> - The last state of the module.</dd>
<dd><code>moduleSteerFeedForwardClosedLoop</code> - The module feed forward closed loop for the angle motor.</dd>
<dt>Returns:</dt>
<dd>Optimized swerve module state.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="toSwerveModuleState()">
<h3>toSwerveModuleState</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState</span>&nbsp;<span class="element-name">toSwerveModuleState</span>()</div>
<div class="block">Convert to a <code>SwerveModuleState</code>.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><code>SwerveModuleState</code> with the same angle and speed.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>

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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2023-04-05">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
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<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxSwerve, enum: SparkMAX_slotIdx">
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<meta name="dc.created" content="2023-04-05">
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<title>PIDFConfig</title>
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<title>SwerveControllerConfiguration</title>
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@@ -151,20 +151,6 @@ loadScripts(document, 'script');</script>
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="maxSpeed">
<h3>maxSpeed</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="block">Maximum robot speed in meters per second.</div>
</section>
</li>
<li>
<section class="detail" id="maxAngularVelocity">
<h3>maxAngularVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxAngularVelocity</span></div>
<div class="block">Maximum angular velocity in rad/s</div>
</section>
</li>
<li>
<section class="detail" id="headingPIDF">
<h3>headingPIDF</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type"><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></span>&nbsp;<span class="element-name">headingPIDF</span></div>
@@ -178,6 +164,20 @@ loadScripts(document, 'script');</script>
<div class="block">hypotenuse deadband for the robot angle control joystick.</div>
</section>
</li>
<li>
<section class="detail" id="maxSpeed">
<h3>maxSpeed</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="block">Maximum robot speed in meters per second.</div>
</section>
</li>
<li>
<section class="detail" id="maxAngularVelocity">
<h3>maxAngularVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxAngularVelocity</span></div>
<div class="block">Maximum angular velocity in rad/s</div>
</section>
</li>
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@@ -101,64 +101,69 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Whether the absolute encoder is inverted.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#angleKV" class="member-name-link">angleKV</a></code></div>
<div class="col-first even-row-color"><code><a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second even-row-color"><code><a href="#angleMotor" class="member-name-link">angleMotor</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle volt-meter-per-second.</div>
</div>
<div class="col-first odd-row-color"><code><a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color"><code><a href="#angleMotor" class="member-name-link">angleMotor</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The drive motor and angle motor of this swerve module.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorEncoderPulsePerRevolution" class="member-name-link">angleMotorEncoderPulsePerRevolution</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleMotorEncoderPulsePerRevolution" class="member-name-link">angleMotorEncoderPulsePerRevolution</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The integrated encoder pulse per revolution.</div>
</div>
<div class="col-first odd-row-color"><code>final boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#angleMotorInverted" class="member-name-link">angleMotorInverted</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>final boolean</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorInverted" class="member-name-link">angleMotorInverted</a></code></div>
<div class="col-last even-row-color">
<div class="block">State of inversion of the angle motor.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#angleOffset" class="member-name-link">angleOffset</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleOffset" class="member-name-link">angleOffset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Angle offset in degrees for the Swerve Module.</div>
</div>
<div class="col-first odd-row-color"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second odd-row-color"><code><a href="#anglePIDF" class="member-name-link">anglePIDF</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second even-row-color"><code><a href="#anglePIDF" class="member-name-link">anglePIDF</a></code></div>
<div class="col-last even-row-color">
<div class="block">PIDF configuration options for the angle motor closed-loop PID controller.</div>
</div>
<div class="col-first even-row-color"><code><a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second even-row-color"><code><a href="#driveMotor" class="member-name-link">driveMotor</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code><a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color"><code><a href="#driveMotor" class="member-name-link">driveMotor</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The drive motor and angle motor of this swerve module.</div>
</div>
<div class="col-first odd-row-color"><code>final boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#driveMotorInverted" class="member-name-link">driveMotorInverted</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>final boolean</code></div>
<div class="col-second even-row-color"><code><a href="#driveMotorInverted" class="member-name-link">driveMotorInverted</a></code></div>
<div class="col-last even-row-color">
<div class="block">State of inversion of the drive motor.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Maximum robot speed in meters per second.</div>
</div>
<div class="col-first odd-row-color"><code>edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleLocation" class="member-name-link">moduleLocation</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second even-row-color"><code><a href="#moduleLocation" class="member-name-link">moduleLocation</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve module location relative to the robot.</div>
</div>
<div class="col-first even-row-color"><code><a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></div>
<div class="col-second even-row-color"><code><a href="#physicalCharacteristics" class="member-name-link">physicalCharacteristics</a></code></div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleSteerFFCL" class="member-name-link">moduleSteerFFCL</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Angle volt-meter-per-second.</div>
</div>
<div class="col-first even-row-color"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second even-row-color"><code><a href="#name" class="member-name-link">name</a></code></div>
<div class="col-last even-row-color">
<div class="block">Name for the swerve module for telemetry.</div>
</div>
<div class="col-first odd-row-color"><code><a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></div>
<div class="col-second odd-row-color"><code><a href="#physicalCharacteristics" class="member-name-link">physicalCharacteristics</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Physical characteristics of the swerve module.</div>
</div>
<div class="col-first odd-row-color"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second odd-row-color"><code><a href="#velocityPIDF" class="member-name-link">velocityPIDF</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second even-row-color"><code><a href="#velocityPIDF" class="member-name-link">velocityPIDF</a></code></div>
<div class="col-last even-row-color">
<div class="block">PIDF configuration options for the drive motor closed-loop PID controller.</div>
</div>
</div>
@@ -172,20 +177,7 @@ loadScripts(document, 'script');</script>
<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(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)" class="member-name-link">SwerveModuleConfiguration</a><wbr>(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;absoluteEncoder,
double&nbsp;angleOffset,
double&nbsp;xMeters,
double&nbsp;yMeters,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct a configuration object for swerve modules.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,double)" class="member-name-link">SwerveModuleConfiguration</a><wbr>(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,java.lang.String)" class="member-name-link">SwerveModuleConfiguration</a><wbr>(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;absoluteEncoder,
double&nbsp;angleOffset,
@@ -199,7 +191,21 @@ loadScripts(document, 'script');</script>
boolean&nbsp;driveMotorInverted,
boolean&nbsp;angleMotorInverted,
double&nbsp;angleMotorEncoderPulsePerRevolution,
double&nbsp;angleMotorFreeSpeedRPM)</code></div>
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct a configuration object for swerve modules.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)" class="member-name-link">SwerveModuleConfiguration</a><wbr>(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;absoluteEncoder,
double&nbsp;angleOffset,
double&nbsp;xMeters,
double&nbsp;yMeters,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
<div class="col-last odd-row-color">
<div class="block">Construct a configuration object for swerve modules.</div>
</div>
@@ -294,9 +300,9 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="angleKV">
<h3>angleKV</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleKV</span></div>
<section class="detail" id="moduleSteerFFCL">
<h3>moduleSteerFFCL</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">moduleSteerFFCL</span></div>
<div class="block">Angle volt-meter-per-second.</div>
</section>
</li>
@@ -342,6 +348,13 @@ loadScripts(document, 'script');</script>
<div class="block">The Absolute Encoder for the swerve module.</div>
</section>
</li>
<li>
<section class="detail" id="name">
<h3>name</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></span>&nbsp;<span class="element-name">name</span></div>
<div class="block">Name for the swerve module for telemetry.</div>
</section>
</li>
</ul>
</section>
</li>
@@ -351,7 +364,7 @@ loadScripts(document, 'script');</script>
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,double)">
<section class="detail" id="&lt;init&gt;(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,java.lang.String)">
<h3>SwerveModuleConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleConfiguration</span><wbr><span class="parameters">(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
@@ -367,7 +380,7 @@ loadScripts(document, 'script');</script>
boolean&nbsp;driveMotorInverted,
boolean&nbsp;angleMotorInverted,
double&nbsp;angleMotorEncoderPulsePerRevolution,
double&nbsp;angleMotorFreeSpeedRPM)</span></div>
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
<div class="block">Construct a configuration object for swerve modules.</div>
<dl class="notes">
<dt>Parameters:</dt>
@@ -385,12 +398,11 @@ loadScripts(document, 'script');</script>
<dd><code>maxSpeed</code> - Maximum speed in meters per second.</dd>
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
<dd><code>angleMotorEncoderPulsePerRevolution</code> - The encoder pulse per revolution for the angle motor encoder.</dd>
<dd><code>angleMotorFreeSpeedRPM</code> - The free speed RPM of the angle motor.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)">
<section class="detail" id="&lt;init&gt;(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)">
<h3>SwerveModuleConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleConfiguration</span><wbr><span class="parameters">(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
@@ -401,7 +413,8 @@ loadScripts(document, 'script');</script>
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics)</span></div>
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
<div class="block">Construct a configuration object for swerve modules. Assumes the absolute encoder and drive motor are not
inverted.</div>
<dl class="notes">
@@ -416,6 +429,7 @@ loadScripts(document, 'script');</script>
<dd><code>velocityPIDF</code> - Velocity PIDF configuration.</dd>
<dd><code>maxSpeed</code> - Maximum robot speed in meters per second.</dd>
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
<dd><code>name</code> - Name for the module.</dd>
</dl>
</section>
</li>

64
docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>SwerveModulePhysicalCharacteristics</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveModulePhysicalCharacteristics">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -103,17 +103,6 @@ loadScripts(document, 'script');</script>
<div class="block">Current limits for the Swerve Module.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorKV" class="member-name-link">angleMotorKV</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleMotorRampRate" class="member-name-link">angleMotorRampRate</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
@@ -139,18 +128,24 @@ loadScripts(document, 'script');</script>
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#optimalVoltage" class="member-name-link">optimalVoltage</a></code></div>
<div class="col-second even-row-color"><code><a href="#moduleSteerFFCL" class="member-name-link">moduleSteerFFCL</a></code></div>
<div class="col-last even-row-color">
<div class="block">Optimal voltage of the robot.</div>
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
<div class="col-second odd-row-color"><code><a href="#optimalVoltage" class="member-name-link">optimalVoltage</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Wheel diameter in meters.</div>
<div class="block">Optimal voltage of the robot.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
<div class="col-second even-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
<div class="col-last even-row-color">
<div class="block">Wheel diameter in meters.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
</div>
</div>
@@ -164,9 +159,8 @@ loadScripts(document, 'script');</script>
<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(double,double,double,double,double,double,int,int)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(double&nbsp;driveGearRatio,
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(double,double,double,double,double,int,int)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
@@ -175,9 +169,8 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Construct the swerve module physical characteristics.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int,double)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(double&nbsp;driveGearRatio,
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double,double,double,double,double,int,int,double,double,int,int,double)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
double&nbsp;wheelGripCoefficientOfFriction,
double&nbsp;optimalVoltage,
@@ -187,7 +180,7 @@ loadScripts(document, 'script');</script>
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation,
double&nbsp;angleMotorKV)</code></div>
double&nbsp;moduleSteerFFCL)</code></div>
<div class="col-last odd-row-color">
<div class="block">Construct the swerve module physical characteristics.</div>
</div>
@@ -290,16 +283,9 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="angleMotorFreeSpeedRPM">
<h3>angleMotorFreeSpeedRPM</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorFreeSpeedRPM</span></div>
<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
</section>
</li>
<li>
<section class="detail" id="angleMotorKV">
<h3>angleMotorKV</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorKV</span></div>
<section class="detail" id="moduleSteerFFCL">
<h3>moduleSteerFFCL</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">moduleSteerFFCL</span></div>
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the
calculated kV will be used.</div>
@@ -314,11 +300,10 @@ loadScripts(document, 'script');</script>
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(double,double,double,double,double,double,int,int,double,double,int,int,double)">
<section class="detail" id="&lt;init&gt;(double,double,double,double,double,int,int,double,double,int,int,double)">
<h3>SwerveModulePhysicalCharacteristics</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
double&nbsp;wheelGripCoefficientOfFriction,
double&nbsp;optimalVoltage,
@@ -328,14 +313,13 @@ loadScripts(document, 'script');</script>
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation,
double&nbsp;angleMotorKV)</span></div>
double&nbsp;moduleSteerFFCL)</span></div>
<div class="block">Construct the swerve module physical characteristics.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the
wheel.</dd>
<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.</dd>
<dd><code>angleMotorFreeSpeedRPM</code> - Motor free speed rotation per minute.</dd>
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
<dd><code>wheelGripCoefficientOfFriction</code> - Wheel grip coefficient of friction on carpet given by manufacturer.</dd>
<dd><code>optimalVoltage</code> - Optimal robot voltage.</dd>
@@ -347,17 +331,16 @@ loadScripts(document, 'script');</script>
overdrawing power and power loss).</dd>
<dd><code>driveEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
<dd><code>angleEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
<dd><code>angleMotorKV</code> - The kV applied to the steering motor to ensure your drivetrain does not drift
<dd><code>moduleSteerFFCL</code> - The kV applied to the steering motor to ensure your drivetrain does not drift
towards a direction when rotating while translating.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(double,double,double,double,double,double,int,int)">
<section class="detail" id="&lt;init&gt;(double,double,double,double,double,int,int)">
<h3>SwerveModulePhysicalCharacteristics</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
@@ -370,7 +353,6 @@ loadScripts(document, 'script');</script>
<dt>Parameters:</dt>
<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.</dd>
<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.</dd>
<dd><code>angleMotorFreeSpeedRPM</code> - Motor free speed rotation per minute.</dd>
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
<dd><code>driveMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents over
drawing power from battery)</dd>

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>SwerveParser</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveParser">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>PIDFRange</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.parser.deserializer, class: PIDFRange">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>swervelib.parser.deserializer</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.parser.deserializer">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>swervelib.parser.deserializer Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="tree: package: swervelib.parser.deserializer">
<meta name="generator" content="javadoc/PackageTreeWriter">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>ControllerPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.parser.json, class: ControllerPropertiesJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>DeviceJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.parser.json, class: DeviceJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
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49
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>ModuleJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.parser.json, class: ModuleJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
@@ -111,29 +111,24 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">The angle encoder pulse per revolution override.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a></code></div>
<div class="col-first even-row-color"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></div>
<div class="col-second even-row-color"><code><a href="#drive" class="member-name-link">drive</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor free speed RPM.</div>
</div>
<div class="col-first odd-row-color"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></div>
<div class="col-second odd-row-color"><code><a href="#drive" class="member-name-link">drive</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Drive motor device configuration.</div>
</div>
<div class="col-first even-row-color"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></div>
<div class="col-second even-row-color"><code><a href="#encoder" class="member-name-link">encoder</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></div>
<div class="col-second odd-row-color"><code><a href="#encoder" class="member-name-link">encoder</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Absolute encoder device configuration.</div>
</div>
<div class="col-first odd-row-color"><code><a href="modules/BoolMotorJson.html" title="class in swervelib.parser.json.modules">BoolMotorJson</a></code></div>
<div class="col-second odd-row-color"><code><a href="#inverted" class="member-name-link">inverted</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code><a href="modules/BoolMotorJson.html" title="class in swervelib.parser.json.modules">BoolMotorJson</a></code></div>
<div class="col-second even-row-color"><code><a href="#inverted" class="member-name-link">inverted</a></code></div>
<div class="col-last even-row-color">
<div class="block">Defines which motors are inverted.</div>
</div>
<div class="col-first even-row-color"><code><a href="modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a></code></div>
<div class="col-second even-row-color"><code><a href="#location" class="member-name-link">location</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code><a href="modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a></code></div>
<div class="col-second odd-row-color"><code><a href="#location" class="member-name-link">location</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The location of the swerve module from the center of the robot in inches.</div>
</div>
</div>
@@ -164,10 +159,11 @@ loadScripts(document, 'script');</script>
<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><a href="../SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)" class="member-name-link">createModuleConfiguration</a><wbr>(<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)" class="member-name-link">createModuleConfiguration</a><wbr>(<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics)</code></div>
<a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create the swerve module configuration based off of parsed data.</div>
</div>
@@ -238,13 +234,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="angleMotorFreeSpeedRPM">
<h3>angleMotorFreeSpeedRPM</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorFreeSpeedRPM</span></div>
<div class="block">Angle motor free speed RPM.</div>
</section>
</li>
<li>
<section class="detail" id="location">
<h3>location</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a></span>&nbsp;<span class="element-name">location</span></div>
@@ -274,12 +263,13 @@ loadScripts(document, 'script');</script>
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)">
<section class="detail" id="createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)">
<h3>createModuleConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></span>&nbsp;<span class="element-name">createModuleConfiguration</span><wbr><span class="parameters">(<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics)</span></div>
<a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
<div class="block">Create the swerve module configuration based off of parsed data.</div>
<dl class="notes">
<dt>Parameters:</dt>
@@ -287,6 +277,7 @@ loadScripts(document, 'script');</script>
<dd><code>velocityPIDF</code> - The velocity PIDF values for the drive motor.</dd>
<dd><code>maxSpeed</code> - The maximum speed of the robot in meters per second.</dd>
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
<dd><code>name</code> - Module json filename.</dd>
<dt>Returns:</dt>
<dd><a href="../SwerveModuleConfiguration.html" title="class in swervelib.parser"><code>SwerveModuleConfiguration</code></a> based on the provided data and parsed data.</dd>
</dl>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
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<title>MotorConfigDouble</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.parser.json, class: MotorConfigDouble">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>MotorConfigInt</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.parser.json, class: MotorConfigInt">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>PIDFPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.parser.json, class: PIDFPropertiesJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<title>PhysicalPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-05">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.parser.json, class: PhysicalPropertiesJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
@@ -94,29 +94,29 @@ loadScripts(document, 'script');</script>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor free speed rotations per minute.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleMotorsKV" class="member-name-link">angleMotorsKV</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate.</div>
</div>
<div class="col-first even-row-color"><code><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></code></div>
<div class="col-second even-row-color"><code><a href="#currentLimit" class="member-name-link">currentLimit</a></code></div>
<div class="col-last even-row-color">
<div class="block">The current limit in AMPs to apply to the motors.</div>
<div class="block">DEPRECATED: No longer needed, tune <a href="#moduleFeedForwardClosedLoop"><code>moduleFeedForwardClosedLoop</code></a> instead.</div>
</div>
<div class="col-first odd-row-color"><code><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></code></div>
<div class="col-second odd-row-color"><code><a href="#encoderPulsePerRotation" class="member-name-link">encoderPulsePerRotation</a></code></div>
<div class="col-second odd-row-color"><code><a href="#currentLimit" class="member-name-link">currentLimit</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The current limit in AMPs to apply to the motors.</div>
</div>
<div class="col-first even-row-color"><code><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></code></div>
<div class="col-second even-row-color"><code><a href="#encoderPulsePerRotation" class="member-name-link">encoderPulsePerRotation</a></code></div>
<div class="col-last even-row-color">
<div class="block">Encoder pulse per rotation for non-integrated encoders.</div>
</div>
<div class="col-first even-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second even-row-color"><code><a href="#gearRatio" class="member-name-link">gearRatio</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second odd-row-color"><code><a href="#gearRatio" class="member-name-link">gearRatio</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#moduleFeedForwardClosedLoop" class="member-name-link">moduleFeedForwardClosedLoop</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate.</div>
</div>
<div class="col-first odd-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second odd-row-color"><code><a href="#rampRate" class="member-name-link">rampRate</a></code></div>
<div class="col-last odd-row-color">
@@ -224,19 +224,19 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="angleMotorFreeSpeedRPM">
<h3>angleMotorFreeSpeedRPM</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorFreeSpeedRPM</span></div>
<div class="block">Angle motor free speed rotations per minute.</div>
<section class="detail" id="moduleFeedForwardClosedLoop">
<h3>moduleFeedForwardClosedLoop</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">moduleFeedForwardClosedLoop</span></div>
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate. Default value is 0. If
robot arcs while translating and rotating negate this.</div>
</section>
</li>
<li>
<section class="detail" id="angleMotorsKV">
<h3>angleMotorsKV</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorsKV</span></div>
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the
calculated kV will be used.</div>
<section class="detail" id="angleMotorFreeSpeedRPM">
<h3>angleMotorFreeSpeedRPM</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorFreeSpeedRPM</span></div>
<div class="block">DEPRECATED: No longer needed, tune <a href="#moduleFeedForwardClosedLoop"><code>moduleFeedForwardClosedLoop</code></a> instead.</div>
</section>
</li>
</ul>

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