Updated to include gyro and accelerometer, and Rotation3d offset.

2026-06-26 07:01:39 +00:00 · 2023-03-06 20:45:54 -06:00
parent 9b78c6363f
commit 5fd00878d2
120 changed files with 994 additions and 312 deletions
--- a/docs/swervelib/SwerveDrive.html
+++ b/docs/swervelib/SwerveDrive.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Mon Feb 27 21:57:52 CST 2023 -->
+<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
 <title>SwerveDrive</title>
 <meta name="viewport" content="width=device-width, initial-scale=1">
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="dc.created" content="2023-02-27">
+<meta name="dc.created" content="2023-03-06">
 <meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
 <meta name="generator" content="javadoc/ClassWriterImpl">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -214,81 +214,91 @@ loadScripts(document, 'script');</script>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">The primary method for controlling the drivebase.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getFieldVelocity()" class="member-name-link">getFieldVelocity</a>()</code></div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
-</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyroRotation3d()" class="member-name-link">getGyroRotation3d</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Gets the current gyro <code>Rotation3d</code> of the robot, as reported by the imu.</div>
-</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModulePositions()" class="member-name-link">getModulePositions</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Gets the current module positions (azimuth and wheel position (meters)).</div>
-</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Gets the current pitch angle of the robot, as reported by the imu.</div>
-</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPose()" class="member-name-link">getPose</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
+<div class="block">Gets current acceleration of the robot in m/s/s.</div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRobotVelocity()" class="member-name-link">getRobotVelocity</a>()</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getFieldVelocity()" class="member-name-link">getFieldVelocity</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
+<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
+</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyroRotation3d()" class="member-name-link">getGyroRotation3d</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Gets the current gyro <code>Rotation3d</code> of the robot, as reported by the imu.</div>
+</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModulePositions()" class="member-name-link">getModulePositions</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Gets the current module positions (azimuth and wheel position (meters)).</div>
 </div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Gets the current roll angle of the robot, as reported by the imu.</div>
+<div class="block">Gets the current pitch angle of the robot, as reported by the imu.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</a>()</code></div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPose()" class="member-name-link">getPose</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Gets the current module states (azimuth and velocity)</div>
+<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d[]</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose)</code></div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRobotVelocity()" class="member-name-link">getRobotVelocity</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Get the swerve module poses and on the field relative to the robot.</div>
+<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Gets the current roll angle of the robot, as reported by the imu.</div>
+</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Gets the current module states (azimuth and velocity)</div>
+</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d[]</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Get the swerve module poses and on the field relative to the robot.</div>
+</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current yaw angle of the robot, as reported by the imu.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory&nbsp;trajectory)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory&nbsp;trajectory)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Post the trajectory to the field</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Setup the swerve module feedforward.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Resets odometry to the given pose.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set chassis speeds with closed-loop velocity control.</div>
 </div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setGyro(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyro</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;gyro)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Set the Gyroscope offset using a <code>Rotation3d</code> object.</div>
+</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
 <div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
 boolean&nbsp;isOpenLoop)</code></div>
@@ -666,6 +676,17 @@ loadScripts(document, 'script');</script>
 </section>
 </li>
 <li>
+<section class="detail" id="getAccel()">
+<h3>getAccel</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
+<div class="block">Gets current acceleration of the robot in m/s/s. If gyro unsupported returns empty.</div>
+<dl class="notes">
+<dt>Returns:</dt>
+<dd>acceleration of the robot as a <code>Translation3d</code></dd>
+</dl>
+</section>
+</li>
+<li>
 <section class="detail" id="setMotorIdleMode(boolean)">
 <h3>setMotorIdleMode</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setMotorIdleMode</span><wbr><span class="parameters">(boolean&nbsp;brake)</span></div>
@@ -747,6 +768,17 @@ loadScripts(document, 'script');</script>
 </dl>
 </section>
 </li>
+<li>
+<section class="detail" id="setGyro(edu.wpi.first.math.geometry.Rotation3d)">
+<h3>setGyro</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setGyro</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation3d&nbsp;gyro)</span></div>
+<div class="block">Set the Gyroscope offset using a <code>Rotation3d</code> object. (Only yaw works currently.)</div>
+<dl class="notes">
+<dt>Parameters:</dt>
+<dd><code>gyro</code> - Gyroscope offset.</dd>
+</dl>
+</section>
+</li>
 </ul>
 </section>
 </li>