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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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21
swervelib/math/SwerveKinematics2.java
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@@ -46,17 +46,16 @@ public class SwerveKinematics2 extends SwerveDriveKinematics
* Swerve module states.
*/
private final SwerveModuleState2[] m_moduleStates;
private final Timer m_moduleAccelTimer = new Timer();
/**
* Previous CoR
*/
private Translation2d m_prevCoR = new Translation2d();
private ChassisSpeeds m_prevChassisSpeeds = new ChassisSpeeds();
private final Timer m_moduleAccelTimer = new Timer();
private double m_prevModuleAccelTime = 0.0;
private ChassisSpeeds m_prevChassisSpeeds = new ChassisSpeeds();
private double m_prevModuleAccelTime = 0.0;
/**
* Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations as
* Translation2ds.
* 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.
@@ -165,13 +164,11 @@ public class SwerveKinematics2 extends SwerveDriveKinematics
}
/**
* Performs inverse kinematics to return the module states from a desired chassis velocity. This method is often
* used
* 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.
*
@@ -179,10 +176,8 @@ public class SwerveKinematics2 extends SwerveDriveKinematics
* the previously calculated module angle will be maintained.
*
* @param chassisSpeeds The desired chassis speed.
* @param centerOfRotationMeters 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
* @param centerOfRotationMeters 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.
* @return An array containing the module states. Use caution because these module states are not normalized.
* Sometimes, a user input may cause one of the module speeds to go above the attainable max velocity. Use the