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Update YAGSL to handle controls better

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This commit is contained in:
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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4
docs/swervelib/parser/json/ControllerPropertiesJson.html
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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">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">

4
docs/swervelib/parser/json/DeviceJson.html
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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">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">

49
docs/swervelib/parser/json/ModuleJson.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>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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docs/swervelib/parser/json/MotorConfigDouble.html
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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>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">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">

4
docs/swervelib/parser/json/MotorConfigInt.html
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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">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">

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docs/swervelib/parser/json/PIDFPropertiesJson.html
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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">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">

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docs/swervelib/parser/json/PhysicalPropertiesJson.html
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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>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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<!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>SwerveDriveJson</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: SwerveDriveJson">
<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>BoolMotorJson</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.modules, class: BoolMotorJson">
<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>LocationJson</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.modules, class: LocationJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
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<title>swervelib.parser.json.modules</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.modules">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<head>
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<title>swervelib.parser.json.modules 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.json.modules">
<meta name="generator" content="javadoc/PackageTreeWriter">
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<title>swervelib.parser.json</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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