From 5fd00878d29b93e2f44a5e87bfb2bf9e41666e97 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Mon, 6 Mar 2023 20:45:54 -0600 Subject: [PATCH] Updated to include gyro and accelerometer, and Rotation3d offset. --- docs/allclasses-index.html | 4 +- docs/allpackages-index.html | 4 +- docs/constant-values.html | 4 +- docs/help-doc.html | 4 +- docs/index-files/index-1.html | 4 +- docs/index-files/index-10.html | 4 +- docs/index-files/index-11.html | 4 +- docs/index-files/index-12.html | 4 +- docs/index-files/index-13.html | 4 +- docs/index-files/index-14.html | 4 +- docs/index-files/index-15.html | 4 +- docs/index-files/index-16.html | 4 +- docs/index-files/index-17.html | 8 +- docs/index-files/index-18.html | 4 +- docs/index-files/index-19.html | 4 +- docs/index-files/index-2.html | 4 +- docs/index-files/index-20.html | 4 +- docs/index-files/index-21.html | 4 +- docs/index-files/index-22.html | 4 +- docs/index-files/index-23.html | 4 +- docs/index-files/index-24.html | 4 +- docs/index-files/index-25.html | 4 +- docs/index-files/index-3.html | 4 +- docs/index-files/index-4.html | 4 +- docs/index-files/index-5.html | 4 +- docs/index-files/index-6.html | 4 +- docs/index-files/index-7.html | 76 +++++++++- docs/index-files/index-8.html | 4 +- docs/index-files/index-9.html | 4 +- docs/index.html | 4 +- docs/member-search-index.js | 2 +- docs/overview-summary.html | 4 +- docs/overview-tree.html | 4 +- docs/swervelib/SwerveController.html | 4 +- docs/swervelib/SwerveDrive.html | 134 +++++++++++------- docs/swervelib/SwerveModule.html | 4 +- .../encoders/AnalogAbsoluteEncoderSwerve.html | 4 +- docs/swervelib/encoders/CANCoderSwerve.html | 4 +- .../encoders/SparkMaxEncoderSwerve.html | 4 +- .../encoders/SwerveAbsoluteEncoder.html | 4 +- docs/swervelib/encoders/package-summary.html | 4 +- docs/swervelib/encoders/package-tree.html | 4 +- docs/swervelib/imu/ADIS16448Swerve.html | 45 +++++- docs/swervelib/imu/ADIS16470Swerve.html | 45 +++++- docs/swervelib/imu/ADXRS450Swerve.html | 45 +++++- docs/swervelib/imu/AnalogGyroSwerve.html | 45 +++++- docs/swervelib/imu/NavXSwerve.html | 45 +++++- docs/swervelib/imu/Pigeon2Swerve.html | 45 +++++- docs/swervelib/imu/PigeonSwerve.html | 45 +++++- docs/swervelib/imu/SwerveIMU.html | 41 +++++- docs/swervelib/imu/package-summary.html | 4 +- docs/swervelib/imu/package-tree.html | 4 +- docs/swervelib/math/Matter.html | 4 +- docs/swervelib/math/SwerveKinematics2.html | 4 +- docs/swervelib/math/SwerveMath.html | 4 +- docs/swervelib/math/SwerveModuleState2.html | 4 +- docs/swervelib/math/package-summary.html | 4 +- docs/swervelib/math/package-tree.html | 4 +- .../motors/SparkMaxBrushedMotorSwerve.html | 4 +- .../SparkMaxSwerve.SparkMAX_slotIdx.html | 4 +- docs/swervelib/motors/SparkMaxSwerve.html | 4 +- docs/swervelib/motors/SwerveMotor.html | 4 +- docs/swervelib/motors/TalonFXSwerve.html | 4 +- docs/swervelib/motors/TalonSRXSwerve.html | 4 +- docs/swervelib/motors/package-summary.html | 4 +- docs/swervelib/motors/package-tree.html | 4 +- docs/swervelib/package-summary.html | 4 +- docs/swervelib/package-tree.html | 4 +- docs/swervelib/parser/PIDFConfig.html | 4 +- .../parser/SwerveControllerConfiguration.html | 4 +- .../parser/SwerveDriveConfiguration.html | 4 +- .../parser/SwerveModuleConfiguration.html | 4 +- .../SwerveModulePhysicalCharacteristics.html | 4 +- docs/swervelib/parser/SwerveParser.html | 4 +- .../parser/deserializer/PIDFRange.html | 4 +- .../parser/deserializer/package-summary.html | 4 +- .../parser/deserializer/package-tree.html | 4 +- .../parser/json/ControllerPropertiesJson.html | 4 +- docs/swervelib/parser/json/DeviceJson.html | 4 +- docs/swervelib/parser/json/ModuleJson.html | 4 +- .../parser/json/MotorConfigDouble.html | 4 +- .../swervelib/parser/json/MotorConfigInt.html | 4 +- .../parser/json/PIDFPropertiesJson.html | 4 +- .../parser/json/PhysicalPropertiesJson.html | 4 +- .../parser/json/SwerveDriveJson.html | 4 +- .../parser/json/modules/BoolMotorJson.html | 4 +- .../parser/json/modules/LocationJson.html | 4 +- .../parser/json/modules/package-summary.html | 4 +- .../parser/json/modules/package-tree.html | 4 +- .../parser/json/package-summary.html | 4 +- docs/swervelib/parser/json/package-tree.html | 4 +- docs/swervelib/parser/package-summary.html | 4 +- docs/swervelib/parser/package-tree.html | 4 +- .../simulation/SwerveIMUSimulation.html | 54 ++++--- .../simulation/SwerveModuleSimulation.html | 4 +- .../ctre/PhysicsSim.SimProfile.html | 4 +- .../swervelib/simulation/ctre/PhysicsSim.html | 4 +- .../simulation/ctre/TalonFXSimProfile.html | 4 +- .../simulation/ctre/TalonSRXSimProfile.html | 4 +- .../simulation/ctre/VictorSPXSimProfile.html | 4 +- .../simulation/ctre/package-summary.html | 4 +- .../simulation/ctre/package-tree.html | 4 +- .../swervelib/simulation/package-summary.html | 4 +- docs/swervelib/simulation/package-tree.html | 4 +- ...erveDriveTelemetry.TelemetryVerbosity.html | 4 +- .../telemetry/SwerveDriveTelemetry.html | 4 +- docs/swervelib/telemetry/package-summary.html | 4 +- docs/swervelib/telemetry/package-tree.html | 4 +- swervelib/SwerveDrive.java | 57 ++++++-- swervelib/imu/ADIS16448Swerve.java | 28 ++++ swervelib/imu/ADIS16470Swerve.java | 27 ++++ swervelib/imu/ADXRS450Swerve.java | 26 ++++ swervelib/imu/AnalogGyroSwerve.java | 26 ++++ swervelib/imu/NavXSwerve.java | 35 +++++ swervelib/imu/Pigeon2Swerve.java | 31 ++++ swervelib/imu/PigeonSwerve.java | 31 ++++ swervelib/imu/SwerveIMU.java | 19 +++ swervelib/motors/TalonFXSwerve.java | 2 + swervelib/motors/TalonSRXSwerve.java | 2 + swervelib/simulation/SwerveIMUSimulation.java | 12 ++ 120 files changed, 994 insertions(+), 312 deletions(-) diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index e649b76..f4fbff5 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,11 +1,11 @@ - + All Classes and Interfaces - + diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index 1f0c307..40a94ea 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,11 +1,11 @@ - + All Packages - + diff --git a/docs/constant-values.html b/docs/constant-values.html index 5107341..04daa22 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,11 +1,11 @@ - + Constant Field Values - + diff --git a/docs/help-doc.html b/docs/help-doc.html index e00e8c6..2ee0de9 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,11 +1,11 @@ - + API Help - + diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index 8f6ba79..2680bdc 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,11 +1,11 @@ - + A-Index - + diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index 566a6a5..3173d19 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,11 +1,11 @@ - + K-Index - + diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index 3c1ac81..c0c7011 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,11 +1,11 @@ - + L-Index - + diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index b3beece..b874226 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,11 +1,11 @@ - + M-Index - + diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index 9b03ea1..39689ce 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,11 +1,11 @@ - + N-Index - + diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index 3478045..24f2656 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,11 +1,11 @@ - + O-Index - + diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index d26d0bb..56d4c37 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,11 +1,11 @@ - + P-Index - + diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 9641678..746b26e 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,11 +1,11 @@ - + R-Index - + diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index 76f1cab..0baee91 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,11 +1,11 @@ - + S-Index - + @@ -134,6 +134,10 @@ loadScripts(document, 'script');
Set the desired state of the swerve module.
+
setGyro(Rotation3d) - Method in class swervelib.SwerveDrive
+
+
Set the Gyroscope offset using a Rotation3d object.
+
setInverted(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
Set the motor to be inverted.
diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index abad755..1126f94 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,11 +1,11 @@ - + T-Index - + diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index be53295..c4f70d7 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,11 +1,11 @@ - + U-Index - + diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index 8e55b98..06f035f 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,11 +1,11 @@ - + B-Index - + diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index 3110295..8697173 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,11 +1,11 @@ - + V-Index - + diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index 43d3b32..c6792f4 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,11 +1,11 @@ - + W-Index - + diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index 784278b..c3f4fe8 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,11 +1,11 @@ - + X-Index - + diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index 04e2faa..5c09400 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,11 +1,11 @@ - + Y-Index - + diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index 55a83f3..faccf2a 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,11 +1,11 @@ - + Z-Index - + diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index 6588dbf..5afa7d1 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,11 +1,11 @@ - + _-Index - + diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index 2d8a2f0..dd6e509 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,11 +1,11 @@ - + C-Index - + diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index 0e33e7e..9822d3f 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,11 +1,11 @@ - + D-Index - + diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index 42d09f9..d6a08bb 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,11 +1,11 @@ - + E-Index - + diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index 8cf7d33..c64a0f7 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,11 +1,11 @@ - + F-Index - + diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index 8807eae..2cd92ba 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,11 +1,11 @@ - + G-Index - + @@ -93,6 +93,46 @@ loadScripts(document, 'script');
Get the absolute position.
+
getAccel() - Method in class swervelib.imu.ADIS16448Swerve
+
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
+
getAccel() - Method in class swervelib.imu.ADIS16470Swerve
+
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
+
getAccel() - Method in class swervelib.imu.ADXRS450Swerve
+
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
+
getAccel() - Method in class swervelib.imu.AnalogGyroSwerve
+
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
+
getAccel() - Method in class swervelib.imu.NavXSwerve
+
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
+
getAccel() - Method in class swervelib.imu.Pigeon2Swerve
+
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
+
getAccel() - Method in class swervelib.imu.PigeonSwerve
+
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
+
getAccel() - Method in class swervelib.imu.SwerveIMU
+
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
+
getAccel() - Method in class swervelib.simulation.SwerveIMUSimulation
+
+
Fetch the acceleration [x, y, z] from the IMU in m/s/s.
+
+
getAccel() - Method in class swervelib.SwerveDrive
+
+
Gets current acceleration of the robot in m/s/s.
+
getFieldVelocity() - Method in class swervelib.SwerveDrive
Gets the current field-relative velocity (x, y and omega) of the robot
@@ -241,6 +281,38 @@ loadScripts(document, 'script');
Gets the current roll angle of the robot, as reported by the imu.
+
getRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
+
+
Fetch the Rotation3d from the IMU.
+
+
getRotation3d() - Method in class swervelib.imu.ADIS16470Swerve
+
+
Fetch the Rotation3d from the IMU.
+
+
getRotation3d() - Method in class swervelib.imu.ADXRS450Swerve
+
+
Fetch the Rotation3d from the IMU.
+
+
getRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve
+
+
Fetch the Rotation3d from the IMU.
+
+
getRotation3d() - Method in class swervelib.imu.NavXSwerve
+
+
Fetch the Rotation3d from the IMU.
+
+
getRotation3d() - Method in class swervelib.imu.Pigeon2Swerve
+
+
Fetch the Rotation3d from the IMU.
+
+
getRotation3d() - Method in class swervelib.imu.PigeonSwerve
+
+
Fetch the Rotation3d from the IMU.
+
+
getRotation3d() - Method in class swervelib.imu.SwerveIMU
+
+
Fetch the Rotation3d from the IMU.
+
getState() - Method in class swervelib.simulation.SwerveModuleSimulation
Get the SwerveModuleState2 of the simulated module.
diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index 9775dad..e349fe8 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,11 +1,11 @@ - + H-Index - + diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index ecb88db..3281841 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,11 +1,11 @@ - + I-Index - + diff --git a/docs/index.html b/docs/index.html index 2fd6c6e..e000462 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,11 +1,11 @@ - + Overview - + diff --git a/docs/member-search-index.js b/docs/member-search-index.js index b40eae6..8636f89 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = [{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_accelToFullTime"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_accelToFullTime"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_falcon"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_fullVel"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_fullVel"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"_lastTime"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"_running"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_sensorPhase"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_sensorPhase"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"_simProfiles"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_talon"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_vel"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_vel"},{"p":"swervelib.simulation.ctre","c":"VictorSPXSimProfile","l":"_victor"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"absoluteEncoder"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoder"},{"p":"swervelib","c":"SwerveModule","l":"absoluteEncoder"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderInverted"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoderInverted"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderOffset"},{"p":"swervelib","c":"SwerveController","l":"addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter)","u":"addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonFX(TalonFX, double, double)","u":"addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonFX(TalonFX, double, double, boolean)","u":"addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double,boolean)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonSRX(TalonSRX, double, double)","u":"addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonSRX(TalonSRX, double, double, boolean)","u":"addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double,boolean)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addVictorSPX(VictorSPX)","u":"addVictorSPX(com.ctre.phoenix.motorcontrol.can.VictorSPX)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double, boolean, double)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean,double)"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"ADIS16448Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"ADIS16470Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"ADXRS450Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(AnalogInput)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.AnalogInput)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"AnalogGyroSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"angle"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angle"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"angle"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"angle"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"angle"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angleEncoderPulsePerRevolution"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleEncoderPulsePerRotation"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleGearRatio"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"angleJoystickRadiusDeadband"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"angleJoyStickRadiusDeadband"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleKV"},{"p":"swervelib","c":"SwerveController","l":"angleLimiter"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotor"},{"p":"swervelib","c":"SwerveModule","l":"angleMotor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorCurrentLimit"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotorEncoderPulsePerRevolution"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angleMotorFreeSpeedRPM"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"angleMotorFreeSpeedRPM"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorFreeSpeedRPM"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotorInverted"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorRampRate"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleOffset"},{"p":"swervelib","c":"SwerveModule","l":"angleOffset"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"anglePIDF"},{"p":"swervelib.math","c":"SwerveMath","l":"applyDeadband(double, boolean, double)","u":"applyDeadband(double,boolean,double)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"bigInverseKinematics"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"BoolMotorJson()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"burnFlash()"},{"p":"swervelib.math","c":"SwerveMath","l":"calcMaxAccel(Rotation2d, List, double, SwerveDriveConfiguration)","u":"calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateAngleKV(double, double, double)","u":"calculateAngleKV(double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateDegreesPerSteeringRotation(double, double)","u":"calculateDegreesPerSteeringRotation(double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAcceleration(double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAcceleration(double, double, double, double, double)","u":"calculateMaxAcceleration(double,double,double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAngularVelocity(double, double, double)","u":"calculateMaxAngularVelocity(double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMetersPerRotation(double, double, double)","u":"calculateMetersPerRotation(double,double,double)"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"canbus"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"CANCoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"CANCoderSwerve(int, String)","u":"%3Cinit%3E(int,java.lang.String)"},{"p":"swervelib.parser","c":"SwerveParser","l":"checkDirectory(File)","u":"checkDirectory(java.io.File)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"clearStickyFaults()"},{"p":"swervelib","c":"SwerveController","l":"config"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configChanged"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configChanged"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configuration"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configuration"},{"p":"swervelib","c":"SwerveModule","l":"configuration"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"configure(boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configureCANStatusFrames(int)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configureCANStatusFrames(int)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configureCANStatusFrames(int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configureCANStatusFrames(int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int,int,int,int,int,int,int)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int,int,int,int,int,int,int)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.parser","c":"SwerveParser","l":"controllerPropertiesJson"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"ControllerPropertiesJson()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"convertToNativeSensorUnits(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"convertToNativeSensorUnits(double)"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"createControllerConfiguration(SwerveDriveConfiguration)","u":"createControllerConfiguration(swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"createDriveFeedforward()"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"createEncoder()"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"createIMU()"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"createIntegratedEncoder(SwerveMotor)","u":"createIntegratedEncoder(swervelib.motors.SwerveMotor)"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"createModuleConfiguration(PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics)","u":"createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"createModules(SwerveModuleConfiguration[])","u":"createModules(swervelib.parser.SwerveModuleConfiguration[])"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"createMotor(boolean)"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"createPhysicalProperties(double)"},{"p":"swervelib.parser","c":"PIDFConfig","l":"createPIDController()"},{"p":"swervelib.parser","c":"SwerveParser","l":"createSwerveDrive()"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"currentLimit"},{"p":"swervelib.parser","c":"PIDFConfig","l":"d"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"desaturateWheelSpeeds(SwerveModuleState2[], ChassisSpeeds, double, double, double)","u":"desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"desaturateWheelSpeeds(SwerveModuleState2[], double)","u":"desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],double)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"desiredChassisSpeeds"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"desiredStates"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"DeviceJson()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"drive"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"drive"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"drive"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"drive"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"drive"},{"p":"swervelib","c":"SwerveDrive","l":"drive(Translation2d, double, boolean, boolean)","u":"drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"drive(Translation2d, double, boolean, boolean, boolean)","u":"drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean,boolean)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"driveEncoderPulsePerRotation"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"driveGearRatio"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"driveMotor"},{"p":"swervelib","c":"SwerveModule","l":"driveMotor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"driveMotorCurrentLimit"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"driveMotorInverted"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"driveMotorRampRate"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"dt"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"encoder"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"encoder"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"encoder"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"encoder"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"encoder"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"encoder"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"encoderPulsePerRotation"},{"p":"swervelib.parser","c":"PIDFConfig","l":"f"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"factoryDefault()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"factoryDefault()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"factoryDefault()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"factoryDefault()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"factoryDefault()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"factoryDefaults()"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"fakePos"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"fakeSpeed"},{"p":"swervelib","c":"SwerveModule","l":"feedforward"},{"p":"swervelib","c":"SwerveDrive","l":"field"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"forwardDirection"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"gearRatio"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"getAbsolutePosition()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"getAbsolutePosition()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"getAbsolutePosition()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"getAbsolutePosition()"},{"p":"swervelib","c":"SwerveModule","l":"getAbsolutePosition()"},{"p":"swervelib","c":"SwerveDrive","l":"getFieldVelocity()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getGyroRotation3d()"},{"p":"swervelib","c":"SwerveDrive","l":"getGyroRotation3d()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"getIMU()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"getIMU()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"getIMU()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"getIMU()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"getIMU()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"getIMU()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"getIMU()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"getIMU()"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"getInstance()"},{"p":"swervelib.parser","c":"SwerveParser","l":"getModuleConfigurationByName(String, SwerveDriveConfiguration)","u":"getModuleConfigurationByName(java.lang.String,swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib","c":"SwerveDrive","l":"getModulePositions()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"getMotor()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"getMotor()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"getMotor()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"getMotor()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"getMotor()"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"getPeriod()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getPitch()"},{"p":"swervelib","c":"SwerveDrive","l":"getPitch()"},{"p":"swervelib","c":"SwerveDrive","l":"getPose()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"getPosition()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"getPosition()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"getPosition()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"getPosition()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"getPosition()"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"getPosition()"},{"p":"swervelib","c":"SwerveModule","l":"getPosition()"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"getPositionEncoderConversion(boolean)"},{"p":"swervelib","c":"SwerveController","l":"getRawTargetSpeeds(double, double, double)","u":"getRawTargetSpeeds(double,double,double)"},{"p":"swervelib","c":"SwerveController","l":"getRawTargetSpeeds(double, double, double, double)","u":"getRawTargetSpeeds(double,double,double,double)"},{"p":"swervelib","c":"SwerveModule","l":"getRelativePosition()"},{"p":"swervelib","c":"SwerveDrive","l":"getRobotVelocity()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getRoll()"},{"p":"swervelib","c":"SwerveDrive","l":"getRoll()"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"getState()"},{"p":"swervelib","c":"SwerveModule","l":"getState()"},{"p":"swervelib","c":"SwerveDrive","l":"getStates()"},{"p":"swervelib.math","c":"SwerveMath","l":"getSwerveModule(SwerveModule[], boolean, boolean)","u":"getSwerveModule(swervelib.SwerveModule[],boolean,boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"getSwerveModulePoses(Pose2d)","u":"getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)"},{"p":"swervelib","c":"SwerveController","l":"getTargetSpeeds(double, double, double, double)","u":"getTargetSpeeds(double,double,double,double)"},{"p":"swervelib","c":"SwerveController","l":"getTargetSpeeds(double, double, double, double, double)","u":"getTargetSpeeds(double,double,double,double,double)"},{"p":"swervelib","c":"SwerveController","l":"getTranslation2d(ChassisSpeeds)","u":"getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"getVelocity()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"getVelocity()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"getVelocity()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"getVelocity()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"getVelocity()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getYaw()"},{"p":"swervelib","c":"SwerveDrive","l":"getYaw()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"NavXSwerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"SwerveIMU","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"gyro"},{"p":"swervelib.imu","c":"NavXSwerve","l":"gyro"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"heading"},{"p":"swervelib","c":"SwerveController","l":"headingCalculate(double, double)","u":"headingCalculate(double,double)"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"headingPIDF"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"HIGH"},{"p":"swervelib.parser","c":"PIDFConfig","l":"i"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"id"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"imu"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"imu"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"imu"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"imu"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"imu"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"imu"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"imu"},{"p":"swervelib","c":"SwerveDrive","l":"imu"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"inverted"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"inverted"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"invertedIMU"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"invertedIMU"},{"p":"swervelib","c":"SwerveDrive","l":"invertOdometry"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"isDriveMotor"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"isSimulation"},{"p":"swervelib.parser","c":"PIDFConfig","l":"iz"},{"p":"swervelib","c":"SwerveDrive","l":"kinematics"},{"p":"swervelib","c":"SwerveModule","l":"lastAngle"},{"p":"swervelib","c":"SwerveController","l":"lastAngleScalar"},{"p":"swervelib","c":"SwerveDrive","l":"lastHeadingRadians"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"lastTime"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"lastTime"},{"p":"swervelib.math","c":"SwerveMath","l":"limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, List, SwerveDriveConfiguration)","u":"limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,java.util.List,swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"location"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"LocationJson()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"lockPose()"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"LOW"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"m_forwardKinematics"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"m_inverseKinematics"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"m_modules"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"m_moduleStates"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"m_numModules"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"m_prevCoR"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"MACHINE"},{"p":"swervelib.math","c":"Matter","l":"mass"},{"p":"swervelib.math","c":"Matter","l":"massMoment()"},{"p":"swervelib.math","c":"Matter","l":"Matter(Translation3d, double)","u":"%3Cinit%3E(edu.wpi.first.math.geometry.Translation3d,double)"},{"p":"swervelib.parser.deserializer","c":"PIDFRange","l":"max"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"maxAngularVelocity"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"maxAngularVelocity"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"maxSpeed"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"maxSpeed"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"maxSpeed"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"maxSpeed"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"maxSpeed"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"measuredChassisSpeeds"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"measuredStates"},{"p":"swervelib.parser.deserializer","c":"PIDFRange","l":"min"},{"p":"swervelib.parser","c":"SwerveParser","l":"moduleConfigs"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"moduleCount"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"moduleCount"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"ModuleJson()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"SwerveParser","l":"moduleJsons"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"moduleLocation"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"moduleLocationsMeters"},{"p":"swervelib","c":"SwerveModule","l":"moduleNumber"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"modules"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"modules"},{"p":"swervelib","c":"SwerveDrive","l":"moduleSynchronizationCounter"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"motor"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"motor"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"motor"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"motor"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"MotorConfigDouble()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"MotorConfigDouble(double, double)","u":"%3Cinit%3E(double,double)"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"MotorConfigInt()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"MotorConfigInt(int, int)","u":"%3Cinit%3E(int,int)"},{"p":"swervelib.imu","c":"NavXSwerve","l":"NavXSwerve(SerialPort.Port)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.SerialPort.Port)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"nominalVoltage"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"nominalVoltage"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"NONE"},{"p":"swervelib.math","c":"SwerveMath","l":"normalizeAngle(double)"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"omegaRadPerSecond"},{"p":"swervelib.parser","c":"SwerveParser","l":"openJson(File)","u":"openJson(java.io.File)"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"optimalVoltage"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"optimalVoltage"},{"p":"swervelib.parser","c":"PIDFConfig","l":"output"},{"p":"swervelib.parser","c":"PIDFConfig","l":"p"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"physicalCharacteristics"},{"p":"swervelib.parser","c":"SwerveParser","l":"physicalPropertiesJson"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"PhysicalPropertiesJson()","u":"%3Cinit%3E()"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"PhysicsSim()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"pid"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"pid"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig(double, double)","u":"%3Cinit%3E(double,double)"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig(double, double, double)","u":"%3Cinit%3E(double,double,double)"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig(double, double, double, double)","u":"%3Cinit%3E(double,double,double,double)"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig(double, double, double, double, double)","u":"%3Cinit%3E(double,double,double,double,double)"},{"p":"swervelib.parser","c":"SwerveParser","l":"pidfPropertiesJson"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"PIDFPropertiesJson()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.deserializer","c":"PIDFRange","l":"PIDFRange()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"Pigeon2Swerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"Pigeon2Swerve(int, String)","u":"%3Cinit%3E(int,java.lang.String)"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"PigeonSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"placeInAppropriate0To360Scope(double, double)","u":"placeInAppropriate0To360Scope(double,double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"placeInAppropriate0To360Scope(double, double)","u":"placeInAppropriate0To360Scope(double,double)"},{"p":"swervelib.math","c":"Matter","l":"position"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Position"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"positionConversionFactor"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"positionConversionFactor"},{"p":"swervelib","c":"SwerveDrive","l":"postTrajectory(Trajectory)","u":"postTrajectory(edu.wpi.first.math.trajectory.Trajectory)"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"rampRate"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"random(double)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"random(double, double)","u":"random(double,double)"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"readingError"},{"p":"swervelib","c":"SwerveDrive","l":"replaceSwerveModuleFeedforward(SimpleMotorFeedforward)","u":"replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)"},{"p":"swervelib","c":"SwerveDrive","l":"resetOdometry(Pose2d)","u":"resetOdometry(edu.wpi.first.math.geometry.Pose2d)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"robotRotation"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"rotationUnit"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"run()"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"run()"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"run()"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"run()"},{"p":"swervelib.simulation.ctre","c":"VictorSPXSimProfile","l":"run()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"set(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"setAngle(double)"},{"p":"swervelib","c":"SwerveModule","l":"setAngle(double)"},{"p":"swervelib","c":"SwerveDrive","l":"setChassisSpeeds(ChassisSpeeds)","u":"setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib","c":"SwerveModule","l":"setDesiredState(SwerveModuleState2, boolean)","u":"setDesiredState(swervelib.math.SwerveModuleState2,boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib","c":"SwerveDrive","l":"setModuleStates(SwerveModuleState2[], boolean)","u":"setModuleStates(swervelib.math.SwerveModuleState2[],boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib","c":"SwerveModule","l":"setMotorBrake(boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"setMotorIdleMode(boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setPosition(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setPosition(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setPosition(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setPosition(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setPosition(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"NavXSwerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"SwerveIMU","l":"setYaw(double)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"sim"},{"p":"swervelib","c":"SwerveDrive","l":"simIMU"},{"p":"swervelib","c":"SwerveModule","l":"simModule"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"SimProfile()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Simulation"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"sizeFrontBack"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"sizeLeftRight"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"SparkMAX_slotIdx()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"SparkMaxBrushedMotorSwerve(CANSparkMax, boolean, SparkMaxRelativeEncoder.Type, int, boolean)","u":"%3Cinit%3E(com.revrobotics.CANSparkMax,boolean,com.revrobotics.SparkMaxRelativeEncoder.Type,int,boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"SparkMaxBrushedMotorSwerve(int, boolean, SparkMaxRelativeEncoder.Type, int, boolean)","u":"%3Cinit%3E(int,boolean,com.revrobotics.SparkMaxRelativeEncoder.Type,int,boolean)"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"SparkMaxEncoderSwerve(SwerveMotor)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"SparkMaxSwerve(CANSparkMax, boolean)","u":"%3Cinit%3E(com.revrobotics.CANSparkMax,boolean)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"SparkMaxSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"speedMetersPerSecond"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"state"},{"p":"swervelib","c":"SwerveDrive","l":"stateStdDevs"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"SwerveAbsoluteEncoder()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"swerveController"},{"p":"swervelib","c":"SwerveController","l":"SwerveController(SwerveControllerConfiguration)","u":"%3Cinit%3E(swervelib.parser.SwerveControllerConfiguration)"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig)"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)"},{"p":"swervelib","c":"SwerveDrive","l":"SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.SwerveControllerConfiguration)"},{"p":"swervelib","c":"SwerveDrive","l":"swerveDriveConfiguration"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, double, boolean)","u":"%3Cinit%3E(swervelib.parser.SwerveModuleConfiguration[],swervelib.imu.SwerveIMU,double,boolean)"},{"p":"swervelib.parser","c":"SwerveParser","l":"swerveDriveJson"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"SwerveDriveJson()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"swerveDrivePoseEstimator"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"SwerveDriveTelemetry()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"SwerveIMU()","u":"%3Cinit%3E()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"SwerveIMUSimulation()","u":"%3Cinit%3E()"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"SwerveKinematics2(Translation2d...)","u":"%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)"},{"p":"swervelib.math","c":"SwerveMath","l":"SwerveMath()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveModule","l":"SwerveModule(int, SwerveModuleConfiguration)","u":"%3Cinit%3E(int,swervelib.parser.SwerveModuleConfiguration)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, double, double)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,double)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int)","u":"%3Cinit%3E(double,double,double,double,double,double,int,int)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int, double, double, int, int)","u":"%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int)"},{"p":"swervelib","c":"SwerveDrive","l":"swerveModules"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"SwerveModuleSimulation()","u":"%3Cinit%3E()"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"SwerveModuleState2()","u":"%3Cinit%3E()"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"SwerveModuleState2(double, Rotation2d, double)","u":"%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"SwerveMotor()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"SwerveParser","l":"SwerveParser(File)","u":"%3Cinit%3E(java.io.File)"},{"p":"swervelib","c":"SwerveModule","l":"synchronizeEncoders()"},{"p":"swervelib","c":"SwerveDrive","l":"synchronizeModuleEncoders()"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"TalonFXSimProfile(TalonFX, double, double, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, String, boolean)","u":"%3Cinit%3E(int,java.lang.String,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(WPI_TalonFX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX,boolean)"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"TalonSRXSimProfile(TalonSRX, double, double, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(WPI_TalonSRX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX,boolean)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"TelemetryVerbosity()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveController","l":"thetaController"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"timer"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"timer"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toChassisSpeeds(SwerveModuleState2...)","u":"toChassisSpeeds(swervelib.math.SwerveModuleState2...)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toSwerveModuleStates(ChassisSpeeds)","u":"toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toSwerveModuleStates(ChassisSpeeds, Translation2d)","u":"toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toTwist2d(SwerveModulePosition...)","u":"toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"type"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"updateData()"},{"p":"swervelib","c":"SwerveDrive","l":"updateOdometry()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"updateOdometry(SwerveKinematics2, SwerveModuleState2[], Pose2d[], Field2d)","u":"updateOdometry(swervelib.math.SwerveKinematics2,swervelib.math.SwerveModuleState2[],edu.wpi.first.math.geometry.Pose2d[],edu.wpi.first.wpilibj.smartdashboard.Field2d)"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"updateStateAndPosition(SwerveModuleState2)","u":"updateStateAndPosition(swervelib.math.SwerveModuleState2)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"values()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"velocityPIDF"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"verbosity"},{"p":"swervelib.simulation.ctre","c":"VictorSPXSimProfile","l":"VictorSPXSimProfile(VictorSPX)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.VictorSPX)"},{"p":"swervelib","c":"SwerveDrive","l":"visionMeasurementStdDevs"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelDiameter"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelDiameter"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"wheelLocations"},{"p":"swervelib","c":"SwerveController","l":"withinHypotDeadband(double, double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib","c":"SwerveController","l":"xLimiter"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"yawOffset"},{"p":"swervelib.imu","c":"NavXSwerve","l":"yawOffset"},{"p":"swervelib","c":"SwerveController","l":"yLimiter"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults(); \ No newline at end of file +memberSearchIndex = [{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_accelToFullTime"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_accelToFullTime"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_falcon"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_fullVel"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_fullVel"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"_lastTime"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"_running"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_sensorPhase"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_sensorPhase"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"_simProfiles"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_talon"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_vel"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_vel"},{"p":"swervelib.simulation.ctre","c":"VictorSPXSimProfile","l":"_victor"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"absoluteEncoder"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoder"},{"p":"swervelib","c":"SwerveModule","l":"absoluteEncoder"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderInverted"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoderInverted"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderOffset"},{"p":"swervelib","c":"SwerveController","l":"addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter)","u":"addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonFX(TalonFX, double, double)","u":"addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonFX(TalonFX, double, double, boolean)","u":"addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double,boolean)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonSRX(TalonSRX, double, double)","u":"addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonSRX(TalonSRX, double, double, boolean)","u":"addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double,boolean)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addVictorSPX(VictorSPX)","u":"addVictorSPX(com.ctre.phoenix.motorcontrol.can.VictorSPX)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double, boolean, double)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean,double)"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"ADIS16448Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"ADIS16470Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"ADXRS450Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(AnalogInput)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.AnalogInput)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"AnalogGyroSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"angle"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angle"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"angle"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"angle"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"angle"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angleEncoderPulsePerRevolution"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleEncoderPulsePerRotation"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleGearRatio"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"angleJoystickRadiusDeadband"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"angleJoyStickRadiusDeadband"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleKV"},{"p":"swervelib","c":"SwerveController","l":"angleLimiter"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotor"},{"p":"swervelib","c":"SwerveModule","l":"angleMotor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorCurrentLimit"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotorEncoderPulsePerRevolution"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angleMotorFreeSpeedRPM"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"angleMotorFreeSpeedRPM"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorFreeSpeedRPM"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotorInverted"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorRampRate"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleOffset"},{"p":"swervelib","c":"SwerveModule","l":"angleOffset"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"anglePIDF"},{"p":"swervelib.math","c":"SwerveMath","l":"applyDeadband(double, boolean, double)","u":"applyDeadband(double,boolean,double)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"bigInverseKinematics"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"BoolMotorJson()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"burnFlash()"},{"p":"swervelib.math","c":"SwerveMath","l":"calcMaxAccel(Rotation2d, List, double, SwerveDriveConfiguration)","u":"calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateAngleKV(double, double, double)","u":"calculateAngleKV(double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateDegreesPerSteeringRotation(double, double)","u":"calculateDegreesPerSteeringRotation(double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAcceleration(double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAcceleration(double, double, double, double, double)","u":"calculateMaxAcceleration(double,double,double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMaxAngularVelocity(double, double, double)","u":"calculateMaxAngularVelocity(double,double,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"calculateMetersPerRotation(double, double, double)","u":"calculateMetersPerRotation(double,double,double)"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"canbus"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"CANCoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"CANCoderSwerve(int, String)","u":"%3Cinit%3E(int,java.lang.String)"},{"p":"swervelib.parser","c":"SwerveParser","l":"checkDirectory(File)","u":"checkDirectory(java.io.File)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"clearStickyFaults()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"clearStickyFaults()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"clearStickyFaults()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"clearStickyFaults()"},{"p":"swervelib","c":"SwerveController","l":"config"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configChanged"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configChanged"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configuration"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configuration"},{"p":"swervelib","c":"SwerveModule","l":"configuration"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"configure(boolean)"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"configure(boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configureCANStatusFrames(int)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configureCANStatusFrames(int)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configureCANStatusFrames(int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configureCANStatusFrames(int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int,int,int,int,int,int,int)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int)","u":"configureCANStatusFrames(int,int,int,int,int,int,int,int,int,int,int)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configureIntegratedEncoder(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configurePIDF(PIDFConfig)","u":"configurePIDF(swervelib.parser.PIDFConfig)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"configurePIDWrapping(double, double)","u":"configurePIDWrapping(double,double)"},{"p":"swervelib.parser","c":"SwerveParser","l":"controllerPropertiesJson"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"ControllerPropertiesJson()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"convertToNativeSensorUnits(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"convertToNativeSensorUnits(double)"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"createControllerConfiguration(SwerveDriveConfiguration)","u":"createControllerConfiguration(swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"createDriveFeedforward()"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"createEncoder()"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"createIMU()"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"createIntegratedEncoder(SwerveMotor)","u":"createIntegratedEncoder(swervelib.motors.SwerveMotor)"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"createModuleConfiguration(PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics)","u":"createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"createModules(SwerveModuleConfiguration[])","u":"createModules(swervelib.parser.SwerveModuleConfiguration[])"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"createMotor(boolean)"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"createPhysicalProperties(double)"},{"p":"swervelib.parser","c":"PIDFConfig","l":"createPIDController()"},{"p":"swervelib.parser","c":"SwerveParser","l":"createSwerveDrive()"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"currentLimit"},{"p":"swervelib.parser","c":"PIDFConfig","l":"d"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"desaturateWheelSpeeds(SwerveModuleState2[], ChassisSpeeds, double, double, double)","u":"desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"desaturateWheelSpeeds(SwerveModuleState2[], double)","u":"desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],double)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"desiredChassisSpeeds"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"desiredStates"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"DeviceJson()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"drive"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"drive"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"drive"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"drive"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"drive"},{"p":"swervelib","c":"SwerveDrive","l":"drive(Translation2d, double, boolean, boolean)","u":"drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"drive(Translation2d, double, boolean, boolean, boolean)","u":"drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean,boolean)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"driveEncoderPulsePerRotation"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"driveGearRatio"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"driveMotor"},{"p":"swervelib","c":"SwerveModule","l":"driveMotor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"driveMotorCurrentLimit"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"driveMotorInverted"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"driveMotorRampRate"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"dt"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"encoder"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"encoder"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"encoder"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"encoder"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"encoder"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"encoder"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"encoderPulsePerRotation"},{"p":"swervelib.parser","c":"PIDFConfig","l":"f"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"factoryDefault()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"factoryDefault()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"factoryDefault()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"factoryDefault()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"factoryDefault()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"factoryDefault()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"factoryDefaultOccurred"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"factoryDefaults()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"factoryDefaults()"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"fakePos"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"fakeSpeed"},{"p":"swervelib","c":"SwerveModule","l":"feedforward"},{"p":"swervelib","c":"SwerveDrive","l":"field"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"forwardDirection"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"gearRatio"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"getAbsoluteEncoder()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"getAbsolutePosition()"},{"p":"swervelib.encoders","c":"CANCoderSwerve","l":"getAbsolutePosition()"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"getAbsolutePosition()"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"getAbsolutePosition()"},{"p":"swervelib","c":"SwerveModule","l":"getAbsolutePosition()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"getAccel()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"getAccel()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"getAccel()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"getAccel()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"getAccel()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"getAccel()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"getAccel()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"getAccel()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getAccel()"},{"p":"swervelib","c":"SwerveDrive","l":"getAccel()"},{"p":"swervelib","c":"SwerveDrive","l":"getFieldVelocity()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getGyroRotation3d()"},{"p":"swervelib","c":"SwerveDrive","l":"getGyroRotation3d()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"getIMU()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"getIMU()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"getIMU()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"getIMU()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"getIMU()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"getIMU()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"getIMU()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"getIMU()"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"getInstance()"},{"p":"swervelib.parser","c":"SwerveParser","l":"getModuleConfigurationByName(String, SwerveDriveConfiguration)","u":"getModuleConfigurationByName(java.lang.String,swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib","c":"SwerveDrive","l":"getModulePositions()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"getMotor()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"getMotor()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"getMotor()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"getMotor()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"getMotor()"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"getPeriod()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getPitch()"},{"p":"swervelib","c":"SwerveDrive","l":"getPitch()"},{"p":"swervelib","c":"SwerveDrive","l":"getPose()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"getPosition()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"getPosition()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"getPosition()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"getPosition()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"getPosition()"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"getPosition()"},{"p":"swervelib","c":"SwerveModule","l":"getPosition()"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"getPositionEncoderConversion(boolean)"},{"p":"swervelib","c":"SwerveController","l":"getRawTargetSpeeds(double, double, double)","u":"getRawTargetSpeeds(double,double,double)"},{"p":"swervelib","c":"SwerveController","l":"getRawTargetSpeeds(double, double, double, double)","u":"getRawTargetSpeeds(double,double,double,double)"},{"p":"swervelib","c":"SwerveModule","l":"getRelativePosition()"},{"p":"swervelib","c":"SwerveDrive","l":"getRobotVelocity()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getRoll()"},{"p":"swervelib","c":"SwerveDrive","l":"getRoll()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"NavXSwerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"getRotation3d()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"getRotation3d()"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"getState()"},{"p":"swervelib","c":"SwerveModule","l":"getState()"},{"p":"swervelib","c":"SwerveDrive","l":"getStates()"},{"p":"swervelib.math","c":"SwerveMath","l":"getSwerveModule(SwerveModule[], boolean, boolean)","u":"getSwerveModule(swervelib.SwerveModule[],boolean,boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"getSwerveModulePoses(Pose2d)","u":"getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)"},{"p":"swervelib","c":"SwerveController","l":"getTargetSpeeds(double, double, double, double)","u":"getTargetSpeeds(double,double,double,double)"},{"p":"swervelib","c":"SwerveController","l":"getTargetSpeeds(double, double, double, double, double)","u":"getTargetSpeeds(double,double,double,double,double)"},{"p":"swervelib","c":"SwerveController","l":"getTranslation2d(ChassisSpeeds)","u":"getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"getVelocity()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"getVelocity()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"getVelocity()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"getVelocity()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"getVelocity()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"getYaw()"},{"p":"swervelib","c":"SwerveDrive","l":"getYaw()"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"NavXSwerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"SwerveIMU","l":"getYawPitchRoll(double[])"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"gyro"},{"p":"swervelib.imu","c":"NavXSwerve","l":"gyro"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"heading"},{"p":"swervelib","c":"SwerveController","l":"headingCalculate(double, double)","u":"headingCalculate(double,double)"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"headingPIDF"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"HIGH"},{"p":"swervelib.parser","c":"PIDFConfig","l":"i"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"id"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"imu"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"imu"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"imu"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"imu"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"imu"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"imu"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"imu"},{"p":"swervelib","c":"SwerveDrive","l":"imu"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"inverted"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"inverted"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"invertedIMU"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"invertedIMU"},{"p":"swervelib","c":"SwerveDrive","l":"invertOdometry"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"isAttachedAbsoluteEncoder()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"isDriveMotor"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"isSimulation"},{"p":"swervelib.parser","c":"PIDFConfig","l":"iz"},{"p":"swervelib","c":"SwerveDrive","l":"kinematics"},{"p":"swervelib","c":"SwerveModule","l":"lastAngle"},{"p":"swervelib","c":"SwerveController","l":"lastAngleScalar"},{"p":"swervelib","c":"SwerveDrive","l":"lastHeadingRadians"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"lastTime"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"lastTime"},{"p":"swervelib.math","c":"SwerveMath","l":"limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, List, SwerveDriveConfiguration)","u":"limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,java.util.List,swervelib.parser.SwerveDriveConfiguration)"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"location"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"LocationJson()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"lockPose()"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"LOW"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"m_forwardKinematics"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"m_inverseKinematics"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"m_modules"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"m_moduleStates"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"m_numModules"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"m_prevCoR"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"MACHINE"},{"p":"swervelib.math","c":"Matter","l":"mass"},{"p":"swervelib.math","c":"Matter","l":"massMoment()"},{"p":"swervelib.math","c":"Matter","l":"Matter(Translation3d, double)","u":"%3Cinit%3E(edu.wpi.first.math.geometry.Translation3d,double)"},{"p":"swervelib.parser.deserializer","c":"PIDFRange","l":"max"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"maxAngularVelocity"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"maxAngularVelocity"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"maxSpeed"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"maxSpeed"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"maxSpeed"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"maxSpeed"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"maxSpeed"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"measuredChassisSpeeds"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"measuredStates"},{"p":"swervelib.parser.deserializer","c":"PIDFRange","l":"min"},{"p":"swervelib.parser","c":"SwerveParser","l":"moduleConfigs"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"moduleCount"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"moduleCount"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"ModuleJson()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"SwerveParser","l":"moduleJsons"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"moduleLocation"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"moduleLocationsMeters"},{"p":"swervelib","c":"SwerveModule","l":"moduleNumber"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"modules"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"modules"},{"p":"swervelib","c":"SwerveDrive","l":"moduleSynchronizationCounter"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"motor"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"motor"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"motor"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"motor"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"MotorConfigDouble()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"MotorConfigDouble(double, double)","u":"%3Cinit%3E(double,double)"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"MotorConfigInt()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"MotorConfigInt(int, int)","u":"%3Cinit%3E(int,int)"},{"p":"swervelib.imu","c":"NavXSwerve","l":"NavXSwerve(SerialPort.Port)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.SerialPort.Port)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"nominalVoltage"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"nominalVoltage"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"NONE"},{"p":"swervelib.math","c":"SwerveMath","l":"normalizeAngle(double)"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"omegaRadPerSecond"},{"p":"swervelib.parser","c":"SwerveParser","l":"openJson(File)","u":"openJson(java.io.File)"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"optimalVoltage"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"optimalVoltage"},{"p":"swervelib.parser","c":"PIDFConfig","l":"output"},{"p":"swervelib.parser","c":"PIDFConfig","l":"p"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"physicalCharacteristics"},{"p":"swervelib.parser","c":"SwerveParser","l":"physicalPropertiesJson"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"PhysicalPropertiesJson()","u":"%3Cinit%3E()"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"PhysicsSim()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"pid"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"pid"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig(double, double)","u":"%3Cinit%3E(double,double)"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig(double, double, double)","u":"%3Cinit%3E(double,double,double)"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig(double, double, double, double)","u":"%3Cinit%3E(double,double,double,double)"},{"p":"swervelib.parser","c":"PIDFConfig","l":"PIDFConfig(double, double, double, double, double)","u":"%3Cinit%3E(double,double,double,double,double)"},{"p":"swervelib.parser","c":"SwerveParser","l":"pidfPropertiesJson"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"PIDFPropertiesJson()","u":"%3Cinit%3E()"},{"p":"swervelib.parser.deserializer","c":"PIDFRange","l":"PIDFRange()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"Pigeon2Swerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"Pigeon2Swerve(int, String)","u":"%3Cinit%3E(int,java.lang.String)"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"PigeonSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"placeInAppropriate0To360Scope(double, double)","u":"placeInAppropriate0To360Scope(double,double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"placeInAppropriate0To360Scope(double, double)","u":"placeInAppropriate0To360Scope(double,double)"},{"p":"swervelib.math","c":"Matter","l":"position"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Position"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"positionConversionFactor"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"positionConversionFactor"},{"p":"swervelib","c":"SwerveDrive","l":"postTrajectory(Trajectory)","u":"postTrajectory(edu.wpi.first.math.trajectory.Trajectory)"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"rampRate"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"random(double)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"random(double, double)","u":"random(double,double)"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"readingError"},{"p":"swervelib","c":"SwerveDrive","l":"replaceSwerveModuleFeedforward(SimpleMotorFeedforward)","u":"replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)"},{"p":"swervelib","c":"SwerveDrive","l":"resetOdometry(Pose2d)","u":"resetOdometry(edu.wpi.first.math.geometry.Pose2d)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"robotRotation"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"rotationUnit"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"run()"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"run()"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"run()"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"run()"},{"p":"swervelib.simulation.ctre","c":"VictorSPXSimProfile","l":"run()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"set(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"set(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setAbsoluteEncoder(SwerveAbsoluteEncoder)","u":"setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"setAngle(double)"},{"p":"swervelib","c":"SwerveModule","l":"setAngle(double)"},{"p":"swervelib","c":"SwerveDrive","l":"setChassisSpeeds(ChassisSpeeds)","u":"setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setCurrentLimit(int)"},{"p":"swervelib","c":"SwerveModule","l":"setDesiredState(SwerveModuleState2, boolean)","u":"setDesiredState(swervelib.math.SwerveModuleState2,boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"setGyro(Rotation3d)","u":"setGyro(edu.wpi.first.math.geometry.Rotation3d)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setInverted(boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setLoopRampRate(double)"},{"p":"swervelib","c":"SwerveDrive","l":"setModuleStates(SwerveModuleState2[], boolean)","u":"setModuleStates(swervelib.math.SwerveModuleState2[],boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setMotorBrake(boolean)"},{"p":"swervelib","c":"SwerveModule","l":"setMotorBrake(boolean)"},{"p":"swervelib","c":"SwerveDrive","l":"setMotorIdleMode(boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setPosition(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setPosition(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setPosition(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setPosition(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setPosition(double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setReference(double, double)","u":"setReference(double,double)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"setVoltageCompensation(double)"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"NavXSwerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"Pigeon2Swerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"PigeonSwerve","l":"setYaw(double)"},{"p":"swervelib.imu","c":"SwerveIMU","l":"setYaw(double)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"sim"},{"p":"swervelib","c":"SwerveDrive","l":"simIMU"},{"p":"swervelib","c":"SwerveModule","l":"simModule"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"SimProfile()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Simulation"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"sizeFrontBack"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"sizeLeftRight"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"SparkMAX_slotIdx()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"SparkMaxBrushedMotorSwerve(CANSparkMax, boolean, SparkMaxRelativeEncoder.Type, int, boolean)","u":"%3Cinit%3E(com.revrobotics.CANSparkMax,boolean,com.revrobotics.SparkMaxRelativeEncoder.Type,int,boolean)"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"SparkMaxBrushedMotorSwerve(int, boolean, SparkMaxRelativeEncoder.Type, int, boolean)","u":"%3Cinit%3E(int,boolean,com.revrobotics.SparkMaxRelativeEncoder.Type,int,boolean)"},{"p":"swervelib.encoders","c":"SparkMaxEncoderSwerve","l":"SparkMaxEncoderSwerve(SwerveMotor)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"SparkMaxSwerve(CANSparkMax, boolean)","u":"%3Cinit%3E(com.revrobotics.CANSparkMax,boolean)"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"SparkMaxSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"speedMetersPerSecond"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"state"},{"p":"swervelib","c":"SwerveDrive","l":"stateStdDevs"},{"p":"swervelib.encoders","c":"SwerveAbsoluteEncoder","l":"SwerveAbsoluteEncoder()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"swerveController"},{"p":"swervelib","c":"SwerveController","l":"SwerveController(SwerveControllerConfiguration)","u":"%3Cinit%3E(swervelib.parser.SwerveControllerConfiguration)"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig)"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)"},{"p":"swervelib","c":"SwerveDrive","l":"SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.SwerveControllerConfiguration)"},{"p":"swervelib","c":"SwerveDrive","l":"swerveDriveConfiguration"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, double, boolean)","u":"%3Cinit%3E(swervelib.parser.SwerveModuleConfiguration[],swervelib.imu.SwerveIMU,double,boolean)"},{"p":"swervelib.parser","c":"SwerveParser","l":"swerveDriveJson"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"SwerveDriveJson()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"swerveDrivePoseEstimator"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"SwerveDriveTelemetry()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"SwerveIMU","l":"SwerveIMU()","u":"%3Cinit%3E()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"SwerveIMUSimulation()","u":"%3Cinit%3E()"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"SwerveKinematics2(Translation2d...)","u":"%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)"},{"p":"swervelib.math","c":"SwerveMath","l":"SwerveMath()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveModule","l":"SwerveModule(int, SwerveModuleConfiguration)","u":"%3Cinit%3E(int,swervelib.parser.SwerveModuleConfiguration)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, double, double)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,double)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int)","u":"%3Cinit%3E(double,double,double,double,double,double,int,int)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int, double, double, int, int)","u":"%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int)"},{"p":"swervelib","c":"SwerveDrive","l":"swerveModules"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"SwerveModuleSimulation()","u":"%3Cinit%3E()"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"SwerveModuleState2()","u":"%3Cinit%3E()"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"SwerveModuleState2(double, Rotation2d, double)","u":"%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"SwerveMotor()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"SwerveParser","l":"SwerveParser(File)","u":"%3Cinit%3E(java.io.File)"},{"p":"swervelib","c":"SwerveModule","l":"synchronizeEncoders()"},{"p":"swervelib","c":"SwerveDrive","l":"synchronizeModuleEncoders()"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"TalonFXSimProfile(TalonFX, double, double, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, String, boolean)","u":"%3Cinit%3E(int,java.lang.String,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(WPI_TalonFX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX,boolean)"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"TalonSRXSimProfile(TalonSRX, double, double, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(WPI_TalonSRX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX,boolean)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"TelemetryVerbosity()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveController","l":"thetaController"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"timer"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"timer"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toChassisSpeeds(SwerveModuleState2...)","u":"toChassisSpeeds(swervelib.math.SwerveModuleState2...)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toSwerveModuleStates(ChassisSpeeds)","u":"toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toSwerveModuleStates(ChassisSpeeds, Translation2d)","u":"toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toTwist2d(SwerveModulePosition...)","u":"toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"type"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"updateData()"},{"p":"swervelib","c":"SwerveDrive","l":"updateOdometry()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"updateOdometry(SwerveKinematics2, SwerveModuleState2[], Pose2d[], Field2d)","u":"updateOdometry(swervelib.math.SwerveKinematics2,swervelib.math.SwerveModuleState2[],edu.wpi.first.math.geometry.Pose2d[],edu.wpi.first.wpilibj.smartdashboard.Field2d)"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"updateStateAndPosition(SwerveModuleState2)","u":"updateStateAndPosition(swervelib.math.SwerveModuleState2)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"values()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"velocityPIDF"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"verbosity"},{"p":"swervelib.simulation.ctre","c":"VictorSPXSimProfile","l":"VictorSPXSimProfile(VictorSPX)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.VictorSPX)"},{"p":"swervelib","c":"SwerveDrive","l":"visionMeasurementStdDevs"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelDiameter"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelDiameter"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"wheelLocations"},{"p":"swervelib","c":"SwerveController","l":"withinHypotDeadband(double, double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib","c":"SwerveController","l":"xLimiter"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"yawOffset"},{"p":"swervelib.imu","c":"NavXSwerve","l":"yawOffset"},{"p":"swervelib","c":"SwerveController","l":"yLimiter"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/overview-summary.html b/docs/overview-summary.html index ac52d7f..d34c9d6 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -1,11 +1,11 @@ - + Generated Documentation (Untitled) - + diff --git a/docs/overview-tree.html b/docs/overview-tree.html index bd716d3..3c3aae3 100644 --- a/docs/overview-tree.html +++ b/docs/overview-tree.html @@ -1,11 +1,11 @@ - + Class Hierarchy - + diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html index b303ca4..a523005 100644 --- a/docs/swervelib/SwerveController.html +++ b/docs/swervelib/SwerveController.html @@ -1,11 +1,11 @@ - + SwerveController - + diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index 79022ec..e64e739 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,11 +1,11 @@ - + SwerveDrive - + @@ -214,81 +214,91 @@ loadScripts(document, 'script');
The primary method for controlling the drivebase.
-
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getFieldVelocity()
+
Optional<edu.wpi.first.math.geometry.Translation3d>
+
getAccel()
-
Gets the current field-relative velocity (x, y and omega) of the robot
-
-
edu.wpi.first.math.geometry.Rotation3d
-
getGyroRotation3d()
-
-
Gets the current gyro Rotation3d of the robot, as reported by the imu.
-
-
edu.wpi.first.math.kinematics.SwerveModulePosition[]
-
getModulePositions()
-
-
Gets the current module positions (azimuth and wheel position (meters)).
-
-
edu.wpi.first.math.geometry.Rotation2d
-
getPitch()
-
-
Gets the current pitch angle of the robot, as reported by the imu.
-
-
edu.wpi.first.math.geometry.Pose2d
-
getPose()
-
-
Gets the current pose (position and rotation) of the robot, as reported by odometry.
+
Gets current acceleration of the robot in m/s/s.
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getRobotVelocity()
+
getFieldVelocity()
-
Gets the current robot-relative velocity (x, y and omega) of the robot
+
Gets the current field-relative velocity (x, y and omega) of the robot
+
+
edu.wpi.first.math.geometry.Rotation3d
+
getGyroRotation3d()
+
+
Gets the current gyro Rotation3d of the robot, as reported by the imu.
+
+
edu.wpi.first.math.kinematics.SwerveModulePosition[]
+
getModulePositions()
+
+
Gets the current module positions (azimuth and wheel position (meters)).
edu.wpi.first.math.geometry.Rotation2d
-
getRoll()
+
getPitch()
-
Gets the current roll angle of the robot, as reported by the imu.
+
Gets the current pitch angle of the robot, as reported by the imu.
-
SwerveModuleState2[]
-
getStates()
+
edu.wpi.first.math.geometry.Pose2d
+
getPose()
-
Gets the current module states (azimuth and velocity)
+
Gets the current pose (position and rotation) of the robot, as reported by odometry.
-
edu.wpi.first.math.geometry.Pose2d[]
-
getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
getRobotVelocity()
-
Get the swerve module poses and on the field relative to the robot.
+
Gets the current robot-relative velocity (x, y and omega) of the robot
edu.wpi.first.math.geometry.Rotation2d
-
getYaw()
+
getRoll()
+
Gets the current roll angle of the robot, as reported by the imu.
+
+
SwerveModuleState2[]
+
getStates()
+
+
Gets the current module states (azimuth and velocity)
+
+
edu.wpi.first.math.geometry.Pose2d[]
+
getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
+
+
Get the swerve module poses and on the field relative to the robot.
+
+
edu.wpi.first.math.geometry.Rotation2d
+
getYaw()
+
Gets the current yaw angle of the robot, as reported by the imu.
-
void
-
lockPose()
-
+
void
+
lockPose()
+
Point all modules toward the robot center, thus making the robot very difficult to move.
-
void
-
postTrajectory(edu.wpi.first.math.trajectory.Trajectory trajectory)
-
+
void
+
postTrajectory(edu.wpi.first.math.trajectory.Trajectory trajectory)
+
Post the trajectory to the field
-
void
-
replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
-
+
void
+
replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
+
Setup the swerve module feedforward.
-
void
-
resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
-
+
void
+
resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
+
Resets odometry to the given pose.
-
void
-
setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
-
+
void
+
setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
+
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
setModuleStates(SwerveModuleState2[] desiredStates, boolean isOpenLoop)
@@ -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.
    -
    Object
    -
    getIMU()
    +
    Optional<edu.wpi.first.math.geometry.Translation3d>
    +
    getAccel()
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    Object
    +
    getIMU()
    +
    Get the instantiated IMU object.
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    void
    getYawPitchRoll(double[] yprArray)
    @@ -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

    public Object 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.
    -
    Object
    -
    getIMU()
    +
    Optional<edu.wpi.first.math.geometry.Translation3d>
    +
    getAccel()
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    Object
    +
    getIMU()
    +
    Get the instantiated IMU object.
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    void
    getYawPitchRoll(double[] yprArray)
    @@ -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

    public Object 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.
    -
    Object
    -
    getIMU()
    +
    Optional<edu.wpi.first.math.geometry.Translation3d>
    +
    getAccel()
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    Object
    +
    getIMU()
    +
    Get the instantiated IMU object.
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    void
    getYawPitchRoll(double[] yprArray)
    @@ -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

    public Object 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.
    -
    Object
    -
    getIMU()
    +
    Optional<edu.wpi.first.math.geometry.Translation3d>
    +
    getAccel()
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    Object
    +
    getIMU()
    +
    Get the instantiated IMU object.
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    void
    getYawPitchRoll(double[] yprArray)
    @@ -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

    public Object 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.
    -
    Object
    -
    getIMU()
    +
    Optional<edu.wpi.first.math.geometry.Translation3d>
    +
    getAccel()
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    Object
    +
    getIMU()
    +
    Get the instantiated IMU object.
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    void
    getYawPitchRoll(double[] yprArray)
    @@ -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

    public Object 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.
    -
    Object
    -
    getIMU()
    +
    Optional<edu.wpi.first.math.geometry.Translation3d>
    +
    getAccel()
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    Object
    +
    getIMU()
    +
    Get the instantiated IMU object.
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    void
    getYawPitchRoll(double[] yprArray)
    @@ -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

    public Object 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.
    -
    Object
    -
    getIMU()
    +
    Optional<edu.wpi.first.math.geometry.Translation3d>
    +
    getAccel()
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    Object
    +
    getIMU()
    +
    Get the instantiated IMU object.
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    void
    getYawPitchRoll(double[] yprArray)
    @@ -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

    public Object 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 Object
    -
    getIMU()
    +
    abstract Optional<edu.wpi.first.math.geometry.Translation3d>
    +
    getAccel()
    +
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    +
    +
    abstract Object
    +
    getIMU()
    +
    Get the instantiated IMU object.
    +
    abstract edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    +
    Fetch the Rotation3d from the IMU.
    +
    abstract void
    getYawPitchRoll(double[] yprArray)
    @@ -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');
    Modifier and Type
    Method
    Description
    -
    edu.wpi.first.math.geometry.Rotation3d
    -
    getGyroRotation3d()
    +
    Optional<edu.wpi.first.math.geometry.Translation3d>
    +
    getAccel()
    +
    Fetch the acceleration [x, y, z] from the IMU in m/s/s.
    +
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getGyroRotation3d()
    +
    Gets the estimated gyro Rotation3d of the robot.
    -
    edu.wpi.first.math.geometry.Rotation2d
    -
    getPitch()
    -
    +
    edu.wpi.first.math.geometry.Rotation2d
    +
    getPitch()
    +
    Pitch is not simulated currently, always returns 0.
    -
    edu.wpi.first.math.geometry.Rotation2d
    -
    getRoll()
    -
    +
    edu.wpi.first.math.geometry.Rotation2d
    +
    getRoll()
    +
    Roll is not simulated currently, always returns 0.
    -
    edu.wpi.first.math.geometry.Rotation2d
    -
    getYaw()
    -
    +
    edu.wpi.first.math.geometry.Rotation2d
    +
    getYaw()
    +
    Get the estimated angle of the robot.
    -
    void
    -
    setAngle(double angle)
    -
    +
    void
    +
    setAngle(double angle)
    +
    Set the heading of the robot.
    -
    void
    -
    updateOdometry(SwerveKinematics2 kinematics, +
    void
    +
    updateOdometry(SwerveKinematics2 kinematics, SwerveModuleState2[] states, edu.wpi.first.math.geometry.Pose2d[] modulePoses, edu.wpi.first.wpilibj.smartdashboard.Field2d field)
    -
    +
    Update the odometry of the simulated SwerveDrive and post the SwerveModule states to the Field2d.
    @@ -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}.