diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index a1383b4..c9f126a 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,7 +1,7 @@ - + All Classes and Interfaces diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index 7587ccd..3add5fb 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,7 +1,7 @@ - + All Packages diff --git a/docs/constant-values.html b/docs/constant-values.html index f42246a..7b53422 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,7 +1,7 @@ - + Constant Field Values diff --git a/docs/help-doc.html b/docs/help-doc.html index 626a8ab..fdf09ee 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,7 +1,7 @@ - + API Help diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index 9d8089a..3bdcb49 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,7 +1,7 @@ - + A-Index diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index e5ee233..a595ed9 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,7 +1,7 @@ - + K-Index diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index 5f54f82..1c11082 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,7 +1,7 @@ - + L-Index diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index 748a668..6df957a 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,7 +1,7 @@ - + M-Index diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index 332fe88..8f09ba6 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,7 +1,7 @@ - + N-Index diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index 8eee079..06abc75 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,7 +1,7 @@ - + O-Index diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index 72eeab9..bbc102d 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,7 +1,7 @@ - + P-Index diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 542b87f..61ec97b 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,7 +1,7 @@ - + Q-Index diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index aca9e50..762dcf3 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,7 +1,7 @@ - + R-Index diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index 1f4f1b9..58809a3 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,7 +1,7 @@ - + S-Index diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index 8feca65..67aa39d 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,7 +1,7 @@ - + T-Index diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index dde57f5..4644b47 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,7 +1,7 @@ - + B-Index diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index 4ac3b7c..b21111e 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,7 +1,7 @@ - + U-Index diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index 965fc1c..f333329 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,7 +1,7 @@ - + V-Index diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index fd021b2..8502ba0 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,7 +1,7 @@ - + W-Index diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index aef98b8..05340e1 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,7 +1,7 @@ - + X-Index diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index 5b8a600..71d2372 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,7 +1,7 @@ - + Y-Index diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index dcab04c..463f96b 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,7 +1,7 @@ - + Z-Index diff --git a/docs/index-files/index-26.html b/docs/index-files/index-26.html index ad18f64..f9753c8 100644 --- a/docs/index-files/index-26.html +++ b/docs/index-files/index-26.html @@ -1,7 +1,7 @@ - + _-Index diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index 5cb7487..f26a0f9 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,7 +1,7 @@ - + C-Index @@ -93,6 +93,11 @@ loadScripts(document, 'script');
Initialize the CANCoder on the CANivore.
+
chassisVelocityCorrection - Variable in class swervelib.SwerveDrive
+
+
Correct chassis velocity in SwerveDrive.drive(Translation2d, double, boolean, boolean) using 254's + correction.
+
checkDirectory(File) - Method in class swervelib.parser.SwerveParser
Check directory structure.
diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index 3df8b24..4c85495 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,7 +1,7 @@ - + D-Index @@ -80,6 +80,10 @@ loadScripts(document, 'script');
DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson
 
+
disableSecondOrderKinematics() - Method in class swervelib.SwerveDrive
+
+
Disable second order kinematics.
+
drive - Variable in class swervelib.parser.json.ModuleJson
Drive motor device configuration.
diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index 5a97fd6..aeb6e04 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,7 +1,7 @@ - + E-Index @@ -53,6 +53,14 @@ loadScripts(document, 'script'); A B C D E F G H I K L M N O P Q R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values

E

+
enableSecondOrderKinematics() - Method in class swervelib.SwerveDrive
+
+
Enable second order kinematics for tracking purposes but completely untuned.
+
+
enableSecondOrderKinematics(double) - Method in class swervelib.SwerveDrive
+
+
Enable second order kinematics for simulation and modifying the feedforward.
+
encoder - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
Encoder as Analog Input.
diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index 3fe8159..298a187 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,7 +1,7 @@ - + F-Index diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index 4fc161f..d6b0517 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,7 +1,7 @@ - + G-Index diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index eac9071..dcf5e0e 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,7 +1,7 @@ - + H-Index diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index fd1d7d9..597b433 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,7 +1,7 @@ - + I-Index diff --git a/docs/index.html b/docs/index.html index ef7fe07..6d98352 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,7 +1,7 @@ - + Overview diff --git a/docs/member-search-index.js b/docs/member-search-index.js index 5b285e7..f019a5f 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = 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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":"SwerveModuleState2","l":"toSwerveModuleState()"},{"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.math","c":"SwerveDriveOdometry2","l":"update(Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[])","u":"update(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[])"},{"p":"swervelib.math","c":"SwervePoseEstimator2","l":"update(Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[])","u":"update(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[])"},{"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.math","c":"SwervePoseEstimator2","l":"updateWithTime(double, Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[])","u":"updateWithTime(double,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[])"},{"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","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 78e257c..19e27ac 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -1,7 +1,7 @@ - + Generated Documentation (Untitled) diff --git a/docs/overview-tree.html b/docs/overview-tree.html index 53f98f4..bd8c79a 100644 --- a/docs/overview-tree.html +++ b/docs/overview-tree.html @@ -1,7 +1,7 @@ - + Class Hierarchy diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html index 3379716..6dbe89d 100644 --- a/docs/swervelib/SwerveController.html +++ b/docs/swervelib/SwerveController.html @@ -1,7 +1,7 @@ - + SwerveController diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index e2a60ce..ed540fe 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,7 +1,7 @@ - + SwerveDrive @@ -91,70 +91,76 @@ loadScripts(document, 'script');
Modifier and Type
Field
Description
-
edu.wpi.first.wpilibj.smartdashboard.Field2d
-
field
+
boolean
+
chassisVelocityCorrection
+
Correct chassis velocity in drive(Translation2d, double, boolean, boolean) using 254's + correction.
+
+
edu.wpi.first.wpilibj.smartdashboard.Field2d
+
field
+
Field object.
-
private SwerveIMU
-
imu
-
+
private SwerveIMU
+
imu
+
Swerve IMU device for sensing the heading of the robot.
-
boolean
-
invertOdometry
-
+
boolean
+
invertOdometry
+
Invert odometry readings of drive motor positions, used as a patch for debugging currently.
-
final SwerveKinematics2
-
kinematics
-
+
final SwerveKinematics2
+
kinematics
+
Swerve Kinematics object utilizing second order kinematics.
-
private double
-
lastHeadingRadians
-
+
private double
+
lastHeadingRadians
+
The last heading set in radians.
-
private int
-
moduleSynchronizationCounter
-
+
private int
+
moduleSynchronizationCounter
+
Counter to synchronize the modules relative encoder with absolute encoder when not moving.
-
private SwerveIMUSimulation
-
simIMU
-
+
private SwerveIMUSimulation
+
simIMU
+
Simulation of the swerve drive.
-
edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
-
stateStdDevs
-
+
edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
+
stateStdDevs
+
Trustworthiness of the internal model of how motors should be moving Measured in expected standard deviation (meters of position and degrees of rotation)
-
SwerveController
-
swerveController
-
+
SwerveController
+
swerveController
+
Swerve controller for controlling heading of the robot.
-
final SwerveDriveConfiguration
-
swerveDriveConfiguration
-
+
final SwerveDriveConfiguration
+
swerveDriveConfiguration
+
Swerve drive configuration.
-
final SwervePoseEstimator2
-
swerveDrivePoseEstimator
-
+
final SwervePoseEstimator2
+
swerveDrivePoseEstimator
+
Swerve odometry.
-
private final SwerveModule[]
-
swerveModules
-
+
private final SwerveModule[]
+
swerveModules
+
Swerve modules.
-
edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
-
visionMeasurementStdDevs
-
+
edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
+
visionMeasurementStdDevs
+
Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of rotation)
@@ -207,136 +213,142 @@ loadScripts(document, 'script'); the given timestamp of the vision measurement.
void
-
drive(edu.wpi.first.math.geometry.Translation2d translation, +
disableSecondOrderKinematics()
+
+
Disable second order kinematics.
+
+
void
+
drive(edu.wpi.first.math.geometry.Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop)
-
+
The primary method for controlling the drivebase.
-
void
-
drive(edu.wpi.first.math.geometry.Translation2d translation, +
void
+
drive(edu.wpi.first.math.geometry.Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop, boolean headingCorrection)
-
+
The primary method for controlling the drivebase.
-
Optional<edu.wpi.first.math.geometry.Translation3d>
-
getAccel()
+
void
+
enableSecondOrderKinematics()
+
+
Enable second order kinematics for tracking purposes but completely untuned.
+
+
void
+
enableSecondOrderKinematics(double moduleFeedforward)
+
Enable second order kinematics for simulation and modifying the feedforward.
+
+
Optional<edu.wpi.first.math.geometry.Translation3d>
+
getAccel()
+
Gets current acceleration of the robot in m/s/s.
-
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getFieldVelocity()
-
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
getFieldVelocity()
+
Gets the current field-relative velocity (x, y and omega) of the robot
-
edu.wpi.first.math.geometry.Rotation3d
-
getGyroRotation3d()
-
+
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()
-
+
edu.wpi.first.math.kinematics.SwerveModulePosition[]
+
getModulePositions()
+
Gets the current module positions (azimuth and wheel position (meters)).
-
SwerveModule[]
-
getModules()
-
+
SwerveModule[]
+
getModules()
+
Get the SwerveModules associated with the SwerveDrive.
-
edu.wpi.first.math.geometry.Rotation2d
-
getPitch()
-
+
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()
-
+
edu.wpi.first.math.geometry.Pose2d
+
getPose()
+
Gets the current pose (position and rotation) of the robot, as reported by odometry.
-
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getRobotVelocity()
-
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
getRobotVelocity()
+
Gets the current robot-relative velocity (x, y and omega) of the robot
-
edu.wpi.first.math.geometry.Rotation2d
-
getRoll()
-
+
edu.wpi.first.math.geometry.Rotation2d
+
getRoll()
+
Gets the current roll angle of the robot, as reported by the imu.
-
SwerveModuleState2[]
-
getStates()
-
+
SwerveModuleState2[]
+
getStates()
+
Gets the current module states (azimuth and velocity)
-
SwerveController
-
getSwerveController()
-
+
SwerveController
+
getSwerveController()
+
Helper function to get the swerveController for the SwerveDrive which can be used to generate ChassisSpeeds for the robot to orient it correctly given axis or angles, and apply SlewRateLimiter to given inputs.
-
edu.wpi.first.math.geometry.Pose2d[]
-
getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
-
+
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()
-
+
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
-
resetEncoders()
-
+
void
+
resetEncoders()
+
Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in autonomous.
-
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 and second order kinematics.
-
void
-
setGyro(edu.wpi.first.math.geometry.Rotation3d gyro)
-
+
void
+
setGyro(edu.wpi.first.math.geometry.Rotation3d gyro)
+
Set the expected gyroscope angle using a Rotation3d object.
-
void
-
setMaximumSpeed(double maximumSpeed)
-
-
Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the - setRawModuleStates(SwerveModuleState2[], boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
-
void
-
setMaximumSpeed(double maximumSpeed, - boolean updateModuleFeedforward)
+
setMaximumSpeed(double maximumSpeed)
Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and SwerveDriveConfiguration.maxSpeed which is used for the @@ -344,42 +356,51 @@ loadScripts(document, 'script'); SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
void
-
setMaximumSpeeds(double attainableMaxModuleSpeedMetersPerSecond, +
setMaximumSpeed(double maximumSpeed, + boolean updateModuleFeedforward)
+
+
Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and + SwerveDriveConfiguration.maxSpeed which is used for the + setRawModuleStates(SwerveModuleState2[], boolean) function and + SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
+
+
void
+
setMaximumSpeeds(double attainableMaxModuleSpeedMetersPerSecond, double attainableMaxTranslationalSpeedMetersPerSecond, double attainableMaxRotationalVelocityRadiansPerSecond)
-
+
Set the maximum speeds for desaturation.
-
void
-
setModuleStates(SwerveModuleState2[] desiredStates, +
void
+
setModuleStates(SwerveModuleState2[] desiredStates, boolean isOpenLoop)
-
+
Set the module states (azimuth and velocity) directly.
-
void
-
setMotorIdleMode(boolean brake)
-
+
void
+
setMotorIdleMode(boolean brake)
+
Sets the drive motors to brake/coast mode.
-
private void
-
setRawModuleStates(SwerveModuleState2[] desiredStates, +
private void
+
setRawModuleStates(SwerveModuleState2[] desiredStates, boolean isOpenLoop)
-
+
Set the module states (azimuth and velocity) directly.
-
void
-
synchronizeModuleEncoders()
-
+
void
+
synchronizeModuleEncoders()
+
Synchronize angle motor integrated encoders with data from absolute encoders.
-
void
-
updateOdometry()
-
+
void
+
updateOdometry()
+
Update odometry should be run every loop.
-
void
-
zeroGyro()
-
+
void
+
zeroGyro()
+
Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
@@ -465,6 +486,14 @@ loadScripts(document, 'script');
  • +
    +

    chassisVelocityCorrection

    +
    public boolean chassisVelocityCorrection
    +
    Correct chassis velocity in drive(Translation2d, double, boolean, boolean) using 254's + correction.
    +
    +
    • +

  • imu

    private SwerveIMU imu
    @@ -961,6 +990,32 @@ loadScripts(document, 'script'); autonomous.
    • +
  • +
    +

    enableSecondOrderKinematics

    +
    public void enableSecondOrderKinematics(double moduleFeedforward)
    +
    Enable second order kinematics for simulation and modifying the feedforward. Second order kinematics could increase + accuracy in odometry.
    +
    +
    Parameters:
    +
    moduleFeedforward - Module feedforward to apply should be between [-1, 1] excluding 0.
    +
    +
    +
    • +
  • +
    +

    enableSecondOrderKinematics

    +
    public void enableSecondOrderKinematics()
    +
    Enable second order kinematics for tracking purposes but completely untuned.
    +
    +
    • +
  • +
    +

    disableSecondOrderKinematics

    +
    public void disableSecondOrderKinematics()
    +
    Disable second order kinematics.
    +
    +
    • diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index 5201f64..fbe27ca 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,7 +1,7 @@ - + SwerveModule diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html index 1bc95b5..bc4c205 100644 --- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html +++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html @@ -1,7 +1,7 @@ - + AnalogAbsoluteEncoderSwerve diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index c5ea199..989f169 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,7 +1,7 @@ - + CANCoderSwerve diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index 016ab82..49f75a5 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,7 +1,7 @@ - + SparkMaxEncoderSwerve diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index 19d353a..e9c4db4 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,7 +1,7 @@ - + SwerveAbsoluteEncoder diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index d39835b..272cb7e 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.encoders diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index 7ee5078..378e043 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.encoders Class Hierarchy diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html index 8f91144..6c470b6 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,7 +1,7 @@ - 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+ TalonFXSimProfile diff --git a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html index ecec8a0..74dcf17 100644 --- a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html @@ -1,7 +1,7 @@ - + TalonSRXSimProfile diff --git a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html index 3b982fc..8bd67d2 100644 --- a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html +++ b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html @@ -1,7 +1,7 @@ - + VictorSPXSimProfile diff --git a/docs/swervelib/simulation/ctre/package-summary.html b/docs/swervelib/simulation/ctre/package-summary.html index 78f6430..2f1e676 100644 --- a/docs/swervelib/simulation/ctre/package-summary.html +++ b/docs/swervelib/simulation/ctre/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.simulation.ctre diff --git a/docs/swervelib/simulation/ctre/package-tree.html b/docs/swervelib/simulation/ctre/package-tree.html index ab5f08e..131b5be 100644 --- a/docs/swervelib/simulation/ctre/package-tree.html +++ b/docs/swervelib/simulation/ctre/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.simulation.ctre Class Hierarchy diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html index 1ce0161..688a905 100644 --- a/docs/swervelib/simulation/package-summary.html +++ b/docs/swervelib/simulation/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.simulation diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html index 04b3705..408daa9 100644 --- a/docs/swervelib/simulation/package-tree.html +++ b/docs/swervelib/simulation/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.simulation Class Hierarchy diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html index bc9a0c3..b70ea94 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html @@ -1,7 +1,7 @@ - + SwerveDriveTelemetry.TelemetryVerbosity diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html index ec96133..7b17f15 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html @@ -1,7 +1,7 @@ - + SwerveDriveTelemetry diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html index 96f31fd..2320b82 100644 --- a/docs/swervelib/telemetry/package-summary.html +++ b/docs/swervelib/telemetry/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.telemetry diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html index b799c24..37c04e2 100644 --- a/docs/swervelib/telemetry/package-tree.html +++ b/docs/swervelib/telemetry/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.telemetry Class Hierarchy diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java index 0857150..f858eea 100644 --- a/swervelib/SwerveDrive.java +++ b/swervelib/SwerveDrive.java @@ -78,23 +78,28 @@ public class SwerveDrive /** * Invert odometry readings of drive motor positions, used as a patch for debugging currently. */ - public boolean invertOdometry = false; + public boolean invertOdometry = false; + /** + * Correct chassis velocity in {@link SwerveDrive#drive(Translation2d, double, boolean, boolean)} using 254's + * correction. + */ + public boolean chassisVelocityCorrection = true; /** * Swerve IMU device for sensing the heading of the robot. */ - private SwerveIMU imu; + private SwerveIMU imu; /** * Simulation of the swerve drive. */ - private SwerveIMUSimulation simIMU; + private SwerveIMUSimulation simIMU; /** * Counter to synchronize the modules relative encoder with absolute encoder when not moving. */ - private int moduleSynchronizationCounter = 0; + private int moduleSynchronizationCounter = 0; /** * The last heading set in radians. */ - private double lastHeadingRadians = 0; + private double lastHeadingRadians = 0; /** * Creates a new swerve drivebase subsystem. Robot is controlled via the {@link SwerveDrive#drive} method, or via the @@ -225,14 +230,17 @@ public class SwerveDrive // Thank you to Jared Russell FRC254 for Open Loop Compensation Code // https://www.chiefdelphi.com/t/whitepaper-swerve-drive-skew-and-second-order-kinematics/416964/5 - double dtConstant = 0.009; - Pose2d robotPoseVel = new Pose2d(velocity.vxMetersPerSecond * dtConstant, - velocity.vyMetersPerSecond * dtConstant, - Rotation2d.fromRadians(velocity.omegaRadiansPerSecond * dtConstant)); - Twist2d twistVel = SwerveMath.PoseLog(robotPoseVel); + if (chassisVelocityCorrection) + { + double dtConstant = 0.009; + Pose2d robotPoseVel = new Pose2d(velocity.vxMetersPerSecond * dtConstant, + velocity.vyMetersPerSecond * dtConstant, + Rotation2d.fromRadians(velocity.omegaRadiansPerSecond * dtConstant)); + Twist2d twistVel = SwerveMath.PoseLog(robotPoseVel); - velocity = new ChassisSpeeds(twistVel.dx / dtConstant, twistVel.dy / dtConstant, - twistVel.dtheta / dtConstant); + velocity = new ChassisSpeeds(twistVel.dx / dtConstant, twistVel.dy / dtConstant, + twistVel.dtheta / dtConstant); + } // Heading Angular Velocity Deadband, might make a configuration option later. // Originally made by Team 1466 Webb Robotics. @@ -857,4 +865,34 @@ public class SwerveDrive } } + /** + * Enable second order kinematics for simulation and modifying the feedforward. Second order kinematics could increase + * accuracy in odometry. + * + * @param moduleFeedforward Module feedforward to apply should be between [-1, 1] excluding 0. + */ + public void enableSecondOrderKinematics(double moduleFeedforward) + { + for (SwerveModule module : swerveModules) + { + module.configuration.moduleSteerFFCL = moduleFeedforward; + } + } + + /** + * Enable second order kinematics for tracking purposes but completely untuned. + */ + public void enableSecondOrderKinematics() + { + enableSecondOrderKinematics(-0.00000000000000001); + } + + /** + * Disable second order kinematics. + */ + public void disableSecondOrderKinematics() + { + enableSecondOrderKinematics(0); + } + } diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java index e77a8e0..4013b94 100644 --- a/swervelib/SwerveModule.java +++ b/swervelib/SwerveModule.java @@ -209,7 +209,7 @@ public class SwerveModule */ public void setAngle(double angle) { - angleMotor.setReference(angle, configuration.moduleSteerFFCL); + angleMotor.setReference(angle, 0); lastState.angle = Rotation2d.fromDegrees(angle); }