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Updated to include gyro and accelerometer, and Rotation3d offset.

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thenetworkgrinch
2023-03-06 20:45:54 -06:00
parent 9b78c6363f
commit 5fd00878d2
120 changed files with 994 additions and 312 deletions
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@@ -134,6 +134,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Set the desired state of the swerve module.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setGyro(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyro(Rotation3d)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the Gyroscope offset using a <code>Rotation3d</code> object.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html#setInverted(boolean)" class="member-name-link">setInverted(boolean)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></dt>
<dd>
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@@ -93,6 +93,46 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Get the absolute position.</div>
</dd>
<dt><a href="../swervelib/imu/ADIS16448Swerve.html#getAccel()" class="member-name-link">getAccel()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/ADIS16448Swerve.html" title="class in swervelib.imu">ADIS16448Swerve</a></dt>
<dd>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</dd>
<dt><a href="../swervelib/imu/ADIS16470Swerve.html#getAccel()" class="member-name-link">getAccel()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/ADIS16470Swerve.html" title="class in swervelib.imu">ADIS16470Swerve</a></dt>
<dd>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</dd>
<dt><a href="../swervelib/imu/ADXRS450Swerve.html#getAccel()" class="member-name-link">getAccel()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/ADXRS450Swerve.html" title="class in swervelib.imu">ADXRS450Swerve</a></dt>
<dd>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</dd>
<dt><a href="../swervelib/imu/AnalogGyroSwerve.html#getAccel()" class="member-name-link">getAccel()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/AnalogGyroSwerve.html" title="class in swervelib.imu">AnalogGyroSwerve</a></dt>
<dd>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</dd>
<dt><a href="../swervelib/imu/NavXSwerve.html#getAccel()" class="member-name-link">getAccel()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></dt>
<dd>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</dd>
<dt><a href="../swervelib/imu/Pigeon2Swerve.html#getAccel()" class="member-name-link">getAccel()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></dt>
<dd>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</dd>
<dt><a href="../swervelib/imu/PigeonSwerve.html#getAccel()" class="member-name-link">getAccel()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></dt>
<dd>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</dd>
<dt><a href="../swervelib/imu/SwerveIMU.html#getAccel()" class="member-name-link">getAccel()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></dt>
<dd>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</dd>
<dt><a href="../swervelib/simulation/SwerveIMUSimulation.html#getAccel()" class="member-name-link">getAccel()</a> - Method in class swervelib.simulation.<a href="../swervelib/simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></dt>
<dd>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in m/s/s.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#getAccel()" class="member-name-link">getAccel()</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Gets current acceleration of the robot in m/s/s.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#getFieldVelocity()" class="member-name-link">getFieldVelocity()</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
@@ -241,6 +281,38 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Gets the current roll angle of the robot, as reported by the imu.</div>
</dd>
<dt><a href="../swervelib/imu/ADIS16448Swerve.html#getRotation3d()" class="member-name-link">getRotation3d()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/ADIS16448Swerve.html" title="class in swervelib.imu">ADIS16448Swerve</a></dt>
<dd>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</dd>
<dt><a href="../swervelib/imu/ADIS16470Swerve.html#getRotation3d()" class="member-name-link">getRotation3d()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/ADIS16470Swerve.html" title="class in swervelib.imu">ADIS16470Swerve</a></dt>
<dd>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</dd>
<dt><a href="../swervelib/imu/ADXRS450Swerve.html#getRotation3d()" class="member-name-link">getRotation3d()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/ADXRS450Swerve.html" title="class in swervelib.imu">ADXRS450Swerve</a></dt>
<dd>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</dd>
<dt><a href="../swervelib/imu/AnalogGyroSwerve.html#getRotation3d()" class="member-name-link">getRotation3d()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/AnalogGyroSwerve.html" title="class in swervelib.imu">AnalogGyroSwerve</a></dt>
<dd>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</dd>
<dt><a href="../swervelib/imu/NavXSwerve.html#getRotation3d()" class="member-name-link">getRotation3d()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></dt>
<dd>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</dd>
<dt><a href="../swervelib/imu/Pigeon2Swerve.html#getRotation3d()" class="member-name-link">getRotation3d()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></dt>
<dd>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</dd>
<dt><a href="../swervelib/imu/PigeonSwerve.html#getRotation3d()" class="member-name-link">getRotation3d()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></dt>
<dd>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</dd>
<dt><a href="../swervelib/imu/SwerveIMU.html#getRotation3d()" class="member-name-link">getRotation3d()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></dt>
<dd>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</dd>
<dt><a href="../swervelib/simulation/SwerveModuleSimulation.html#getState()" class="member-name-link">getState()</a> - Method in class swervelib.simulation.<a href="../swervelib/simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></dt>
<dd>
<div class="block">Get the <a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> of the simulated module.</div>

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<html lang="en">
<head>
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<title>H-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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="index: H">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

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<title>I-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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="index: I">
<meta name="generator" content="javadoc/IndexWriter">
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<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<title>Overview</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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="package index">
<meta name="generator" content="javadoc/PackageIndexWriter">
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<title>Generated Documentation (Untitled)</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="2023-02-27">
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<link rel="canonical" href="index.html">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<title>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="2023-02-27">
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<meta name="description" content="class tree">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<title>SwerveController</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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib, class: SwerveController">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<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">
@@ -214,81 +214,91 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">The primary method for controlling the drivebase.</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.ChassisSpeeds</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getFieldVelocity()" class="member-name-link">getFieldVelocity</a>()</code></div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyroRotation3d()" class="member-name-link">getGyroRotation3d</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current gyro <code>Rotation3d</code> of the robot, as reported by the imu.</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.SwerveModulePosition[]</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModulePositions()" class="member-name-link">getModulePositions</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current module positions (azimuth and wheel position (meters)).</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current pitch angle of the robot, as reported by the imu.</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.geometry.Pose2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPose()" class="member-name-link">getPose</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
<div class="block">Gets current acceleration of the robot in m/s/s.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRobotVelocity()" class="member-name-link">getRobotVelocity</a>()</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getFieldVelocity()" class="member-name-link">getFieldVelocity</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</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.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyroRotation3d()" class="member-name-link">getGyroRotation3d</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current gyro <code>Rotation3d</code> of the robot, as reported by the imu.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModulePositions()" class="member-name-link">getModulePositions</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current module positions (azimuth and wheel position (meters)).</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.geometry.Rotation2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current roll angle of the robot, as reported by the imu.</div>
<div class="block">Gets the current pitch angle of the robot, as reported by the imu.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPose()" class="member-name-link">getPose</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current module states (azimuth and velocity)</div>
<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</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.geometry.Pose2d[]</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose)</code></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.ChassisSpeeds</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRobotVelocity()" class="member-name-link">getRobotVelocity</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the swerve module poses and on the field relative to the robot.</div>
<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current roll angle of the robot, as reported by the imu.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current module states (azimuth and velocity)</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d[]</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the swerve module poses and on the field relative to the robot.</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.geometry.Rotation2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</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="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<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="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
</div>
<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="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory&nbsp;trajectory)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<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="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory&nbsp;trajectory)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Post the trajectory to the field</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="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<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="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Setup the swerve module feedforward.</div>
</div>
<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="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<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="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Resets odometry to the given pose.</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="#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 odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<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>
<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>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the Gyroscope offset using a <code>Rotation3d</code> object.</div>
</div>
<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="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
boolean&nbsp;isOpenLoop)</code></div>
@@ -666,6 +676,17 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="getAccel()">
<h3>getAccel</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/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
<div class="block">Gets current acceleration of the robot in m/s/s. If gyro unsupported returns empty.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>acceleration of the robot as a <code>Translation3d</code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setMotorIdleMode(boolean)">
<h3>setMotorIdleMode</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setMotorIdleMode</span><wbr><span class="parameters">(boolean&nbsp;brake)</span></div>
@@ -747,6 +768,17 @@ loadScripts(document, 'script');</script>
</dl>
</section>
</li>
<li>
<section class="detail" id="setGyro(edu.wpi.first.math.geometry.Rotation3d)">
<h3>setGyro</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setGyro</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation3d&nbsp;gyro)</span></div>
<div class="block">Set the Gyroscope offset using a <code>Rotation3d</code> object. (Only yaw works currently.)</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>gyro</code> - Gyroscope offset.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>

4
docs/swervelib/SwerveModule.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib, class: SwerveModule">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

4
docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.encoders, class: AnalogAbsoluteEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/encoders/CANCoderSwerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.encoders, class: CANCoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/encoders/SparkMaxEncoderSwerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.encoders, class: SparkMaxEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/encoders/SwerveAbsoluteEncoder.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.encoders, class: SwerveAbsoluteEncoder">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/encoders/package-summary.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/encoders/package-tree.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="tree: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageTreeWriter">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

45
docs/swervelib/imu/ADIS16448Swerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16448Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -142,11 +142,21 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -260,6 +270,33 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="getRotation3d()">
<h3>getRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRotation3d</span>()</div>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU. Robot relative.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getRotation3d()">getRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAccel()">
<h3>getAccel</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/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
empty.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getAccel()">getAccel</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Translation3d</code> of the acceleration.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</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/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>

45
docs/swervelib/imu/ADIS16470Swerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16470Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -142,11 +142,21 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -260,6 +270,33 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="getRotation3d()">
<h3>getRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRotation3d</span>()</div>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU. Robot relative.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getRotation3d()">getRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAccel()">
<h3>getAccel</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/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
empty.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getAccel()">getAccel</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Translation3d</code> of the acceleration as an <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link"><code>Optional</code></a>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</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/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>

45
docs/swervelib/imu/ADXRS450Swerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.imu, class: ADXRS450Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -142,11 +142,21 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -260,6 +270,33 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="getRotation3d()">
<h3>getRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRotation3d</span>()</div>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU. Robot relative.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getRotation3d()">getRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAccel()">
<h3>getAccel</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/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
empty.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getAccel()">getAccel</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Translation3d</code> of the acceleration as an <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link"><code>Optional</code></a>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</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/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>

45
docs/swervelib/imu/AnalogGyroSwerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.imu, class: AnalogGyroSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -142,11 +142,21 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -264,6 +274,33 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="getRotation3d()">
<h3>getRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRotation3d</span>()</div>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU. Robot relative.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getRotation3d()">getRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAccel()">
<h3>getAccel</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/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
empty.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getAccel()">getAccel</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Translation3d</code> of the acceleration as an <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link"><code>Optional</code></a>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</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/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>

45
docs/swervelib/imu/NavXSwerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.imu, class: NavXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -142,11 +142,21 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -264,6 +274,33 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="getRotation3d()">
<h3>getRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRotation3d</span>()</div>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU. Robot relative.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getRotation3d()">getRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAccel()">
<h3>getAccel</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/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
empty.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getAccel()">getAccel</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Translation3d</code> of the acceleration as an <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link"><code>Optional</code></a>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</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/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>

45
docs/swervelib/imu/Pigeon2Swerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<title>Pigeon2Swerve</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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.imu, class: Pigeon2Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -142,11 +142,21 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -270,6 +280,33 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="getRotation3d()">
<h3>getRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRotation3d</span>()</div>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU. Robot relative.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getRotation3d()">getRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAccel()">
<h3>getAccel</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/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
empty.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getAccel()">getAccel</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Translation3d</code> of the acceleration as an <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link"><code>Optional</code></a>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</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/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>

45
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<title>PigeonSwerve</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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.imu, class: PigeonSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -137,11 +137,21 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -252,6 +262,33 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="getRotation3d()">
<h3>getRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRotation3d</span>()</div>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU. Robot relative.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getRotation3d()">getRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAccel()">
<h3>getAccel</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/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
empty.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getAccel()">getAccel</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Translation3d</code> of the acceleration as an <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link"><code>Optional</code></a>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</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/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>

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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.imu, class: SwerveIMU">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -120,11 +120,21 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
@@ -203,6 +213,29 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="getRotation3d()">
<h3>getRotation3d</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRotation3d</span>()</div>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU. Robot relative.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAccel()">
<h3>getAccel</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
empty.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><code>Translation3d</code> of the acceleration as an <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link"><code>Optional</code></a>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
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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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.imu">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
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<title>swervelib.imu 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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="tree: package: swervelib.imu">
<meta name="generator" content="javadoc/PackageTreeWriter">
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<head>
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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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.math, class: Matter">
<meta name="generator" content="javadoc/ClassWriterImpl">
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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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveKinematics2">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<head>
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<title>SwerveMath</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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveMath">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
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<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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveModuleState2">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
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<title>swervelib.math</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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.math">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<head>
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<title>swervelib.math 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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="tree: package: swervelib.math">
<meta name="generator" content="javadoc/PackageTreeWriter">
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<title>SparkMaxBrushedMotorSwerve</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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxBrushedMotorSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>SparkMaxSwerve.SparkMAX_slotIdx</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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxSwerve, enum: SparkMAX_slotIdx">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>SparkMaxSwerve</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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxSwerve">
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<title>swervelib.parser</title>
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<title>swervelib.parser Class Hierarchy</title>
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<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<title>SwerveIMUSimulation</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="2023-02-27">
<meta name="dc.created" content="2023-03-06">
<meta name="description" content="declaration: package: swervelib.simulation, class: SwerveIMUSimulation">
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@@ -135,37 +135,42 @@ loadScripts(document, 'script');</script>
<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-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyroRotation3d()" class="member-name-link">getGyroRotation3d</a>()</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the acceleration [x, y, z] from the IMU in m/s/s.</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.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyroRotation3d()" class="member-name-link">getGyroRotation3d</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the estimated gyro <code>Rotation3d</code> of the robot.</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.geometry.Rotation2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Pitch is not simulated currently, always returns 0.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Roll is not simulated currently, always returns 0.</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.geometry.Rotation2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the estimated angle of the robot.</div>
</div>
<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="#setAngle(double)" class="member-name-link">setAngle</a><wbr>(double&nbsp;angle)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<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="#setAngle(double)" class="member-name-link">setAngle</a><wbr>(double&nbsp;angle)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the heading of the robot.</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="#updateOdometry(swervelib.math.SwerveKinematics2,swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.geometry.Pose2d%5B%5D,edu.wpi.first.wpilibj.smartdashboard.Field2d)" class="member-name-link">updateOdometry</a><wbr>(<a href="../math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a>&nbsp;kinematics,
<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="#updateOdometry(swervelib.math.SwerveKinematics2,swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.geometry.Pose2d%5B%5D,edu.wpi.first.wpilibj.smartdashboard.Field2d)" class="member-name-link">updateOdometry</a><wbr>(<a href="../math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a>&nbsp;kinematics,
<a href="../math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;states,
edu.wpi.first.math.geometry.Pose2d[]&nbsp;modulePoses,
edu.wpi.first.wpilibj.smartdashboard.Field2d&nbsp;field)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Update the odometry of the simulated <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> and post the <a href="../SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>
states to the <code>Field2d</code>.</div>
</div>
@@ -275,6 +280,17 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="getAccel()">
<h3>getAccel</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/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in m/s/s. If acceleration isn't supported returns empty.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><code>Translation3d</code> of the acceleration as an <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link"><code>Optional</code></a>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="updateOdometry(swervelib.math.SwerveKinematics2,swervelib.math.SwerveModuleState2[],edu.wpi.first.math.geometry.Pose2d[],edu.wpi.first.wpilibj.smartdashboard.Field2d)">
<h3>updateOdometry</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">updateOdometry</span><wbr><span class="parameters">(<a href="../math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a>&nbsp;kinematics,

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<title>SwerveModuleSimulation</title>
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<meta name="dc.created" content="2023-02-27">
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