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https://github.com/BroncBotz3481/YAGSL
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Update YAGSL to handle controls better
This commit is contained in:
thenetworkgrinch
@@ -1,11 +1,11 @@
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<!DOCTYPE HTML>
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<html lang="en">
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<head>
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<!-- Generated by javadoc (17) on Wed Apr 05 08:59:10 CDT 2023 -->
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<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
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<title>SwerveModulePhysicalCharacteristics</title>
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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<meta name="dc.created" content="2023-04-05">
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<meta name="dc.created" content="2023-04-08">
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<meta name="description" content="declaration: package: swervelib.parser, class: SwerveModulePhysicalCharacteristics">
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<meta name="generator" content="javadoc/ClassWriterImpl">
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<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
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@@ -103,17 +103,6 @@ loadScripts(document, 'script');</script>
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<div class="block">Current limits for the Swerve Module.</div>
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</div>
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<div class="col-first odd-row-color"><code>final double</code></div>
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<div class="col-second odd-row-color"><code><a href="#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
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</div>
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<div class="col-first even-row-color"><code>final double</code></div>
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<div class="col-second even-row-color"><code><a href="#angleMotorKV" class="member-name-link">angleMotorKV</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
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your drive train does not drift towards the direction you are rotating while you translate.</div>
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</div>
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<div class="col-first odd-row-color"><code>final double</code></div>
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<div class="col-second odd-row-color"><code><a href="#angleMotorRampRate" class="member-name-link">angleMotorRampRate</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
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@@ -139,18 +128,24 @@ loadScripts(document, 'script');</script>
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<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
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</div>
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<div class="col-first even-row-color"><code>final double</code></div>
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<div class="col-second even-row-color"><code><a href="#optimalVoltage" class="member-name-link">optimalVoltage</a></code></div>
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<div class="col-second even-row-color"><code><a href="#moduleSteerFFCL" class="member-name-link">moduleSteerFFCL</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Optimal voltage of the robot.</div>
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<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
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your drive train does not drift towards the direction you are rotating while you translate.</div>
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</div>
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<div class="col-first odd-row-color"><code>final double</code></div>
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<div class="col-second odd-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#optimalVoltage" class="member-name-link">optimalVoltage</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Wheel diameter in meters.</div>
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<div class="block">Optimal voltage of the robot.</div>
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</div>
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<div class="col-first even-row-color"><code>final double</code></div>
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<div class="col-second even-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
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<div class="col-second even-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Wheel diameter in meters.</div>
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</div>
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<div class="col-first odd-row-color"><code>final double</code></div>
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<div class="col-second odd-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
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</div>
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</div>
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@@ -164,9 +159,8 @@ loadScripts(document, 'script');</script>
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<div class="summary-table two-column-summary">
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<div class="table-header col-first">Constructor</div>
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<div class="table-header col-last">Description</div>
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<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 driveGearRatio,
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<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 driveGearRatio,
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double angleGearRatio,
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double angleMotorFreeSpeedRPM,
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double wheelDiameter,
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double driveMotorRampRate,
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double angleMotorRampRate,
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@@ -175,9 +169,8 @@ loadScripts(document, 'script');</script>
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<div class="col-last even-row-color">
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<div class="block">Construct the swerve module physical characteristics.</div>
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</div>
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<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 driveGearRatio,
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<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 driveGearRatio,
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double angleGearRatio,
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double angleMotorFreeSpeedRPM,
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double wheelDiameter,
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double wheelGripCoefficientOfFriction,
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double optimalVoltage,
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@@ -187,7 +180,7 @@ loadScripts(document, 'script');</script>
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double angleMotorRampRate,
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int driveEncoderPulsePerRotation,
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int angleEncoderPulsePerRotation,
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double angleMotorKV)</code></div>
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double moduleSteerFFCL)</code></div>
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<div class="col-last odd-row-color">
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<div class="block">Construct the swerve module physical characteristics.</div>
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</div>
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@@ -290,16 +283,9 @@ loadScripts(document, 'script');</script>
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</section>
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</li>
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<li>
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<section class="detail" id="angleMotorFreeSpeedRPM">
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<h3>angleMotorFreeSpeedRPM</h3>
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<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">angleMotorFreeSpeedRPM</span></div>
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<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="angleMotorKV">
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<h3>angleMotorKV</h3>
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<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">angleMotorKV</span></div>
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<section class="detail" id="moduleSteerFFCL">
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<h3>moduleSteerFFCL</h3>
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<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">moduleSteerFFCL</span></div>
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<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
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your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the
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calculated kV will be used.</div>
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@@ -314,11 +300,10 @@ loadScripts(document, 'script');</script>
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<h2>Constructor Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="<init>(double,double,double,double,double,double,int,int,double,double,int,int,double)">
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<section class="detail" id="<init>(double,double,double,double,double,int,int,double,double,int,int,double)">
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<h3>SwerveModulePhysicalCharacteristics</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double driveGearRatio,
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double angleGearRatio,
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double angleMotorFreeSpeedRPM,
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double wheelDiameter,
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double wheelGripCoefficientOfFriction,
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double optimalVoltage,
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@@ -328,14 +313,13 @@ loadScripts(document, 'script');</script>
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double angleMotorRampRate,
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int driveEncoderPulsePerRotation,
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int angleEncoderPulsePerRotation,
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double angleMotorKV)</span></div>
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double moduleSteerFFCL)</span></div>
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<div class="block">Construct the swerve module physical characteristics.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the
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wheel.</dd>
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<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.</dd>
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<dd><code>angleMotorFreeSpeedRPM</code> - Motor free speed rotation per minute.</dd>
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<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
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<dd><code>wheelGripCoefficientOfFriction</code> - Wheel grip coefficient of friction on carpet given by manufacturer.</dd>
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<dd><code>optimalVoltage</code> - Optimal robot voltage.</dd>
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@@ -347,17 +331,16 @@ loadScripts(document, 'script');</script>
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overdrawing power and power loss).</dd>
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<dd><code>driveEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
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<dd><code>angleEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
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<dd><code>angleMotorKV</code> - The kV applied to the steering motor to ensure your drivetrain does not drift
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<dd><code>moduleSteerFFCL</code> - The kV applied to the steering motor to ensure your drivetrain does not drift
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towards a direction when rotating while translating.</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="<init>(double,double,double,double,double,double,int,int)">
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<section class="detail" id="<init>(double,double,double,double,double,int,int)">
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<h3>SwerveModulePhysicalCharacteristics</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double driveGearRatio,
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double angleGearRatio,
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double angleMotorFreeSpeedRPM,
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double wheelDiameter,
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double driveMotorRampRate,
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double angleMotorRampRate,
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@@ -370,7 +353,6 @@ loadScripts(document, 'script');</script>
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<dt>Parameters:</dt>
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<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.</dd>
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<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.</dd>
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<dd><code>angleMotorFreeSpeedRPM</code> - Motor free speed rotation per minute.</dd>
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<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
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<dd><code>driveMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents over
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drawing power from battery)</dd>
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