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Updated swervelib telemetry configurability. Reliable gyroscope modulo

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thenetworkgrinch
2023-02-24 19:11:05 -06:00
parent 9b699291e8
commit 69edd17103
121 changed files with 2280 additions and 501 deletions
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docs/swervelib/telemetry/SwerveDriveTelemetry.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<!-- Generated by javadoc (17) on Fri Feb 24 19:09:47 CST 2023 -->
<title>SwerveDriveTelemetry</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="2023-02-23">
<meta name="dc.created" content="2023-02-24">
<meta name="description" content="declaration: package: swervelib.telemetry, class: SwerveDriveTelemetry">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -44,7 +44,7 @@ loadScripts(document, 'script');</script>
<div>
<ul class="sub-nav-list">
<li>Summary:&nbsp;</li>
<li>Nested&nbsp;|&nbsp;</li>
<li><a href="#nested-class-summary">Nested</a>&nbsp;|&nbsp;</li>
<li><a href="#field-summary">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method-summary">Method</a></li>
@@ -82,6 +82,23 @@ loadScripts(document, 'script');</script>
</section>
<section class="summary">
<ul class="summary-list">
<!-- ======== NESTED CLASS SUMMARY ======== -->
<li>
<section class="nested-class-summary" id="nested-class-summary">
<h2>Nested Class Summary</h2>
<div class="caption"><span>Nested Classes</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Class</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>static enum&nbsp;</code></div>
<div class="col-second even-row-color"><code><a href="SwerveDriveTelemetry.TelemetryVerbosity.html" class="type-name-link" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></code></div>
<div class="col-last even-row-color">
<div class="block">Verbosity of telemetry data sent back.</div>
</div>
</div>
</section>
</li>
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
@@ -106,51 +123,61 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">The direction the robot should be facing when the "Robot Rotation" is zero or blank.</div>
</div>
<div class="col-first odd-row-color"><code>static double</code></div>
<div class="col-second odd-row-color"><code><a href="#maxAngularVelocity" class="member-name-link">maxAngularVelocity</a></code></div>
<div class="col-first odd-row-color"><code>static boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#isSimulation" class="member-name-link">isSimulation</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The maximum achievable angular velocity of the robot.</div>
<div class="block">State of simulation of the Robot, used to optimize retrieval.</div>
</div>
<div class="col-first even-row-color"><code>static double</code></div>
<div class="col-second even-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-second even-row-color"><code><a href="#maxAngularVelocity" class="member-name-link">maxAngularVelocity</a></code></div>
<div class="col-last even-row-color">
<div class="block">The maximum achievable angular velocity of the robot.</div>
</div>
<div class="col-first odd-row-color"><code>static double</code></div>
<div class="col-second odd-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The maximum achievable speed of the modules, used to adjust the size of the vectors.</div>
</div>
<div class="col-first odd-row-color"><code>static double[]</code></div>
<div class="col-second odd-row-color"><code><a href="#measuredChassisSpeeds" class="member-name-link">measuredChassisSpeeds</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>static double[]</code></div>
<div class="col-second even-row-color"><code><a href="#measuredChassisSpeeds" class="member-name-link">measuredChassisSpeeds</a></code></div>
<div class="col-last even-row-color">
<div class="block">The maximum achievable angular velocity of the robot.</div>
</div>
<div class="col-first even-row-color"><code>static double[]</code></div>
<div class="col-second even-row-color"><code><a href="#measuredStates" class="member-name-link">measuredStates</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>static double[]</code></div>
<div class="col-second odd-row-color"><code><a href="#measuredStates" class="member-name-link">measuredStates</a></code></div>
<div class="col-last odd-row-color">
<div class="block">An array of rotation and velocity values describing the measured state of each swerve module</div>
</div>
<div class="col-first odd-row-color"><code>static int</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleCount" class="member-name-link">moduleCount</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>static int</code></div>
<div class="col-second even-row-color"><code><a href="#moduleCount" class="member-name-link">moduleCount</a></code></div>
<div class="col-last even-row-color">
<div class="block">The number of swerve modules</div>
</div>
<div class="col-first even-row-color"><code>static double</code></div>
<div class="col-second even-row-color"><code><a href="#robotRotation" class="member-name-link">robotRotation</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>static double</code></div>
<div class="col-second odd-row-color"><code><a href="#robotRotation" class="member-name-link">robotRotation</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The robot's current rotation based on odometry or gyro readings</div>
</div>
<div class="col-first odd-row-color"><code>static <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second odd-row-color"><code><a href="#rotationUnit" class="member-name-link">rotationUnit</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>static <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second even-row-color"><code><a href="#rotationUnit" class="member-name-link">rotationUnit</a></code></div>
<div class="col-last even-row-color">
<div class="block">The units of the module rotations and robot rotation</div>
</div>
<div class="col-first even-row-color"><code>static double</code></div>
<div class="col-second even-row-color"><code><a href="#sizeFrontBack" class="member-name-link">sizeFrontBack</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>static double</code></div>
<div class="col-second odd-row-color"><code><a href="#sizeFrontBack" class="member-name-link">sizeFrontBack</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The distance between the front and back modules.</div>
</div>
<div class="col-first odd-row-color"><code>static double</code></div>
<div class="col-second odd-row-color"><code><a href="#sizeLeftRight" class="member-name-link">sizeLeftRight</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>static double</code></div>
<div class="col-second even-row-color"><code><a href="#sizeLeftRight" class="member-name-link">sizeLeftRight</a></code></div>
<div class="col-last even-row-color">
<div class="block">The distance between the left and right modules.</div>
</div>
<div class="col-first odd-row-color"><code>static <a href="SwerveDriveTelemetry.TelemetryVerbosity.html" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></code></div>
<div class="col-second odd-row-color"><code><a href="#verbosity" class="member-name-link">verbosity</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The current telemetry verbosity level.</div>
</div>
<div class="col-first even-row-color"><code>static double[]</code></div>
<div class="col-second even-row-color"><code><a href="#wheelLocations" class="member-name-link">wheelLocations</a></code></div>
<div class="col-last even-row-color">
@@ -206,6 +233,20 @@ loadScripts(document, 'script');</script>
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="verbosity">
<h3>verbosity</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="SwerveDriveTelemetry.TelemetryVerbosity.html" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></span>&nbsp;<span class="element-name">verbosity</span></div>
<div class="block">The current telemetry verbosity level.</div>
</section>
</li>
<li>
<section class="detail" id="isSimulation">
<h3>isSimulation</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">isSimulation</span></div>
<div class="block">State of simulation of the Robot, used to optimize retrieval.</div>
</section>
</li>
<li>
<section class="detail" id="moduleCount">
<h3>moduleCount</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">moduleCount</span></div>