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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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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>