+
void
+
+
Set chassis speeds with closed-loop velocity control.
+
void
+
setGyro(edu.wpi.first.math.geometry.Rotation3d gyro)
+
+
Set the Gyroscope offset using a Rotation3d object.
+
void
@@ -666,6 +676,17 @@ loadScripts(document, 'script');
+
+getAccel
+public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
+Gets current acceleration of the robot in m/s/s. If gyro unsupported returns empty.
+
+- Returns:
+- acceleration of the robot as a
Translation3d
+
+
+
+
setMotorIdleMode
public void setMotorIdleMode(boolean brake)
@@ -747,6 +768,17 @@ loadScripts(document, 'script');
+
+
+setGyro
+public void setGyro(edu.wpi.first.math.geometry.Rotation3d gyro)
+Set the Gyroscope offset using a Rotation3d object. (Only yaw works currently.)
+
+- Parameters:
+gyro - Gyroscope offset.
+
+
diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html
index 1a9a60e..31374a1 100644
--- a/docs/swervelib/SwerveModule.html
+++ b/docs/swervelib/SwerveModule.html
@@ -1,11 +1,11 @@
-
+
SwerveModule
-
+
diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html
index 821cb4a..6826074 100644
--- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html
+++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html
@@ -1,11 +1,11 @@
-
+
AnalogAbsoluteEncoderSwerve
-
+
diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html
index db6a1c8..2c8ebc0 100644
--- a/docs/swervelib/encoders/CANCoderSwerve.html
+++ b/docs/swervelib/encoders/CANCoderSwerve.html
@@ -1,11 +1,11 @@
-
+
CANCoderSwerve
-
+
diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html
index d075056..73b3feb 100644
--- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html
+++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html
@@ -1,11 +1,11 @@
-
+
SparkMaxEncoderSwerve
-
+
diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html
index fe94931..9085333 100644
--- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html
+++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html
@@ -1,11 +1,11 @@
-
+
SwerveAbsoluteEncoder
-
+
diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html
index 87e0cd9..9dcf543 100644
--- a/docs/swervelib/encoders/package-summary.html
+++ b/docs/swervelib/encoders/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.encoders
-
+
diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html
index e325572..445c61c 100644
--- a/docs/swervelib/encoders/package-tree.html
+++ b/docs/swervelib/encoders/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.encoders Class Hierarchy
-
+
diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html
index bdc443b..4af0910 100644
--- a/docs/swervelib/imu/ADIS16448Swerve.html
+++ b/docs/swervelib/imu/ADIS16448Swerve.html
@@ -1,11 +1,11 @@
-
+
ADIS16448Swerve
-
+
@@ -142,11 +142,21 @@ loadScripts(document, 'script');
Reset IMU to factory default.
-
-
+
Optional<edu.wpi.first.math.geometry.Translation3d>
+
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
+
+
+
Get the instantiated IMU object.
+
edu.wpi.first.math.geometry.Rotation3d
+
+
+
Fetch the Rotation3d from the IMU.
+
void
@@ -260,6 +270,33 @@ loadScripts(document, 'script');
+
+getRotation3d
+public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
+Fetch the Rotation3d from the IMU. Robot relative.
+
+- Specified by:
+getRotation3d in class SwerveIMU- Returns:
+Rotation3d from the IMU.
+
+
+
+
+getAccel
+public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
+Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ empty.
+
+- Specified by:
+getAccel in class SwerveIMU- Returns:
+Translation3d of the acceleration.
+
+
+
getIMU
diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html
index 80a2942..bc272c6 100644
--- a/docs/swervelib/imu/ADIS16470Swerve.html
+++ b/docs/swervelib/imu/ADIS16470Swerve.html
@@ -1,11 +1,11 @@
-
+
ADIS16470Swerve
-
+
@@ -142,11 +142,21 @@ loadScripts(document, 'script');
Reset IMU to factory default.
-
-
+Optional<edu.wpi.first.math.geometry.Translation3d>
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
Get the instantiated IMU object.
+edu.wpi.first.math.geometry.Rotation3d
+
+
+
Fetch the Rotation3d from the IMU.
+
void
@@ -260,6 +270,33 @@ loadScripts(document, 'script');
+
+getRotation3d
+public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
+Fetch the Rotation3d from the IMU. Robot relative.
+
+- Specified by:
+getRotation3d in class SwerveIMU- Returns:
+Rotation3d from the IMU.
+
+
+
+
+getAccel
+public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
+Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ empty.
+
+- Specified by:
+getAccel in class SwerveIMU- Returns:
+Translation3d of the acceleration as an Optional.
+
+
+
getIMU
diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html
index 5174e6a..910772c 100644
--- a/docs/swervelib/imu/ADXRS450Swerve.html
+++ b/docs/swervelib/imu/ADXRS450Swerve.html
@@ -1,11 +1,11 @@
-
+
ADXRS450Swerve
-
+
@@ -142,11 +142,21 @@ loadScripts(document, 'script');
Reset IMU to factory default.
-
-
+Optional<edu.wpi.first.math.geometry.Translation3d>
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
Get the instantiated IMU object.
+edu.wpi.first.math.geometry.Rotation3d
+
+
+
Fetch the Rotation3d from the IMU.
+
void
@@ -260,6 +270,33 @@ loadScripts(document, 'script');
+
+getRotation3d
+public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
+Fetch the Rotation3d from the IMU. Robot relative.
+
+- Specified by:
+getRotation3d in class SwerveIMU- Returns:
+Rotation3d from the IMU.
+
+
+
+
+getAccel
+public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
+Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ empty.
+
+- Specified by:
+getAccel in class SwerveIMU- Returns:
+Translation3d of the acceleration as an Optional.
+
+
+
getIMU
diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html
index 546b66e..da1a622 100644
--- a/docs/swervelib/imu/AnalogGyroSwerve.html
+++ b/docs/swervelib/imu/AnalogGyroSwerve.html
@@ -1,11 +1,11 @@
-
+
AnalogGyroSwerve
-
+
@@ -142,11 +142,21 @@ loadScripts(document, 'script');
Reset IMU to factory default.
-
-
+Optional<edu.wpi.first.math.geometry.Translation3d>
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
Get the instantiated IMU object.
+edu.wpi.first.math.geometry.Rotation3d
+
+
+
Fetch the Rotation3d from the IMU.
+
void
@@ -264,6 +274,33 @@ loadScripts(document, 'script');
+
+getRotation3d
+public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
+Fetch the Rotation3d from the IMU. Robot relative.
+
+- Specified by:
+getRotation3d in class SwerveIMU- Returns:
+Rotation3d from the IMU.
+
+
+
+
+getAccel
+public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
+Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ empty.
+
+- Specified by:
+getAccel in class SwerveIMU- Returns:
+Translation3d of the acceleration as an Optional.
+
+
+
getIMU
diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html
index 2576574..d65eff7 100644
--- a/docs/swervelib/imu/NavXSwerve.html
+++ b/docs/swervelib/imu/NavXSwerve.html
@@ -1,11 +1,11 @@
-
+
NavXSwerve
-
+
@@ -142,11 +142,21 @@ loadScripts(document, 'script');
Reset IMU to factory default.
-
-
+Optional<edu.wpi.first.math.geometry.Translation3d>
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
Get the instantiated IMU object.
+edu.wpi.first.math.geometry.Rotation3d
+
+
+
Fetch the Rotation3d from the IMU.
+
void
@@ -264,6 +274,33 @@ loadScripts(document, 'script');
+
+getRotation3d
+public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
+Fetch the Rotation3d from the IMU. Robot relative.
+
+- Specified by:
+getRotation3d in class SwerveIMU- Returns:
+Rotation3d from the IMU.
+
+
+
+
+getAccel
+public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
+Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ empty.
+
+- Specified by:
+getAccel in class SwerveIMU- Returns:
+Translation3d of the acceleration as an Optional.
+
+
+
getIMU
diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html
index e36dd50..9a725c6 100644
--- a/docs/swervelib/imu/Pigeon2Swerve.html
+++ b/docs/swervelib/imu/Pigeon2Swerve.html
@@ -1,11 +1,11 @@
-
+
Pigeon2Swerve
-
+
@@ -142,11 +142,21 @@ loadScripts(document, 'script');
Reset IMU to factory default.
-
-
+Optional<edu.wpi.first.math.geometry.Translation3d>
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
Get the instantiated IMU object.
+edu.wpi.first.math.geometry.Rotation3d
+
+
+
Fetch the Rotation3d from the IMU.
+
void
@@ -270,6 +280,33 @@ loadScripts(document, 'script');
+
+getRotation3d
+public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
+Fetch the Rotation3d from the IMU. Robot relative.
+
+- Specified by:
+getRotation3d in class SwerveIMU- Returns:
+Rotation3d from the IMU.
+
+
+
+
+getAccel
+public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
+Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ empty.
+
+- Specified by:
+getAccel in class SwerveIMU- Returns:
+Translation3d of the acceleration as an Optional.
+
+
+
getIMU
diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html
index e36a7ed..aa09c88 100644
--- a/docs/swervelib/imu/PigeonSwerve.html
+++ b/docs/swervelib/imu/PigeonSwerve.html
@@ -1,11 +1,11 @@
-
+
PigeonSwerve
-
+
@@ -137,11 +137,21 @@ loadScripts(document, 'script');
Reset IMU to factory default.
-
-
+Optional<edu.wpi.first.math.geometry.Translation3d>
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
Get the instantiated IMU object.
+edu.wpi.first.math.geometry.Rotation3d
+
+
+
Fetch the Rotation3d from the IMU.
+
void
@@ -252,6 +262,33 @@ loadScripts(document, 'script');
+
+getRotation3d
+public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
+Fetch the Rotation3d from the IMU. Robot relative.
+
+- Specified by:
+getRotation3d in class SwerveIMU- Returns:
+Rotation3d from the IMU.
+
+
+
+
+getAccel
+public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
+Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ empty.
+
+- Specified by:
+getAccel in class SwerveIMU- Returns:
+Translation3d of the acceleration as an Optional.
+
+
+
getIMU
diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html
index 808d004..87e444f 100644
--- a/docs/swervelib/imu/SwerveIMU.html
+++ b/docs/swervelib/imu/SwerveIMU.html
@@ -1,11 +1,11 @@
-
+
SwerveIMU
-
+
@@ -120,11 +120,21 @@ loadScripts(document, 'script');
Reset IMU to factory default.
-
-
+abstract Optional<edu.wpi.first.math.geometry.Translation3d>
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
Get the instantiated IMU object.
+abstract edu.wpi.first.math.geometry.Rotation3d
+
+
+
Fetch the Rotation3d from the IMU.
+
abstract void
@@ -203,6 +213,29 @@ loadScripts(document, 'script');
+
+getRotation3d
+public abstract edu.wpi.first.math.geometry.Rotation3d getRotation3d()
+Fetch the Rotation3d from the IMU. Robot relative.
+
+- Returns:
+Rotation3d from the IMU.
+
+
+
+
+getAccel
+public abstract Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
+Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ empty.
+
+- Returns:
+Translation3d of the acceleration as an Optional.
+
+
+
getIMU
public abstract Object getIMU()
diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html
index 91e58c3..fc9d5db 100644
--- a/docs/swervelib/imu/package-summary.html
+++ b/docs/swervelib/imu/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.imu
-
+
diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html
index e22146f..eda38a2 100644
--- a/docs/swervelib/imu/package-tree.html
+++ b/docs/swervelib/imu/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.imu Class Hierarchy
-
+
diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html
index 394f9ec..4a3de25 100644
--- a/docs/swervelib/math/Matter.html
+++ b/docs/swervelib/math/Matter.html
@@ -1,11 +1,11 @@
-
+
Matter
-
+
diff --git a/docs/swervelib/math/SwerveKinematics2.html b/docs/swervelib/math/SwerveKinematics2.html
index e84481d..030c8c6 100644
--- a/docs/swervelib/math/SwerveKinematics2.html
+++ b/docs/swervelib/math/SwerveKinematics2.html
@@ -1,11 +1,11 @@
-
+
SwerveKinematics2
-
+
diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html
index 2089230..dde7ab4 100644
--- a/docs/swervelib/math/SwerveMath.html
+++ b/docs/swervelib/math/SwerveMath.html
@@ -1,11 +1,11 @@
-
+
SwerveMath
-
+
diff --git a/docs/swervelib/math/SwerveModuleState2.html b/docs/swervelib/math/SwerveModuleState2.html
index 2d5cc52..7e3ba13 100644
--- a/docs/swervelib/math/SwerveModuleState2.html
+++ b/docs/swervelib/math/SwerveModuleState2.html
@@ -1,11 +1,11 @@
-
+
SwerveModuleState2
-
+
diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html
index 3149043..b2cde2c 100644
--- a/docs/swervelib/math/package-summary.html
+++ b/docs/swervelib/math/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.math
-
+
diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html
index cc0aa22..8e9becf 100644
--- a/docs/swervelib/math/package-tree.html
+++ b/docs/swervelib/math/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.math Class Hierarchy
-
+
diff --git a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
index 5d23b94..a6ed78e 100644
--- a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
+++ b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
@@ -1,11 +1,11 @@
-
+
SparkMaxBrushedMotorSwerve
-
+
diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html
index c3691b5..5c5b1cf 100644
--- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html
+++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html
@@ -1,11 +1,11 @@
-
+
SparkMaxSwerve.SparkMAX_slotIdx
-
+
diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html
index a345321..3781637 100644
--- a/docs/swervelib/motors/SparkMaxSwerve.html
+++ b/docs/swervelib/motors/SparkMaxSwerve.html
@@ -1,11 +1,11 @@
-
+
SparkMaxSwerve
-
+
diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html
index f0d8dd1..5741ea2 100644
--- a/docs/swervelib/motors/SwerveMotor.html
+++ b/docs/swervelib/motors/SwerveMotor.html
@@ -1,11 +1,11 @@
-
+
SwerveMotor
-
+
diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html
index c231ce6..b8bc903 100644
--- a/docs/swervelib/motors/TalonFXSwerve.html
+++ b/docs/swervelib/motors/TalonFXSwerve.html
@@ -1,11 +1,11 @@
-
+
TalonFXSwerve
-
+
diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html
index 496dd45..9b36712 100644
--- a/docs/swervelib/motors/TalonSRXSwerve.html
+++ b/docs/swervelib/motors/TalonSRXSwerve.html
@@ -1,11 +1,11 @@
-
+
TalonSRXSwerve
-
+
diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html
index 9968769..1a69a69 100644
--- a/docs/swervelib/motors/package-summary.html
+++ b/docs/swervelib/motors/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.motors
-
+
diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html
index ed76945..fba977b 100644
--- a/docs/swervelib/motors/package-tree.html
+++ b/docs/swervelib/motors/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.motors Class Hierarchy
-
+
diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html
index a2ce391..daf1804 100644
--- a/docs/swervelib/package-summary.html
+++ b/docs/swervelib/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib
-
+
diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html
index f25aeda..efd0afa 100644
--- a/docs/swervelib/package-tree.html
+++ b/docs/swervelib/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib Class Hierarchy
-
+
diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html
index 52c91c9..1eaf571 100644
--- a/docs/swervelib/parser/PIDFConfig.html
+++ b/docs/swervelib/parser/PIDFConfig.html
@@ -1,11 +1,11 @@
-
+
PIDFConfig
-
+
diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html
index 5cba1a5..130e2a1 100644
--- a/docs/swervelib/parser/SwerveControllerConfiguration.html
+++ b/docs/swervelib/parser/SwerveControllerConfiguration.html
@@ -1,11 +1,11 @@
-
+
SwerveControllerConfiguration
-
+
diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html
index 6b8d7dd..e73b26a 100644
--- a/docs/swervelib/parser/SwerveDriveConfiguration.html
+++ b/docs/swervelib/parser/SwerveDriveConfiguration.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveConfiguration
-
+
diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html
index 0c2d939..d92b138 100644
--- a/docs/swervelib/parser/SwerveModuleConfiguration.html
+++ b/docs/swervelib/parser/SwerveModuleConfiguration.html
@@ -1,11 +1,11 @@
-
+
SwerveModuleConfiguration
-
+
diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
index 921c6f8..528fd34 100644
--- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
+++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
@@ -1,11 +1,11 @@
-
+
SwerveModulePhysicalCharacteristics
-
+
diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html
index 72e0d81..56f853f 100644
--- a/docs/swervelib/parser/SwerveParser.html
+++ b/docs/swervelib/parser/SwerveParser.html
@@ -1,11 +1,11 @@
-
+
SwerveParser
-
+
diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html
index 64f5efc..60391f0 100644
--- a/docs/swervelib/parser/deserializer/PIDFRange.html
+++ b/docs/swervelib/parser/deserializer/PIDFRange.html
@@ -1,11 +1,11 @@
-
+
PIDFRange
-
+
diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html
index 09b0630..bc781ed 100644
--- a/docs/swervelib/parser/deserializer/package-summary.html
+++ b/docs/swervelib/parser/deserializer/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.deserializer
-
+
diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html
index 5c0eab4..8a1971a 100644
--- a/docs/swervelib/parser/deserializer/package-tree.html
+++ b/docs/swervelib/parser/deserializer/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.deserializer Class Hierarchy
-
+
diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html
index c5b16a8..69e147e 100644
--- a/docs/swervelib/parser/json/ControllerPropertiesJson.html
+++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html
@@ -1,11 +1,11 @@
-
+
ControllerPropertiesJson
-
+
diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html
index 65f2ff8..dabd700 100644
--- a/docs/swervelib/parser/json/DeviceJson.html
+++ b/docs/swervelib/parser/json/DeviceJson.html
@@ -1,11 +1,11 @@
-
+
DeviceJson
-
+
diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html
index ea95110..b1d1929 100644
--- a/docs/swervelib/parser/json/ModuleJson.html
+++ b/docs/swervelib/parser/json/ModuleJson.html
@@ -1,11 +1,11 @@
-
+
ModuleJson
-
+
diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html
index 7797545..c16cadf 100644
--- a/docs/swervelib/parser/json/MotorConfigDouble.html
+++ b/docs/swervelib/parser/json/MotorConfigDouble.html
@@ -1,11 +1,11 @@
-
+
MotorConfigDouble
-
+
diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html
index 0892abf..2f4779f 100644
--- a/docs/swervelib/parser/json/MotorConfigInt.html
+++ b/docs/swervelib/parser/json/MotorConfigInt.html
@@ -1,11 +1,11 @@
-
+
MotorConfigInt
-
+
diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html
index e564d98..22fb720 100644
--- a/docs/swervelib/parser/json/PIDFPropertiesJson.html
+++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html
@@ -1,11 +1,11 @@
-
+
PIDFPropertiesJson
-
+
diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html
index 43ee60e..8c62c29 100644
--- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html
+++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html
@@ -1,11 +1,11 @@
-
+
PhysicalPropertiesJson
-
+
diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html
index 3affd60..defff90 100644
--- a/docs/swervelib/parser/json/SwerveDriveJson.html
+++ b/docs/swervelib/parser/json/SwerveDriveJson.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveJson
-
+
diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html
index 66e26a4..a781320 100644
--- a/docs/swervelib/parser/json/modules/BoolMotorJson.html
+++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html
@@ -1,11 +1,11 @@
-
+
BoolMotorJson
-
+
diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html
index 1eba0ef..74d5e7b 100644
--- a/docs/swervelib/parser/json/modules/LocationJson.html
+++ b/docs/swervelib/parser/json/modules/LocationJson.html
@@ -1,11 +1,11 @@
-
+
LocationJson
-
+
diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html
index 8849660..8a344a6 100644
--- a/docs/swervelib/parser/json/modules/package-summary.html
+++ b/docs/swervelib/parser/json/modules/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json.modules
-
+
diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html
index d93dcb4..c55d1f3 100644
--- a/docs/swervelib/parser/json/modules/package-tree.html
+++ b/docs/swervelib/parser/json/modules/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json.modules Class Hierarchy
-
+
diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html
index ddce40e..a1d08ec 100644
--- a/docs/swervelib/parser/json/package-summary.html
+++ b/docs/swervelib/parser/json/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json
-
+
diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html
index c0cb89b..b3135d5 100644
--- a/docs/swervelib/parser/json/package-tree.html
+++ b/docs/swervelib/parser/json/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json Class Hierarchy
-
+
diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html
index 2acd428..8b00ed1 100644
--- a/docs/swervelib/parser/package-summary.html
+++ b/docs/swervelib/parser/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser
-
+
diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html
index d49e5a0..a86b2df 100644
--- a/docs/swervelib/parser/package-tree.html
+++ b/docs/swervelib/parser/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser Class Hierarchy
-
+
diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html
index 0bf9042..2262834 100644
--- a/docs/swervelib/simulation/SwerveIMUSimulation.html
+++ b/docs/swervelib/simulation/SwerveIMUSimulation.html
@@ -1,11 +1,11 @@
-
+
SwerveIMUSimulation
-
+
@@ -135,37 +135,42 @@ loadScripts(document, 'script');
-edu.wpi.first.math.geometry.Rotation3d
-
+Optional<edu.wpi.first.math.geometry.Translation3d>
+
Fetch the acceleration [x, y, z] from the IMU in m/s/s.
+
edu.wpi.first.math.geometry.Rotation3d
+
+
Gets the estimated gyro Rotation3d of the robot.
-edu.wpi.first.math.geometry.Rotation2d
-
-
+
edu.wpi.first.math.geometry.Rotation2d
+
+
Pitch is not simulated currently, always returns 0.
-
edu.wpi.first.math.geometry.Rotation2d
-
-
+
edu.wpi.first.math.geometry.Rotation2d
+
+
Roll is not simulated currently, always returns 0.
-
edu.wpi.first.math.geometry.Rotation2d
-
-
+
edu.wpi.first.math.geometry.Rotation2d
+
+
Get the estimated angle of the robot.
-
void
-
-
+
void
+
+
Set the heading of the robot.
-
void
-
updateOdometry(SwerveKinematics2 kinematics,
+void
+
-
+
@@ -275,6 +280,17 @@ loadScripts(document, 'script');
+
+getAccel
+public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
+Fetch the acceleration [x, y, z] from the IMU in m/s/s. If acceleration isn't supported returns empty.
+
+- Returns:
+Translation3d of the acceleration as an Optional.
+
+
+
updateOdometry
public void updateOdometry(SwerveKinematics2 kinematics,
diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html
index 1cad476..152c318 100644
--- a/docs/swervelib/simulation/SwerveModuleSimulation.html
+++ b/docs/swervelib/simulation/SwerveModuleSimulation.html
@@ -1,11 +1,11 @@
-
+
SwerveModuleSimulation
-
+
diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html
index ac4726b..9fcc100 100644
--- a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html
+++ b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html
@@ -1,11 +1,11 @@
-
+
PhysicsSim.SimProfile
-
+
diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.html b/docs/swervelib/simulation/ctre/PhysicsSim.html
index e84f47a..798662d 100644
--- a/docs/swervelib/simulation/ctre/PhysicsSim.html
+++ b/docs/swervelib/simulation/ctre/PhysicsSim.html
@@ -1,11 +1,11 @@
-
+
PhysicsSim
-
+
diff --git a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html
index 1431fc6..9ba1bc3 100644
--- a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html
+++ b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html
@@ -1,11 +1,11 @@
-
+
TalonFXSimProfile
-
+
diff --git a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html
index 0570fa6..ee692a6 100644
--- a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html
+++ b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html
@@ -1,11 +1,11 @@
-
+
TalonSRXSimProfile
-
+
diff --git a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html
index 77c6bcd..bac6b7a 100644
--- a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html
+++ b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html
@@ -1,11 +1,11 @@
-
+
VictorSPXSimProfile
-
+
diff --git a/docs/swervelib/simulation/ctre/package-summary.html b/docs/swervelib/simulation/ctre/package-summary.html
index 3a3c285..48fe2ed 100644
--- a/docs/swervelib/simulation/ctre/package-summary.html
+++ b/docs/swervelib/simulation/ctre/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.simulation.ctre
-
+
diff --git a/docs/swervelib/simulation/ctre/package-tree.html b/docs/swervelib/simulation/ctre/package-tree.html
index b334aa6..ddab880 100644
--- a/docs/swervelib/simulation/ctre/package-tree.html
+++ b/docs/swervelib/simulation/ctre/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.simulation.ctre Class Hierarchy
-
+
diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html
index b2a4862..600f417 100644
--- a/docs/swervelib/simulation/package-summary.html
+++ b/docs/swervelib/simulation/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.simulation
-
+
diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html
index c7420d5..b1f087a 100644
--- a/docs/swervelib/simulation/package-tree.html
+++ b/docs/swervelib/simulation/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.simulation Class Hierarchy
-
+
diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html
index d3ef467..c3f9559 100644
--- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html
+++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveTelemetry.TelemetryVerbosity
-
+
diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html
index 6f2aa52..5be04f5 100644
--- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html
+++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveTelemetry
-
+
diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html
index 5401227..19d81a0 100644
--- a/docs/swervelib/telemetry/package-summary.html
+++ b/docs/swervelib/telemetry/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.telemetry
-
+
diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html
index 6d0bb36..356747d 100644
--- a/docs/swervelib/telemetry/package-tree.html
+++ b/docs/swervelib/telemetry/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.telemetry Class Hierarchy
-
+
diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java
index 6e5b00e..3ed9256 100644
--- a/swervelib/SwerveDrive.java
+++ b/swervelib/SwerveDrive.java
@@ -9,6 +9,7 @@ import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.numbers.N1;
@@ -20,6 +21,7 @@ import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.util.ArrayList;
import java.util.List;
+import java.util.Optional;
import swervelib.imu.SwerveIMU;
import swervelib.math.SwerveKinematics2;
import swervelib.math.SwerveMath;
@@ -407,6 +409,7 @@ public class SwerveDrive
simIMU.setAngle(0);
}
swerveController.lastAngleScalar = 0;
+ lastHeadingRadians = 0;
resetOdometry(new Pose2d(getPose().getTranslation(), new Rotation2d()));
}
@@ -420,9 +423,9 @@ public class SwerveDrive
// Read the imu if the robot is real or the accumulator if the robot is simulated.
if (!SwerveDriveTelemetry.isSimulation)
{
- double[] ypr = new double[3];
- imu.getYawPitchRoll(ypr);
- return Rotation2d.fromDegrees(swerveDriveConfiguration.invertedIMU ? 360 - ypr[0] : ypr[0]);
+ return swerveDriveConfiguration.invertedIMU
+ ? Rotation2d.fromRadians(imu.getRotation3d().unaryMinus().getZ())
+ : Rotation2d.fromRadians(imu.getRotation3d().getZ());
} else
{
return simIMU.getYaw();
@@ -439,9 +442,9 @@ public class SwerveDrive
// Read the imu if the robot is real or the accumulator if the robot is simulated.
if (!SwerveDriveTelemetry.isSimulation)
{
- double[] ypr = new double[3];
- imu.getYawPitchRoll(ypr);
- return Rotation2d.fromDegrees(swerveDriveConfiguration.invertedIMU ? 360 - ypr[1] : ypr[1]);
+ return swerveDriveConfiguration.invertedIMU
+ ? Rotation2d.fromRadians(imu.getRotation3d().unaryMinus().getY())
+ : Rotation2d.fromRadians(imu.getRotation3d().getY());
} else
{
return simIMU.getPitch();
@@ -458,9 +461,9 @@ public class SwerveDrive
// Read the imu if the robot is real or the accumulator if the robot is simulated.
if (!SwerveDriveTelemetry.isSimulation)
{
- double[] ypr = new double[3];
- imu.getYawPitchRoll(ypr);
- return Rotation2d.fromDegrees(swerveDriveConfiguration.invertedIMU ? 360 - ypr[2] : ypr[2]);
+ return swerveDriveConfiguration.invertedIMU
+ ? Rotation2d.fromRadians(imu.getRotation3d().unaryMinus().getX())
+ : Rotation2d.fromRadians(imu.getRotation3d().getX());
} else
{
return simIMU.getRoll();
@@ -477,18 +480,31 @@ public class SwerveDrive
// Read the imu if the robot is real or the accumulator if the robot is simulated.
if (!SwerveDriveTelemetry.isSimulation)
{
- double[] ypr = new double[3];
- imu.getYawPitchRoll(ypr);
- return new Rotation3d(
- Math.toRadians(swerveDriveConfiguration.invertedIMU ? 360 - ypr[2] : ypr[2]),
- Math.toRadians(swerveDriveConfiguration.invertedIMU ? 360 - ypr[1] : ypr[1]),
- Math.toRadians(swerveDriveConfiguration.invertedIMU ? 360 - ypr[0] : ypr[0]));
+ return swerveDriveConfiguration.invertedIMU
+ ? imu.getRotation3d().unaryMinus()
+ : imu.getRotation3d();
} else
{
return simIMU.getGyroRotation3d();
}
}
+ /**
+ * Gets current acceleration of the robot in m/s/s. If gyro unsupported returns empty.
+ *
+ * @return acceleration of the robot as a {@link Translation3d}
+ */
+ public Optional getAccel()
+ {
+ if (!SwerveDriveTelemetry.isSimulation)
+ {
+ return imu.getAccel();
+ } else
+ {
+ return simIMU.getAccel();
+ }
+ }
+
/**
* Sets the drive motors to brake/coast mode.
*
@@ -673,4 +689,15 @@ public class SwerveDrive
simIMU.setAngle(swerveDrivePoseEstimator.getEstimatedPosition().getRotation().getRadians());
}
}
+
+ /**
+ * Set the Gyroscope offset using a {@link Rotation3d} object. (Only yaw works currently.)
+ *
+ * @param gyro Gyroscope offset.
+ */
+ public void setGyro(Rotation3d gyro)
+ {
+ imu.setYaw(gyro.getZ());
+ }
+
}
diff --git a/swervelib/imu/ADIS16448Swerve.java b/swervelib/imu/ADIS16448Swerve.java
index afb7a78..7b1b2ff 100644
--- a/swervelib/imu/ADIS16448Swerve.java
+++ b/swervelib/imu/ADIS16448Swerve.java
@@ -1,7 +1,10 @@
package swervelib.imu;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.ADIS16448_IMU;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.Optional;
/**
* IMU Swerve class for the {@link ADIS16448_IMU} device.
@@ -70,6 +73,31 @@ public class ADIS16448Swerve extends SwerveIMU
yprArray[2] = imu.getYComplementaryAngle() % 360;
}
+
+ /**
+ * Fetch the {@link Rotation3d} from the IMU. Robot relative.
+ *
+ * @return {@link Rotation3d} from the IMU.
+ */
+ public Rotation3d getRotation3d()
+ {
+ return new Rotation3d(
+ imu.getYComplementaryAngle(), imu.getXComplementaryAngle(), imu.getAngle())
+ .minus(new Rotation3d(0, 0, Math.toRadians(yawOffset)));
+ }
+
+ /**
+ * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ * empty.
+ *
+ * @return {@link Translation3d} of the acceleration.
+ */
+ @Override
+ public Optional getAccel()
+ {
+ return Optional.of(new Translation3d(imu.getAccelX(), imu.getAccelY(), imu.getAccelZ()));
+ }
+
/**
* Get the instantiated IMU object.
*
diff --git a/swervelib/imu/ADIS16470Swerve.java b/swervelib/imu/ADIS16470Swerve.java
index 34e8aef..d586872 100644
--- a/swervelib/imu/ADIS16470Swerve.java
+++ b/swervelib/imu/ADIS16470Swerve.java
@@ -1,7 +1,10 @@
package swervelib.imu;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.ADIS16470_IMU;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.Optional;
/**
* IMU Swerve class for the {@link ADIS16470_IMU} device.
@@ -70,6 +73,30 @@ public class ADIS16470Swerve extends SwerveIMU
yprArray[2] = imu.getYComplementaryAngle() % 360;
}
+ /**
+ * Fetch the {@link Rotation3d} from the IMU. Robot relative.
+ *
+ * @return {@link Rotation3d} from the IMU.
+ */
+ public Rotation3d getRotation3d()
+ {
+ return new Rotation3d(
+ imu.getYComplementaryAngle(), imu.getXComplementaryAngle(), imu.getAngle())
+ .minus(new Rotation3d(0, 0, Math.toRadians(yawOffset)));
+ }
+
+ /**
+ * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ * empty.
+ *
+ * @return {@link Translation3d} of the acceleration as an {@link Optional}.
+ */
+ @Override
+ public Optional getAccel()
+ {
+ return Optional.of(new Translation3d(imu.getAccelX(), imu.getAccelY(), imu.getAccelZ()));
+ }
+
/**
* Get the instantiated IMU object.
*
diff --git a/swervelib/imu/ADXRS450Swerve.java b/swervelib/imu/ADXRS450Swerve.java
index 9ce3cb9..0af120b 100644
--- a/swervelib/imu/ADXRS450Swerve.java
+++ b/swervelib/imu/ADXRS450Swerve.java
@@ -1,7 +1,10 @@
package swervelib.imu;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.Optional;
/**
* IMU Swerve class for the {@link ADXRS450_Gyro} device.
@@ -70,6 +73,29 @@ public class ADXRS450Swerve extends SwerveIMU
yprArray[2] = 0;
}
+ /**
+ * Fetch the {@link Rotation3d} from the IMU. Robot relative.
+ *
+ * @return {@link Rotation3d} from the IMU.
+ */
+ public Rotation3d getRotation3d()
+ {
+ return new Rotation3d(0, 0, imu.getAngle())
+ .minus(new Rotation3d(0, 0, Math.toRadians(yawOffset)));
+ }
+
+ /**
+ * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ * empty.
+ *
+ * @return {@link Translation3d} of the acceleration as an {@link Optional}.
+ */
+ @Override
+ public Optional getAccel()
+ {
+ return Optional.empty();
+ }
+
/**
* Get the instantiated IMU object.
*
diff --git a/swervelib/imu/AnalogGyroSwerve.java b/swervelib/imu/AnalogGyroSwerve.java
index 15a63d4..e114062 100644
--- a/swervelib/imu/AnalogGyroSwerve.java
+++ b/swervelib/imu/AnalogGyroSwerve.java
@@ -1,7 +1,10 @@
package swervelib.imu;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.Optional;
/**
* Creates a IMU for {@link edu.wpi.first.wpilibj.AnalogGyro} devices, only uses yaw.
@@ -77,6 +80,29 @@ public class AnalogGyroSwerve extends SwerveIMU
yprArray[2] = 0;
}
+ /**
+ * Fetch the {@link Rotation3d} from the IMU. Robot relative.
+ *
+ * @return {@link Rotation3d} from the IMU.
+ */
+ public Rotation3d getRotation3d()
+ {
+ return new Rotation3d(0, 0, gyro.getAngle())
+ .minus(new Rotation3d(0, 0, Math.toRadians(yawOffset)));
+ }
+
+ /**
+ * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ * empty.
+ *
+ * @return {@link Translation3d} of the acceleration as an {@link Optional}.
+ */
+ @Override
+ public Optional getAccel()
+ {
+ return Optional.empty();
+ }
+
/**
* Get the instantiated IMU object.
*
diff --git a/swervelib/imu/NavXSwerve.java b/swervelib/imu/NavXSwerve.java
index 9c0cbb4..0e6b9ed 100644
--- a/swervelib/imu/NavXSwerve.java
+++ b/swervelib/imu/NavXSwerve.java
@@ -1,9 +1,13 @@
package swervelib.imu;
import com.kauailabs.navx.frc.AHRS;
+import edu.wpi.first.math.geometry.Quaternion;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.SerialPort;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.Optional;
/**
* Communicates with the NavX as the IMU.
@@ -84,6 +88,37 @@ public class NavXSwerve extends SwerveIMU
yprArray[2] = (gyro.getRoll() % 360);
}
+ /**
+ * Fetch the {@link Rotation3d} from the IMU. Robot relative.
+ *
+ * @return {@link Rotation3d} from the IMU.
+ */
+ public Rotation3d getRotation3d()
+ {
+ return new Rotation3d(new Quaternion(gyro.getQuaternionW(),
+ gyro.getQuaternionX(),
+ gyro.getQuaternionY(),
+ gyro.getQuaternionZ()))
+ .minus(new Rotation3d(0, 0, Math.toRadians(yawOffset)));
+ }
+
+ /**
+ * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ * empty.
+ *
+ * @return {@link Translation3d} of the acceleration as an {@link Optional}.
+ */
+ @Override
+ public Optional getAccel()
+ {
+ return Optional.of(
+ new Translation3d(
+ gyro.getWorldLinearAccelX(),
+ gyro.getWorldLinearAccelY(),
+ gyro.getWorldLinearAccelZ())
+ .times(9.81));
+ }
+
/**
* Get the instantiated IMU object.
*
diff --git a/swervelib/imu/Pigeon2Swerve.java b/swervelib/imu/Pigeon2Swerve.java
index e03701c..e865c87 100644
--- a/swervelib/imu/Pigeon2Swerve.java
+++ b/swervelib/imu/Pigeon2Swerve.java
@@ -2,7 +2,11 @@ package swervelib.imu;
import com.ctre.phoenix.sensors.Pigeon2Configuration;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
+import edu.wpi.first.math.geometry.Quaternion;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.Optional;
/**
* SwerveIMU interface for the Pigeon2
@@ -79,6 +83,33 @@ public class Pigeon2Swerve extends SwerveIMU
imu.getYawPitchRoll(yprArray);
}
+ /**
+ * Fetch the {@link Rotation3d} from the IMU. Robot relative.
+ *
+ * @return {@link Rotation3d} from the IMU.
+ */
+ @Override
+ public Rotation3d getRotation3d()
+ {
+ double[] wxyz = new double[4];
+ imu.get6dQuaternion(wxyz);
+ return new Rotation3d(new Quaternion(wxyz[0], wxyz[1], wxyz[2], wxyz[3]));
+ }
+
+ /**
+ * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ * empty.
+ *
+ * @return {@link Translation3d} of the acceleration as an {@link Optional}.
+ */
+ @Override
+ public Optional getAccel()
+ {
+ short[] initial = new short[3];
+ imu.getBiasedAccelerometer(initial);
+ return Optional.of(new Translation3d(initial[0], initial[1], initial[2]).times(9.81 / 16384.0));
+ }
+
/**
* Get the instantiated IMU object.
*
diff --git a/swervelib/imu/PigeonSwerve.java b/swervelib/imu/PigeonSwerve.java
index b4f2dae..64cd3de 100644
--- a/swervelib/imu/PigeonSwerve.java
+++ b/swervelib/imu/PigeonSwerve.java
@@ -1,7 +1,11 @@
package swervelib.imu;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
+import edu.wpi.first.math.geometry.Quaternion;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.Optional;
/**
* SwerveIMU interface for the Pigeon.
@@ -65,6 +69,33 @@ public class PigeonSwerve extends SwerveIMU
imu.getYawPitchRoll(yprArray);
}
+ /**
+ * Fetch the {@link Rotation3d} from the IMU. Robot relative.
+ *
+ * @return {@link Rotation3d} from the IMU.
+ */
+ @Override
+ public Rotation3d getRotation3d()
+ {
+ double[] wxyz = new double[4];
+ imu.get6dQuaternion(wxyz);
+ return new Rotation3d(new Quaternion(wxyz[0], wxyz[1], wxyz[2], wxyz[3]));
+ }
+
+ /**
+ * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ * empty.
+ *
+ * @return {@link Translation3d} of the acceleration as an {@link Optional}.
+ */
+ @Override
+ public Optional getAccel()
+ {
+ short[] initial = new short[3];
+ imu.getBiasedAccelerometer(initial);
+ return Optional.of(new Translation3d(initial[0], initial[1], initial[2]).times(9.81 / 16384.0));
+ }
+
/**
* Get the instantiated IMU object.
*
diff --git a/swervelib/imu/SwerveIMU.java b/swervelib/imu/SwerveIMU.java
index f46c545..1dd98af 100644
--- a/swervelib/imu/SwerveIMU.java
+++ b/swervelib/imu/SwerveIMU.java
@@ -1,5 +1,9 @@
package swervelib.imu;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import java.util.Optional;
+
/**
* Swerve IMU abstraction to define a standard interface with a swerve drive.
*/
@@ -30,6 +34,21 @@ public abstract class SwerveIMU
*/
public abstract void getYawPitchRoll(double[] yprArray);
+ /**
+ * Fetch the {@link Rotation3d} from the IMU. Robot relative.
+ *
+ * @return {@link Rotation3d} from the IMU.
+ */
+ public abstract Rotation3d getRotation3d();
+
+ /**
+ * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ * empty.
+ *
+ * @return {@link Translation3d} of the acceleration as an {@link Optional}.
+ */
+ public abstract Optional getAccel();
+
/**
* Get the instantiated IMU object.
*
diff --git a/swervelib/motors/TalonFXSwerve.java b/swervelib/motors/TalonFXSwerve.java
index 756af0a..54e381e 100644
--- a/swervelib/motors/TalonFXSwerve.java
+++ b/swervelib/motors/TalonFXSwerve.java
@@ -6,6 +6,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import edu.wpi.first.wpilibj.Timer;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.parser.PIDFConfig;
import swervelib.simulation.ctre.PhysicsSim;
@@ -241,6 +242,7 @@ public class TalonFXSwerve extends SwerveMotor
@Override
public void setInverted(boolean inverted)
{
+ Timer.delay(1);
motor.setInverted(inverted);
}
diff --git a/swervelib/motors/TalonSRXSwerve.java b/swervelib/motors/TalonSRXSwerve.java
index bf88b37..3b29087 100644
--- a/swervelib/motors/TalonSRXSwerve.java
+++ b/swervelib/motors/TalonSRXSwerve.java
@@ -7,6 +7,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import edu.wpi.first.wpilibj.Timer;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.parser.PIDFConfig;
import swervelib.simulation.ctre.PhysicsSim;
@@ -231,6 +232,7 @@ public class TalonSRXSwerve extends SwerveMotor
@Override
public void setInverted(boolean inverted)
{
+ Timer.delay(1);
motor.setInverted(inverted);
}
diff --git a/swervelib/simulation/SwerveIMUSimulation.java b/swervelib/simulation/SwerveIMUSimulation.java
index 2a80f66..949bda7 100644
--- a/swervelib/simulation/SwerveIMUSimulation.java
+++ b/swervelib/simulation/SwerveIMUSimulation.java
@@ -3,8 +3,10 @@ package swervelib.simulation;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
+import java.util.Optional;
import swervelib.math.SwerveKinematics2;
import swervelib.math.SwerveModuleState2;
@@ -77,6 +79,16 @@ public class SwerveIMUSimulation
return new Rotation3d(0, 0, angle);
}
+ /**
+ * Fetch the acceleration [x, y, z] from the IMU in m/s/s. If acceleration isn't supported returns empty.
+ *
+ * @return {@link Translation3d} of the acceleration as an {@link Optional}.
+ */
+ public Optional getAccel()
+ {
+ return Optional.empty();
+ }
+
/**
* Update the odometry of the simulated {@link swervelib.SwerveDrive} and post the {@link swervelib.SwerveModule}
* states to the {@link Field2d}.