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Updated swervelib
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib</a></div>
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<h2 title="Class SwerveController" class="title">Class SwerveController</h2>
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<li>frc.robot.subsystems.swervedrive2.swervelib.SwerveController</li>
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<pre>public class <span class="typeNameLabel">SwerveController</span>
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extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
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<div class="block">Controller class used to convert raw inputs into robot speeds.</div>
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<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
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<td class="colFirst"><code><a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#config">config</a></span></code></th>
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<td class="colLast">
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<div class="block"><a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveControllerConfiguration</code></a> object storing data to generate the <code>PIDController</code> for controlling the
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robot heading, and deadband for heading joystick.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#lastAngle">lastAngle</a></span></code></th>
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<td class="colLast">
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<div class="block">Last angle to robot was set to.</div>
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</td>
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<tr class="altColor">
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<td class="colFirst"><code>private edu.wpi.first.math.controller.PIDController</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#thetaController">thetaController</a></span></code></th>
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<td class="colLast">
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<div class="block">PID Controller for the robot heading.</div>
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</td>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveControllerConfiguration)">SwerveController</a></span>​(<a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a> cfg)</code></th>
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<td class="colLast">
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<div class="block">Construct the SwerveController object which is used for determining the speeds of the robot based on controller
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input.</div>
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</td>
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<table class="memberSummary">
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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<tr id="i0" class="altColor">
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<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTargetSpeeds(double,double,double,double)">getTargetSpeeds</a></span>​(double xInput,
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double yInput,
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double angle,
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double currentHeadingAngleRadians)</code></th>
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<td class="colLast">
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<div class="block">Get the chassis speeds based on controller input of 1 joystick and a angle.</div>
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</td>
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</tr>
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<tr id="i1" class="rowColor">
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<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTargetSpeeds(double,double,double,double,double)">getTargetSpeeds</a></span>​(double xInput,
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double yInput,
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double headingX,
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double headingY,
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double currentHeadingAngleRadians)</code></th>
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<td class="colLast">
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<div class="block">Get the chassis speeds based on controller input of 2 joysticks.</div>
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</td>
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</tr>
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<tr id="i2" class="altColor">
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<td class="colFirst"><code>static edu.wpi.first.math.geometry.Translation2d</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)">getTranslation2d</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)</code></th>
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<td class="colLast">
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<div class="block">Helper function to get the <code>Translation2d</code> of the chassis speeds given the <code>ChassisSpeeds</code>.</div>
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</td>
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</tr>
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<tr id="i3" class="rowColor">
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<td class="colFirst"><code>boolean</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#withinHypotDeadband(double,double)">withinHypotDeadband</a></span>​(double x,
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double y)</code></th>
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<td class="colLast">
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<div class="block">Calculate the hypot deadband and check if the joystick is within it.</div>
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</td>
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<a id="config">
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<h4>config</h4>
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<pre>public final <a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a> config</pre>
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<div class="block"><a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveControllerConfiguration</code></a> object storing data to generate the <code>PIDController</code> for controlling the
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||||
robot heading, and deadband for heading joystick.</div>
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</li>
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</ul>
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<a id="thetaController">
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<h4>thetaController</h4>
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<pre>private final edu.wpi.first.math.controller.PIDController thetaController</pre>
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<div class="block">PID Controller for the robot heading.</div>
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</li>
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</ul>
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<a id="lastAngle">
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<h4>lastAngle</h4>
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<pre>public double lastAngle</pre>
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<div class="block">Last angle to robot was set to.</div>
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<h4>SwerveController</h4>
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<pre>public SwerveController​(<a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a> cfg)</pre>
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<div class="block">Construct the SwerveController object which is used for determining the speeds of the robot based on controller
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input.</div>
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</li>
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</ul>
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</li>
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<h3>Method Detail</h3>
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<a id="getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)">
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<h4>getTranslation2d</h4>
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<pre class="methodSignature">public static edu.wpi.first.math.geometry.Translation2d getTranslation2d​(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)</pre>
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<div class="block">Helper function to get the <code>Translation2d</code> of the chassis speeds given the <code>ChassisSpeeds</code>.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>speeds</code> - Chassis speeds.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd><code>Translation2d</code> of the speed the robot is going in.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="withinHypotDeadband(double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>withinHypotDeadband</h4>
|
||||
<pre class="methodSignature">public boolean withinHypotDeadband​(double x,
|
||||
double y)</pre>
|
||||
<div class="block">Calculate the hypot deadband and check if the joystick is within it.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>x</code> - The x value for the joystick in which the deadband should be applied.</dd>
|
||||
<dd><code>y</code> - The y value for the joystick in which the deadband should be applied.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getTargetSpeeds(double,double,double,double)">
|
||||
<!-- -->
|
||||
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|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getTargetSpeeds</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds​(double xInput,
|
||||
double yInput,
|
||||
double angle,
|
||||
double currentHeadingAngleRadians)</pre>
|
||||
<div class="block">Get the chassis speeds based on controller input of 1 joystick and a angle.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>xInput</code> - X joystick input for the robot to move in the X direction.</dd>
|
||||
<dd><code>yInput</code> - Y joystick input for the robot to move in the Y direction.</dd>
|
||||
<dd><code>angle</code> - The desired angle of the robot in radians.</dd>
|
||||
<dd><code>currentHeadingAngleRadians</code> - The current robot heading in radians.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd><code>ChassisSpeeds</code> which can be sent to th Swerve Drive.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getTargetSpeeds(double,double,double,double,double)">
|
||||
<!-- -->
|
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</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
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<h4>getTargetSpeeds</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds​(double xInput,
|
||||
double yInput,
|
||||
double headingX,
|
||||
double headingY,
|
||||
double currentHeadingAngleRadians)</pre>
|
||||
<div class="block">Get the chassis speeds based on controller input of 2 joysticks. One for speeds in which direction. The other for
|
||||
the angle of the robot.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>xInput</code> - X joystick input for the robot to move in the X direction.</dd>
|
||||
<dd><code>yInput</code> - Y joystick input for the robot to move in the Y direction.</dd>
|
||||
<dd><code>headingX</code> - X joystick which controls the angle of the robot.</dd>
|
||||
<dd><code>headingY</code> - Y joystick which controls the angle of the robot.</dd>
|
||||
<dd><code>currentHeadingAngleRadians</code> - The current robot heading in radians.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd><code>ChassisSpeeds</code> which can be sent to th Swerve Drive.</dd>
|
||||
</dl>
|
||||
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|
||||
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|
||||
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib</a></div>
|
||||
<h2 title="Class SwerveDrive" class="title">Class SwerveDrive</h2>
|
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</div>
|
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<div class="contentContainer">
|
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<ul class="inheritance">
|
||||
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
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|
||||
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|
||||
<li>frc.robot.subsystems.swervedrive2.swervelib.SwerveDrive</li>
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|
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|
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|
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|
||||
<pre>public class <span class="typeNameLabel">SwerveDrive</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Swerve Drive class representing and controlling the swerve drive.</div>
|
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|
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|
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|
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|
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<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The current angle of the robot and last time odometry during simulations.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.wpilibj.smartdashboard.Field2d</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#field">field</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Field object.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private <a href="imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#imu">imu</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve IMU device for sensing the heading of the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="math/SwerveKinematics2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveKinematics2</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kinematics">kinematics</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve Kinematics object utilizing second order kinematics.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#lastTime">lastTime</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The current angle of the robot and last time odometry during simulations.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="SwerveController.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveController</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveController">swerveController</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve controller for controlling heading of the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveDriveConfiguration">swerveDriveConfiguration</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve drive configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveDrivePoseEstimator">swerveDrivePoseEstimator</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve odometry.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveModule</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveModules">swerveModules</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve modules.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private edu.wpi.first.wpilibj.Timer</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#timer">timer</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Time during simulations.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
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|
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|
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|
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|
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
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<tr>
|
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<th class="colFirst" scope="col">Constructor</th>
|
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<th class="colLast" scope="col">Description</th>
|
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|
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|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveControllerConfiguration)">SwerveDrive</a></span>​(<a href="parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> config,
|
||||
<a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a> controllerConfig)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Creates a new swerve drivebase subsystem.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.summary">
|
||||
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|
||||
</a>
|
||||
<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)">drive</a></span>​(edu.wpi.first.math.geometry.Translation2d translation,
|
||||
double rotation,
|
||||
boolean fieldRelative,
|
||||
boolean isOpenLoop)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The primary method for controlling the drivebase.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getFieldVelocity()">getFieldVelocity</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getModulePositions()">getModulePositions</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Gets the current module positions (azimuth and wheel position (meters))</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.geometry.Rotation2d</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPitch()">getPitch</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.geometry.Pose2d</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPose()">getPose</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getRobotVelocity()">getRobotVelocity</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code><a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getStates()">getStates</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Gets the current module states (azimuth and velocity)</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.geometry.Pose2d[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)">getSwerveModulePoses</a></span>​(edu.wpi.first.math.geometry.Pose2d robotPose)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the swerve module poses and on the field relative to the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i8" class="altColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.geometry.Rotation2d</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getYaw()">getYaw</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i9" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)">replaceSwerveModuleFeedforward</a></span>​(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Setup the swerve module feedforward.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i10" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)">resetOdometry</a></span>​(edu.wpi.first.math.geometry.Pose2d pose)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Resets odometry to the given pose.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i11" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)">setChassisSpeeds</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set field-relative chassis speeds with closed-loop velocity control.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i12" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setDriveBrake()">setDriveBrake</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i13" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setModuleStates(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2%5B%5D,boolean)">setModuleStates</a></span>​(<a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] desiredStates,
|
||||
boolean isOpenLoop)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the module states (azimuth and velocity) directly.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i14" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setMotorBrake(boolean)">setMotorBrake</a></span>​(boolean brake)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Sets the drive motors to brake/coast mode.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i15" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#updateOdometry()">updateOdometry</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Update odometry should be run every loop.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i16" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#zeroGyro()">zeroGyro</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
||||
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|
||||
</a>
|
||||
<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="kinematics">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>kinematics</h4>
|
||||
<pre>public final <a href="math/SwerveKinematics2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveKinematics2</a> kinematics</pre>
|
||||
<div class="block">Swerve Kinematics object utilizing second order kinematics.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="swerveDriveConfiguration">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>swerveDriveConfiguration</h4>
|
||||
<pre>public final <a href="parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> swerveDriveConfiguration</pre>
|
||||
<div class="block">Swerve drive configuration.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="swerveDrivePoseEstimator">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>swerveDrivePoseEstimator</h4>
|
||||
<pre>public final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator swerveDrivePoseEstimator</pre>
|
||||
<div class="block">Swerve odometry.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="swerveModules">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>swerveModules</h4>
|
||||
<pre>private final <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveModule</a>[] swerveModules</pre>
|
||||
<div class="block">Swerve modules.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="field">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>field</h4>
|
||||
<pre>public edu.wpi.first.wpilibj.smartdashboard.Field2d field</pre>
|
||||
<div class="block">Field object.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="swerveController">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>swerveController</h4>
|
||||
<pre>public <a href="SwerveController.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveController</a> swerveController</pre>
|
||||
<div class="block">Swerve controller for controlling heading of the robot.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="imu">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>imu</h4>
|
||||
<pre>private <a href="imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a> imu</pre>
|
||||
<div class="block">Swerve IMU device for sensing the heading of the robot.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angle">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>angle</h4>
|
||||
<pre>private double angle</pre>
|
||||
<div class="block">The current angle of the robot and last time odometry during simulations.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="lastTime">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>lastTime</h4>
|
||||
<pre>private double lastTime</pre>
|
||||
<div class="block">The current angle of the robot and last time odometry during simulations.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="timer">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>timer</h4>
|
||||
<pre>private edu.wpi.first.wpilibj.Timer timer</pre>
|
||||
<div class="block">Time during simulations.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
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|
||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveControllerConfiguration)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>SwerveDrive</h4>
|
||||
<pre>public SwerveDrive​(<a href="parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> config,
|
||||
<a href="parser/SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a> controllerConfig)</pre>
|
||||
<div class="block">Creates a new swerve drivebase subsystem. Robot is controlled via the drive() method, or via the setModuleStates()
|
||||
method. The drive() method incorporates kinematics— it takes a translation and rotation, as well as parameters for
|
||||
field-centric and closed-loop velocity control. setModuleStates() takes a list of SwerveModuleStates and directly
|
||||
passes them to the modules. This subsystem also handles odometry.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.detail">
|
||||
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|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>drive</h4>
|
||||
<pre class="methodSignature">public void drive​(edu.wpi.first.math.geometry.Translation2d translation,
|
||||
double rotation,
|
||||
boolean fieldRelative,
|
||||
boolean isOpenLoop)</pre>
|
||||
<div class="block">The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, and calculates and
|
||||
commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel
|
||||
velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>translation</code> - <code>Translation2d</code> that is the commanded linear velocity of the robot, in meters per
|
||||
second. In robot-relative mode, positive x is torwards the bow (front) and positive y is
|
||||
torwards port (left). In field-relative mode, positive x is away from the alliance wall
|
||||
(field North) and positive y is torwards the left wall when looking through the driver station
|
||||
glass (field West).</dd>
|
||||
<dd><code>rotation</code> - Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot
|
||||
relativity.</dd>
|
||||
<dd><code>fieldRelative</code> - Drive mode. True for field-relative, false for robot-relative.</dd>
|
||||
<dd><code>isOpenLoop</code> - Whether to use closed-loop velocity control. Set to true to disable closed-loop.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setModuleStates(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2[],boolean)">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>setModuleStates</h4>
|
||||
<pre class="methodSignature">public void setModuleStates​(<a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] desiredStates,
|
||||
boolean isOpenLoop)</pre>
|
||||
<div class="block">Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>desiredStates</code> - A list of SwerveModuleStates to send to the modules.</dd>
|
||||
<dd><code>isOpenLoop</code> - Whether to use closed-loop velocity control. Set to true to disable closed-loop.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>setChassisSpeeds</h4>
|
||||
<pre class="methodSignature">public void setChassisSpeeds​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</pre>
|
||||
<div class="block">Set field-relative chassis speeds with closed-loop velocity control.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>chassisSpeeds</code> - Field-relative.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getPose()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>getPose</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.geometry.Pose2d getPose()</pre>
|
||||
<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The robot's pose</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getFieldVelocity()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>getFieldVelocity</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.kinematics.ChassisSpeeds getFieldVelocity()</pre>
|
||||
<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>A ChassisSpeeds object of the current field-relative velocity</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getRobotVelocity()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getRobotVelocity</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.kinematics.ChassisSpeeds getRobotVelocity()</pre>
|
||||
<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>A ChassisSpeeds object of the current robot-relative velocity</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="resetOdometry(edu.wpi.first.math.geometry.Pose2d)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>resetOdometry</h4>
|
||||
<pre class="methodSignature">public void resetOdometry​(edu.wpi.first.math.geometry.Pose2d pose)</pre>
|
||||
<div class="block">Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this
|
||||
method. However, if either gyro angle or module position is reset, this must be called in order for odometry to
|
||||
keep working.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>pose</code> - The pose to set the odometry to</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getStates()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getStates</h4>
|
||||
<pre class="methodSignature">public <a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] getStates()</pre>
|
||||
<div class="block">Gets the current module states (azimuth and velocity)</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>A list of SwerveModuleStates containing the current module states</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getModulePositions()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getModulePositions</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.kinematics.SwerveModulePosition[] getModulePositions()</pre>
|
||||
<div class="block">Gets the current module positions (azimuth and wheel position (meters))</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>A list of SwerveModulePositions containg the current module positions</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="zeroGyro()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>zeroGyro</h4>
|
||||
<pre class="methodSignature">public void zeroGyro()</pre>
|
||||
<div class="block">Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getYaw()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getYaw</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.geometry.Rotation2d getYaw()</pre>
|
||||
<div class="block">Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The yaw as a <code>Rotation2d</code> angle</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getPitch()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getPitch</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.geometry.Rotation2d getPitch()</pre>
|
||||
<div class="block">Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The heading as a <code>Rotation2d</code> angle</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setMotorBrake(boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setMotorBrake</h4>
|
||||
<pre class="methodSignature">public void setMotorBrake​(boolean brake)</pre>
|
||||
<div class="block">Sets the drive motors to brake/coast mode.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>brake</code> - True to set motors to brake mode, false for coast.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setDriveBrake()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setDriveBrake</h4>
|
||||
<pre class="methodSignature">public void setDriveBrake()</pre>
|
||||
<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getSwerveModulePoses</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.geometry.Pose2d[] getSwerveModulePoses​(edu.wpi.first.math.geometry.Pose2d robotPose)</pre>
|
||||
<div class="block">Get the swerve module poses and on the field relative to the robot.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>robotPose</code> - Robot pose.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Swerve module poses.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>replaceSwerveModuleFeedforward</h4>
|
||||
<pre class="methodSignature">public void replaceSwerveModuleFeedforward​(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)</pre>
|
||||
<div class="block">Setup the swerve module feedforward.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>feedforward</code> - Feedforward for the drive motor on swerve modules.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="updateOdometry()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>updateOdometry</h4>
|
||||
<pre class="methodSignature">public void updateOdometry()</pre>
|
||||
<div class="block">Update odometry should be run every loop.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
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||||
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<h2 title="Class SwerveModule" class="title">Class SwerveModule</h2>
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||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
<div class="description">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<hr>
|
||||
<pre>public class <span class="typeNameLabel">SwerveModule</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">The Swerve Module class which represents and controls Swerve Modules for the swerve drive.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="summary">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- =========== FIELD SUMMARY =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.summary">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private <a href="encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoder">absoluteEncoder</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Absolute encoder for swerve drive.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Current state.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private <a href="motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotor">angleMotor</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve Motors.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleOffset">angleOffset</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Angle offset from the absolute encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="parser/SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configuration">configuration</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve module configuration options.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private <a href="motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotor">driveMotor</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve Motors.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#dt">dt</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Current state.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fakePos">fakePos</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Current state.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.controller.SimpleMotorFeedforward</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#feedforward">feedforward</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Feedforward for drive motor during closed loop control.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#lastAngle">lastAngle</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Last angle set for the swerve module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#lastTime">lastTime</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Current state.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleNumber">moduleNumber</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Module number for kinematics, usually 0 to 3.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#omega">omega</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Current state.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#speed">speed</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Current state.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private edu.wpi.first.wpilibj.Timer</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#time">time</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Timer for simulation.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.summary">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration)">SwerveModule</a></span>​(int moduleNumber,
|
||||
<a href="parser/SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a> moduleConfiguration)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Construct the swerve module and initialize the swerve module motors and absolute encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.summary">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getCANCoder()">getCANCoder</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the CANCoder absolute position.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.kinematics.SwerveModulePosition</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getRelativeEncoder()">getRelativeEncoder</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the relative encoder angle in degrees.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code><a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getState()">getState</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the Swerve Module state.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setAngle(double)">setAngle</a></span>​(double angle)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the angle for the module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setDesiredState(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2,boolean)">setDesiredState</a></span>​(<a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a> desiredState,
|
||||
boolean isOpenLoop)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the desired state of the swerve module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setMotorBrake(boolean)">setMotorBrake</a></span>​(boolean brake)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the brake mode.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#synchronizeEncoders()">synchronizeEncoders</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Synchronize the integrated angle encoder with the absolute encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="configuration">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>configuration</h4>
|
||||
<pre>public final <a href="parser/SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a> configuration</pre>
|
||||
<div class="block">Swerve module configuration options.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angleOffset">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>angleOffset</h4>
|
||||
<pre>private final double angleOffset</pre>
|
||||
<div class="block">Angle offset from the absolute encoder.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angleMotor">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>angleMotor</h4>
|
||||
<pre>private final <a href="motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> angleMotor</pre>
|
||||
<div class="block">Swerve Motors.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="driveMotor">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>driveMotor</h4>
|
||||
<pre>private final <a href="motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> driveMotor</pre>
|
||||
<div class="block">Swerve Motors.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="absoluteEncoder">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>absoluteEncoder</h4>
|
||||
<pre>private final <a href="encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> absoluteEncoder</pre>
|
||||
<div class="block">Absolute encoder for swerve drive.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="moduleNumber">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>moduleNumber</h4>
|
||||
<pre>public int moduleNumber</pre>
|
||||
<div class="block">Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="feedforward">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>feedforward</h4>
|
||||
<pre>public edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward</pre>
|
||||
<div class="block">Feedforward for drive motor during closed loop control.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="lastAngle">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>lastAngle</h4>
|
||||
<pre>public double lastAngle</pre>
|
||||
<div class="block">Last angle set for the swerve module.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angle">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>angle</h4>
|
||||
<pre>public double angle</pre>
|
||||
<div class="block">Current state.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="omega">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>omega</h4>
|
||||
<pre>public double omega</pre>
|
||||
<div class="block">Current state.</div>
|
||||
</li>
|
||||
</ul>
|
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|
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|
||||
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|
||||
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|
||||
<h4>speed</h4>
|
||||
<pre>public double speed</pre>
|
||||
<div class="block">Current state.</div>
|
||||
</li>
|
||||
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|
||||
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|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>fakePos</h4>
|
||||
<pre>public double fakePos</pre>
|
||||
<div class="block">Current state.</div>
|
||||
</li>
|
||||
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|
||||
<a id="lastTime">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>lastTime</h4>
|
||||
<pre>public double lastTime</pre>
|
||||
<div class="block">Current state.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="dt">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>dt</h4>
|
||||
<pre>public double dt</pre>
|
||||
<div class="block">Current state.</div>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>time</h4>
|
||||
<pre>private edu.wpi.first.wpilibj.Timer time</pre>
|
||||
<div class="block">Timer for simulation.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(int,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration)">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>SwerveModule</h4>
|
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<pre>public SwerveModule​(int moduleNumber,
|
||||
<a href="parser/SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a> moduleConfiguration)</pre>
|
||||
<div class="block">Construct the swerve module and initialize the swerve module motors and absolute encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>moduleNumber</code> - Module number for kinematics.</dd>
|
||||
<dd><code>moduleConfiguration</code> - Module constants containing CAN ID's and offsets.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
||||
</li>
|
||||
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|
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|
||||
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|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="synchronizeEncoders()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>synchronizeEncoders</h4>
|
||||
<pre class="methodSignature">public void synchronizeEncoders()</pre>
|
||||
<div class="block">Synchronize the integrated angle encoder with the absolute encoder.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setDesiredState(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2,boolean)">
|
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<!-- -->
|
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|
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<ul class="blockList">
|
||||
<li class="blockList">
|
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<h4>setDesiredState</h4>
|
||||
<pre class="methodSignature">public void setDesiredState​(<a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a> desiredState,
|
||||
boolean isOpenLoop)</pre>
|
||||
<div class="block">Set the desired state of the swerve module.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>desiredState</code> - Desired swerve module state.</dd>
|
||||
<dd><code>isOpenLoop</code> - Whether to use open loop (direct percent) or direct velocity control.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setAngle(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setAngle</h4>
|
||||
<pre class="methodSignature">public void setAngle​(double angle)</pre>
|
||||
<div class="block">Set the angle for the module.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>angle</code> - Angle in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
||||
<a id="getState()">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>getState</h4>
|
||||
<pre class="methodSignature">public <a href="math/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a> getState()</pre>
|
||||
<div class="block">Get the Swerve Module state.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Current SwerveModule state.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
||||
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|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>getPosition</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.kinematics.SwerveModulePosition getPosition()</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getCANCoder()">
|
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<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getCANCoder</h4>
|
||||
<pre class="methodSignature">public double getCANCoder()</pre>
|
||||
<div class="block">Get the CANCoder absolute position.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Absolute encoder angle in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getRelativeEncoder()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getRelativeEncoder</h4>
|
||||
<pre class="methodSignature">public double getRelativeEncoder()</pre>
|
||||
<div class="block">Get the relative encoder angle in degrees.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Angle in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setMotorBrake(boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>setMotorBrake</h4>
|
||||
<pre class="methodSignature">public void setMotorBrake​(boolean brake)</pre>
|
||||
<div class="block">Set the brake mode.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>brake</code> - Set the brake mode.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
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|
||||
<head>
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<!-- Generated by javadoc (11.0.17) on Mon Feb 13 14:36:54 CST 2023 -->
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<title>CANCoderSwerve</title>
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|
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.encoders</a></div>
|
||||
<h2 title="Class CANCoderSwerve" class="title">Class CANCoderSwerve</h2>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<ul class="inheritance">
|
||||
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
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|
||||
<ul class="inheritance">
|
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<li><a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder</a></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive2.swervelib.encoders.CANCoderSwerve</li>
|
||||
</ul>
|
||||
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|
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|
||||
<pre>public class <span class="typeNameLabel">CANCoderSwerve</span>
|
||||
extends <a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></pre>
|
||||
<div class="block">Swerve Absolute Encoder for CTRE CANCoders.</div>
|
||||
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|
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|
||||
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|
||||
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<h3>Field Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>com.ctre.phoenix.sensors.WPI_CANCoder</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoder">encoder</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">CANCoder with WPILib sendable and support.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
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|
||||
<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int)">CANCoderSwerve</a></span>​(int id)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Initialize the CANCoder on the standard CANBus.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int,java.lang.String)">CANCoderSwerve</a></span>​(int id,
|
||||
<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a> canbus)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Initialize the CANCoder on the CANivore.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
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|
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|
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<section>
|
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<ul class="blockList">
|
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<li class="blockList"><a id="method.summary">
|
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<!-- -->
|
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</a>
|
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<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Clear sticky faults on the encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure(boolean)">configure</a></span>​(boolean inverted)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Reset the encoder to factory defaults.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsoluteEncoder()">getAbsoluteEncoder</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the instantiated absolute encoder Object.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the absolute position of the encoder.</div>
|
||||
</td>
|
||||
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|
||||
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|
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<ul class="blockList">
|
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<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
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</li>
|
||||
</ul>
|
||||
</section>
|
||||
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|
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|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
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<!-- ============ FIELD DETAIL =========== -->
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<section>
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<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
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<h3>Field Detail</h3>
|
||||
<a id="encoder">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
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|
||||
<h4>encoder</h4>
|
||||
<pre>public com.ctre.phoenix.sensors.WPI_CANCoder encoder</pre>
|
||||
<div class="block">CANCoder with WPILib sendable and support.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
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|
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|
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<li class="blockList"><a id="constructor.detail">
|
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|
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|
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<h3>Constructor Detail</h3>
|
||||
<a id="<init>(int)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>CANCoderSwerve</h4>
|
||||
<pre>public CANCoderSwerve​(int id)</pre>
|
||||
<div class="block">Initialize the CANCoder on the standard CANBus.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>id</code> - CAN ID.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
||||
<a id="<init>(int,java.lang.String)">
|
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||||
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|
||||
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|
||||
<li class="blockList">
|
||||
<h4>CANCoderSwerve</h4>
|
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<pre>public CANCoderSwerve​(int id,
|
||||
<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a> canbus)</pre>
|
||||
<div class="block">Initialize the CANCoder on the CANivore.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>id</code> - CAN ID.</dd>
|
||||
<dd><code>canbus</code> - CAN bus to initialize it on.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.detail">
|
||||
<!-- -->
|
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</a>
|
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<h3>Method Detail</h3>
|
||||
<a id="factoryDefault()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>factoryDefault</h4>
|
||||
<pre class="methodSignature">public void factoryDefault()</pre>
|
||||
<div class="block">Reset the encoder to factory defaults.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveAbsoluteEncoder.html#factoryDefault()">factoryDefault</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="clearStickyFaults()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>clearStickyFaults</h4>
|
||||
<pre class="methodSignature">public void clearStickyFaults()</pre>
|
||||
<div class="block">Clear sticky faults on the encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveAbsoluteEncoder.html#clearStickyFaults()">clearStickyFaults</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
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<a id="configure(boolean)">
|
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<!-- -->
|
||||
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|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>configure</h4>
|
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<pre class="methodSignature">public void configure​(boolean inverted)</pre>
|
||||
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveAbsoluteEncoder.html#configure(boolean)">configure</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>inverted</code> - Whether the encoder is inverted.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
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<a id="getAbsolutePosition()">
|
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<!-- -->
|
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|
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|
||||
<li class="blockList">
|
||||
<h4>getAbsolutePosition</h4>
|
||||
<pre class="methodSignature">public double getAbsolutePosition()</pre>
|
||||
<div class="block">Get the absolute position of the encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Absolute position in degrees from [0, 360).</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getAbsoluteEncoder()">
|
||||
<!-- -->
|
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|
||||
<ul class="blockListLast">
|
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|
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<h4>getAbsoluteEncoder</h4>
|
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<pre class="methodSignature">public <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a> getAbsoluteEncoder()</pre>
|
||||
<div class="block">Get the instantiated absolute encoder Object.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsoluteEncoder()">getAbsoluteEncoder</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Absolute encoder object.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
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<h2 title="Class SparkMaxEncoderSwerve" class="title">Class SparkMaxEncoderSwerve</h2>
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<pre>public class <span class="typeNameLabel">SparkMaxEncoderSwerve</span>
|
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extends <a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></pre>
|
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<div class="block">SparkMax absolute encoder, attached through the data port.</div>
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<tr class="altColor">
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<td class="colFirst"><code>com.revrobotics.AbsoluteEncoder</code></td>
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoder">encoder</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The <code>AbsoluteEncoder</code> representing the duty cycle encoder attached to the SparkMax.</div>
|
||||
</td>
|
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|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor)">SparkMaxEncoderSwerve</a></span>​(<a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> motor)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create the <code>AbsoluteEncoder</code> object as a duty cycle.</div>
|
||||
</td>
|
||||
</tr>
|
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|
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|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Clear sticky faults on the encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure(boolean)">configure</a></span>​(boolean inverted)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Reset the encoder to factory defaults.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsoluteEncoder()">getAbsoluteEncoder</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the instantiated absolute encoder Object.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the absolute position of the encoder.</div>
|
||||
</td>
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|
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||||
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|
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<h3>Field Detail</h3>
|
||||
<a id="encoder">
|
||||
<!-- -->
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||||
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|
||||
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||||
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|
||||
<h4>encoder</h4>
|
||||
<pre>public com.revrobotics.AbsoluteEncoder encoder</pre>
|
||||
<div class="block">The <code>AbsoluteEncoder</code> representing the duty cycle encoder attached to the SparkMax.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
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|
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|
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|
||||
<a id="<init>(frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor)">
|
||||
<!-- -->
|
||||
</a>
|
||||
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|
||||
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|
||||
<h4>SparkMaxEncoderSwerve</h4>
|
||||
<pre>public SparkMaxEncoderSwerve​(<a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> motor)</pre>
|
||||
<div class="block">Create the <code>AbsoluteEncoder</code> object as a duty cycle. from the <code>CANSparkMax</code> motor.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>motor</code> - Motor to create the encoder from.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
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|
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|
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|
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|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>factoryDefault</h4>
|
||||
<pre class="methodSignature">public void factoryDefault()</pre>
|
||||
<div class="block">Reset the encoder to factory defaults.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveAbsoluteEncoder.html#factoryDefault()">factoryDefault</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
||||
</dl>
|
||||
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|
||||
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|
||||
<a id="clearStickyFaults()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>clearStickyFaults</h4>
|
||||
<pre class="methodSignature">public void clearStickyFaults()</pre>
|
||||
<div class="block">Clear sticky faults on the encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveAbsoluteEncoder.html#clearStickyFaults()">clearStickyFaults</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="configure(boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>configure</h4>
|
||||
<pre class="methodSignature">public void configure​(boolean inverted)</pre>
|
||||
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveAbsoluteEncoder.html#configure(boolean)">configure</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>inverted</code> - Whether the encoder is inverted.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getAbsolutePosition()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>getAbsolutePosition</h4>
|
||||
<pre class="methodSignature">public double getAbsolutePosition()</pre>
|
||||
<div class="block">Get the absolute position of the encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Absolute position in degrees from [0, 360).</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getAbsoluteEncoder()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>getAbsoluteEncoder</h4>
|
||||
<pre class="methodSignature">public <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a> getAbsoluteEncoder()</pre>
|
||||
<div class="block">Get the instantiated absolute encoder Object.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsoluteEncoder()">getAbsoluteEncoder</a></code> in class <code><a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Absolute encoder object.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
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|
||||
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|
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|
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<h2 title="Class SwerveAbsoluteEncoder" class="title">Class SwerveAbsoluteEncoder</h2>
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||||
<pre>public abstract class <span class="typeNameLabel">SwerveAbsoluteEncoder</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
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<div class="block">Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveAbsoluteEncoder</a></span>()</code></th>
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<td class="colLast">
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||||
<div class="block">Clear sticky faults on the encoder.</div>
|
||||
</td>
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</tr>
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<tr id="i1" class="rowColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure(boolean)">configure</a></span>​(boolean inverted)</code></th>
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<td class="colLast">
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||||
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
|
||||
</td>
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</tr>
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<tr id="i2" class="altColor">
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<td class="colFirst"><code>abstract void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
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||||
<td class="colLast">
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||||
<div class="block">Reset the encoder to factory defaults.</div>
|
||||
</td>
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||||
</tr>
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||||
<tr id="i3" class="rowColor">
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||||
<td class="colFirst"><code>abstract <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsoluteEncoder()">getAbsoluteEncoder</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the instantiated absolute encoder Object.</div>
|
||||
</td>
|
||||
</tr>
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||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>abstract double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the absolute position of the encoder.</div>
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||||
<h4>SwerveAbsoluteEncoder</h4>
|
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<pre>public SwerveAbsoluteEncoder()</pre>
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<div class="block">Reset the encoder to factory defaults.</div>
|
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<a id="clearStickyFaults()">
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<div class="block">Clear sticky faults on the encoder.</div>
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<h4>configure</h4>
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<pre class="methodSignature">public abstract void configure​(boolean inverted)</pre>
|
||||
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>inverted</code> - Whether the encoder is inverted.</dd>
|
||||
</dl>
|
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<a id="getAbsolutePosition()">
|
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|
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<h4>getAbsolutePosition</h4>
|
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<pre class="methodSignature">public abstract double getAbsolutePosition()</pre>
|
||||
<div class="block">Get the absolute position of the encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Absolute position in degrees from [0, 360).</dd>
|
||||
</dl>
|
||||
</li>
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<pre class="methodSignature">public abstract <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a> getAbsoluteEncoder()</pre>
|
||||
<div class="block">Get the instantiated absolute encoder Object.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Absolute encoder object.</dd>
|
||||
</dl>
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</li>
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|
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|
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<div class="block">Swerve Absolute Encoder for CTRE CANCoders.</div>
|
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|
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|
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<tr class="rowColor">
|
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|
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|
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|
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|
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|
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|
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<th class="colFirst" scope="row"><a href="SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></th>
|
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<td class="colLast">
|
||||
<div class="block">Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..</div>
|
||||
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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<h2 title="Class NavXSwerve" class="title">Class NavXSwerve</h2>
|
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|
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|
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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|
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<ul class="inheritance">
|
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<li><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU</a></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
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<li>frc.robot.subsystems.swervedrive2.swervelib.imu.NavXSwerve</li>
|
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|
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<pre>public class <span class="typeNameLabel">NavXSwerve</span>
|
||||
extends <a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></pre>
|
||||
<div class="block">Communicates with the NavX as the IMU.</div>
|
||||
</li>
|
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|
||||
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|
||||
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<table class="memberSummary">
|
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
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<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private com.kauailabs.navx.frc.AHRS</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#gyro">gyro</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">NavX IMU.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#yawOffset">yawOffset</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Offset for the NavX yaw reading.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
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|
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
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|
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|
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|
||||
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|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">NavXSwerve</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructor for the NavX swerve.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
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|
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|
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|
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|
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<!-- -->
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|
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|
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<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Clear sticky faults on IMU.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Reset IMU to factory default.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getIMU()">getIMU</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the instantiated IMU object.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></span>​(double[] yprArray)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setYaw(double)">setYaw</a></span>​(double yaw)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the yaw in degrees.</div>
|
||||
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|
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|
||||
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|
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|
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
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</ul>
|
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</li>
|
||||
</ul>
|
||||
</section>
|
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</li>
|
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</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
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<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="gyro">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>gyro</h4>
|
||||
<pre>private com.kauailabs.navx.frc.AHRS gyro</pre>
|
||||
<div class="block">NavX IMU.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="yawOffset">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>yawOffset</h4>
|
||||
<pre>private double yawOffset</pre>
|
||||
<div class="block">Offset for the NavX yaw reading.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
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<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
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|
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</a>
|
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<h3>Constructor Detail</h3>
|
||||
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|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>NavXSwerve</h4>
|
||||
<pre>public NavXSwerve()</pre>
|
||||
<div class="block">Constructor for the NavX swerve.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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|
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<section>
|
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|
||||
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|
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|
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</a>
|
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<h3>Method Detail</h3>
|
||||
<a id="factoryDefault()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>factoryDefault</h4>
|
||||
<pre class="methodSignature">public void factoryDefault()</pre>
|
||||
<div class="block">Reset IMU to factory default.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#factoryDefault()">factoryDefault</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="clearStickyFaults()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>clearStickyFaults</h4>
|
||||
<pre class="methodSignature">public void clearStickyFaults()</pre>
|
||||
<div class="block">Clear sticky faults on IMU.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#clearStickyFaults()">clearStickyFaults</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setYaw(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setYaw</h4>
|
||||
<pre class="methodSignature">public void setYaw​(double yaw)</pre>
|
||||
<div class="block">Set the yaw in degrees.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>yaw</code> - Yaw angle in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getYawPitchRoll(double[])">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getYawPitchRoll</h4>
|
||||
<pre class="methodSignature">public void getYawPitchRoll​(double[] yprArray)</pre>
|
||||
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getIMU()">
|
||||
<!-- -->
|
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|
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|
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<h4>getIMU</h4>
|
||||
<pre class="methodSignature">public <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a> getIMU()</pre>
|
||||
<div class="block">Get the instantiated IMU object.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#getIMU()">getIMU</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>IMU object.</dd>
|
||||
</dl>
|
||||
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|
||||
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|
||||
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|
||||
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|
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<h2 title="Class Pigeon2Swerve" class="title">Class Pigeon2Swerve</h2>
|
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</div>
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<div class="contentContainer">
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|
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
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|
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<ul class="inheritance">
|
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<li><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU</a></li>
|
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<li>
|
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<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive2.swervelib.imu.Pigeon2Swerve</li>
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|
||||
<pre>public class <span class="typeNameLabel">Pigeon2Swerve</span>
|
||||
extends <a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></pre>
|
||||
<div class="block">SwerveIMU interface for the Pigeon2</div>
|
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|
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<th class="colLast" scope="col">Description</th>
|
||||
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|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>(package private) com.ctre.phoenix.sensors.WPI_Pigeon2</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#imu">imu</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Pigeon2 IMU device.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
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<th class="colLast" scope="col">Description</th>
|
||||
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|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int)">Pigeon2Swerve</a></span>​(int canid)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Generate the SwerveIMU for pigeon.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int,java.lang.String)">Pigeon2Swerve</a></span>​(int canid,
|
||||
<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a> canbus)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Generate the SwerveIMU for pigeon.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
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|
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<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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|
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|
||||
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|
||||
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|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Clear sticky faults on IMU.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Reset IMU to factory default.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getIMU()">getIMU</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the instantiated IMU object.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></span>​(double[] yprArray)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setYaw(double)">setYaw</a></span>​(double yaw)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the yaw in degrees.</div>
|
||||
</td>
|
||||
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|
||||
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|
||||
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|
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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|
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|
||||
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|
||||
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|
||||
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|
||||
<h4>imu</h4>
|
||||
<pre>com.ctre.phoenix.sensors.WPI_Pigeon2 imu</pre>
|
||||
<div class="block">Pigeon2 IMU device.</div>
|
||||
</li>
|
||||
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|
||||
</li>
|
||||
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|
||||
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|
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|
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||||
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|
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|
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|
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|
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|
||||
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|
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|
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|
||||
<h4>Pigeon2Swerve</h4>
|
||||
<pre>public Pigeon2Swerve​(int canid,
|
||||
<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a> canbus)</pre>
|
||||
<div class="block">Generate the SwerveIMU for pigeon.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>canid</code> - CAN ID for the pigeon</dd>
|
||||
<dd><code>canbus</code> - CAN Bus name the pigeon resides on.</dd>
|
||||
</dl>
|
||||
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
<h4>Pigeon2Swerve</h4>
|
||||
<pre>public Pigeon2Swerve​(int canid)</pre>
|
||||
<div class="block">Generate the SwerveIMU for pigeon.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>canid</code> - CAN ID for the pigeon</dd>
|
||||
</dl>
|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
<h4>factoryDefault</h4>
|
||||
<pre class="methodSignature">public void factoryDefault()</pre>
|
||||
<div class="block">Reset IMU to factory default.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#factoryDefault()">factoryDefault</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
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|
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|
||||
<h4>clearStickyFaults</h4>
|
||||
<pre class="methodSignature">public void clearStickyFaults()</pre>
|
||||
<div class="block">Clear sticky faults on IMU.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#clearStickyFaults()">clearStickyFaults</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
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|
||||
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|
||||
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|
||||
<a id="setYaw(double)">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
<li class="blockList">
|
||||
<h4>setYaw</h4>
|
||||
<pre class="methodSignature">public void setYaw​(double yaw)</pre>
|
||||
<div class="block">Set the yaw in degrees.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>yaw</code> - Angle in degrees.</dd>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>getYawPitchRoll</h4>
|
||||
<pre class="methodSignature">public void getYawPitchRoll​(double[] yprArray)</pre>
|
||||
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
||||
<a id="getIMU()">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
<li class="blockList">
|
||||
<h4>getIMU</h4>
|
||||
<pre class="methodSignature">public <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a> getIMU()</pre>
|
||||
<div class="block">Get the instantiated IMU object.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#getIMU()">getIMU</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>IMU object.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
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|
||||
<h2 title="Class PigeonSwerve" class="title">Class PigeonSwerve</h2>
|
||||
</div>
|
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|
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|
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|
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|
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|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive2.swervelib.imu.PigeonSwerve</li>
|
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<pre>public class <span class="typeNameLabel">PigeonSwerve</span>
|
||||
extends <a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></pre>
|
||||
<div class="block">SwerveIMU interface for the Pigeon.</div>
|
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|
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|
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|
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|
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|
||||
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|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>(package private) com.ctre.phoenix.sensors.WPI_PigeonIMU</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#imu">imu</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
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|
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|
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int)">PigeonSwerve</a></span>​(int canid)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Generate the SwerveIMU for pigeon.</div>
|
||||
</td>
|
||||
</tr>
|
||||
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|
||||
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|
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|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Clear sticky faults on IMU.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Reset IMU to factory default.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getIMU()">getIMU</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the instantiated IMU object.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></span>​(double[] yprArray)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setYaw(double)">setYaw</a></span>​(double yaw)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the yaw in degrees.</div>
|
||||
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|
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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|
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</section>
|
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|
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</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
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<li class="blockList">
|
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<!-- ============ FIELD DETAIL =========== -->
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<section>
|
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<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="imu">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>imu</h4>
|
||||
<pre>com.ctre.phoenix.sensors.WPI_PigeonIMU imu</pre>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
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|
||||
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|
||||
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|
||||
<!-- -->
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||||
</a>
|
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|
||||
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|
||||
<!-- -->
|
||||
</a>
|
||||
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|
||||
<li class="blockList">
|
||||
<h4>PigeonSwerve</h4>
|
||||
<pre>public PigeonSwerve​(int canid)</pre>
|
||||
<div class="block">Generate the SwerveIMU for pigeon.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>canid</code> - CAN ID for the pigeon, does not support CANBus.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
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<section>
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||||
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|
||||
<li class="blockList"><a id="method.detail">
|
||||
<!-- -->
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||||
</a>
|
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<h3>Method Detail</h3>
|
||||
<a id="factoryDefault()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>factoryDefault</h4>
|
||||
<pre class="methodSignature">public void factoryDefault()</pre>
|
||||
<div class="block">Reset IMU to factory default.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#factoryDefault()">factoryDefault</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="clearStickyFaults()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>clearStickyFaults</h4>
|
||||
<pre class="methodSignature">public void clearStickyFaults()</pre>
|
||||
<div class="block">Clear sticky faults on IMU.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#clearStickyFaults()">clearStickyFaults</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setYaw(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setYaw</h4>
|
||||
<pre class="methodSignature">public void setYaw​(double yaw)</pre>
|
||||
<div class="block">Set the yaw in degrees.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>yaw</code> - Angle in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getYawPitchRoll(double[])">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getYawPitchRoll</h4>
|
||||
<pre class="methodSignature">public void getYawPitchRoll​(double[] yprArray)</pre>
|
||||
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getIMU()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>getIMU</h4>
|
||||
<pre class="methodSignature">public <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a> getIMU()</pre>
|
||||
<div class="block">Get the instantiated IMU object.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveIMU.html#getIMU()">getIMU</a></code> in class <code><a href="SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>IMU object.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.imu</a></div>
|
||||
<h2 title="Class SwerveIMU" class="title">Class SwerveIMU</h2>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<ul class="inheritance">
|
||||
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU</li>
|
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|
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<div class="description">
|
||||
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|
||||
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|
||||
<dl>
|
||||
<dt>Direct Known Subclasses:</dt>
|
||||
<dd><code><a href="NavXSwerve.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">NavXSwerve</a></code>, <code><a href="Pigeon2Swerve.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">Pigeon2Swerve</a></code>, <code><a href="PigeonSwerve.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">PigeonSwerve</a></code></dd>
|
||||
</dl>
|
||||
<hr>
|
||||
<pre>public abstract class <span class="typeNameLabel">SwerveIMU</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Swerve IMU abstraction to define a standard interface with a swerve drive.</div>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
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<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveIMU</a></span>()</code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
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|
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|
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<!-- -->
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|
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|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract Methods</a></span><span class="tabEnd"> </span></span></caption>
|
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<tr>
|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
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<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
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<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Clear sticky faults on IMU.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Reset IMU to factory default.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>abstract <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getIMU()">getIMU</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the instantiated IMU object.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></span>​(double[] yprArray)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setYaw(double)">setYaw</a></span>​(double yaw)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the yaw in degrees.</div>
|
||||
</td>
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|
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
||||
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||||
</ul>
|
||||
</section>
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|
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|
||||
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|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
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|
||||
<h4>SwerveIMU</h4>
|
||||
<pre>public SwerveIMU()</pre>
|
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|
||||
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|
||||
</li>
|
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|
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|
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|
||||
<h4>factoryDefault</h4>
|
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<pre class="methodSignature">public abstract void factoryDefault()</pre>
|
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<div class="block">Reset IMU to factory default.</div>
|
||||
</li>
|
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</ul>
|
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<a id="clearStickyFaults()">
|
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<!-- -->
|
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</a>
|
||||
<ul class="blockList">
|
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<li class="blockList">
|
||||
<h4>clearStickyFaults</h4>
|
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<pre class="methodSignature">public abstract void clearStickyFaults()</pre>
|
||||
<div class="block">Clear sticky faults on IMU.</div>
|
||||
</li>
|
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</ul>
|
||||
<a id="setYaw(double)">
|
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<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setYaw</h4>
|
||||
<pre class="methodSignature">public abstract void setYaw​(double yaw)</pre>
|
||||
<div class="block">Set the yaw in degrees.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>yaw</code> - Yaw angle in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
||||
<a id="getYawPitchRoll(double[])">
|
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<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getYawPitchRoll</h4>
|
||||
<pre class="methodSignature">public abstract void getYawPitchRoll​(double[] yprArray)</pre>
|
||||
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
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|
||||
<a id="getIMU()">
|
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<!-- -->
|
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|
||||
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|
||||
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|
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<h4>getIMU</h4>
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<pre class="methodSignature">public abstract <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a> getIMU()</pre>
|
||||
<div class="block">Get the instantiated IMU object.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>IMU object.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
<div class="block">Swerve IMU abstraction to define a standard interface with a swerve drive.</div>
|
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|
||||
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|
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.math</a></div>
|
||||
<h2 title="Class SwerveKinematics2" class="title">Class SwerveKinematics2</h2>
|
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</div>
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<div class="contentContainer">
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<ul class="inheritance">
|
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
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|
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|
||||
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|
||||
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|
||||
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|
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<hr>
|
||||
<pre>public class <span class="typeNameLabel">SwerveKinematics2</span>
|
||||
extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
|
||||
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
|
||||
speed.
|
||||
<p></p>
|
||||
<p>
|
||||
Makes use of <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math"><code>SwerveModuleState2</code></a> to add the angular velocity that is required of the module as an output.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="summary">
|
||||
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|
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<li class="blockList">
|
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<!-- =========== FIELD SUMMARY =========== -->
|
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<section>
|
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<ul class="blockList">
|
||||
<li class="blockList"><a id="field.summary">
|
||||
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|
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</a>
|
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<h3>Field Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#bigInverseKinematics">bigInverseKinematics</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_forwardKinematics">m_forwardKinematics</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_inverseKinematics">m_inverseKinematics</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_modules">m_modules</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_moduleStates">m_moduleStates</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_numModules">m_numModules</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_prevCoR">m_prevCoR</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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|
||||
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|
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|
||||
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|
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||||
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|
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<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)">SwerveKinematics2</a></span>​(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructs a swerve drive kinematics object.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
||||
<section>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>static void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2%5B%5D,double)">desaturateWheelSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
double attainableMaxSpeedMetersPerSecond)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>static void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">desaturateWheelSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
|
||||
double attainableMaxModuleSpeedMetersPerSecond,
|
||||
double attainableMaxTranslationalSpeedMetersPerSecond,
|
||||
double attainableMaxRotationalVelocityRadiansPerSecond)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
|
||||
joystick saturation at edges of joystick.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toChassisSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2...)">toChassisSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>... wheelStates)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">toSwerveModuleStates</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Performs inverse kinematics.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">toSwerveModuleStates</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.geometry.Twist2d</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">toTwist2d</a></span>​(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
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|
||||
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||||
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|
||||
</a>
|
||||
<h3>Methods inherited from class edu.wpi.first.math.kinematics.SwerveDriveKinematics</h3>
|
||||
<code>desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds</code></li>
|
||||
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
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</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
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<section>
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|
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||||
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||||
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|
||||
<h3>Field Detail</h3>
|
||||
<a id="m_inverseKinematics">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>m_inverseKinematics</h4>
|
||||
<pre>private final org.ejml.simple.SimpleMatrix m_inverseKinematics</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_forwardKinematics">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>m_forwardKinematics</h4>
|
||||
<pre>private final org.ejml.simple.SimpleMatrix m_forwardKinematics</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="bigInverseKinematics">
|
||||
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|
||||
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|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>bigInverseKinematics</h4>
|
||||
<pre>private final org.ejml.simple.SimpleMatrix bigInverseKinematics</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_numModules">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>m_numModules</h4>
|
||||
<pre>private final int m_numModules</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_modules">
|
||||
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|
||||
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|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>m_modules</h4>
|
||||
<pre>private final edu.wpi.first.math.geometry.Translation2d[] m_modules</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_moduleStates">
|
||||
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|
||||
</a>
|
||||
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|
||||
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|
||||
<h4>m_moduleStates</h4>
|
||||
<pre>private final <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] m_moduleStates</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_prevCoR">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>m_prevCoR</h4>
|
||||
<pre>private edu.wpi.first.math.geometry.Translation2d m_prevCoR</pre>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
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|
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|
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<h3>Constructor Detail</h3>
|
||||
<a id="<init>(edu.wpi.first.math.geometry.Translation2d...)">
|
||||
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||||
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||||
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||||
<h4>SwerveKinematics2</h4>
|
||||
<pre>public SwerveKinematics2​(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)</pre>
|
||||
<div class="block">Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations as Translation2ds.
|
||||
The order in which you pass in the wheel locations is the same order that you will receive the module states when
|
||||
performing inverse kinematics. It is also expected that you pass in the module states in the same order when
|
||||
calling the forward kinematics methods.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>wheelsMeters</code> - The locations of the wheels relative to the physical center of the robot.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
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||||
<section>
|
||||
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|
||||
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|
||||
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||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="desaturateWheelSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2[],double)">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>desaturateWheelSpeeds</h4>
|
||||
<pre class="methodSignature">public static void desaturateWheelSpeeds​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
double attainableMaxSpeedMetersPerSecond)</pre>
|
||||
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.
|
||||
|
||||
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
|
||||
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
|
||||
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
|
||||
maintaining the ratio of speeds between modules.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>moduleStates</code> - Reference to array of module states. The array will be mutated with the
|
||||
normalized speeds!</dd>
|
||||
<dd><code>attainableMaxSpeedMetersPerSecond</code> - The absolute max speed that a module can reach.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="desaturateWheelSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2[],edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">
|
||||
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||||
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||||
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|
||||
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|
||||
<h4>desaturateWheelSpeeds</h4>
|
||||
<pre class="methodSignature">public static void desaturateWheelSpeeds​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
|
||||
double attainableMaxModuleSpeedMetersPerSecond,
|
||||
double attainableMaxTranslationalSpeedMetersPerSecond,
|
||||
double attainableMaxRotationalVelocityRadiansPerSecond)</pre>
|
||||
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
|
||||
joystick saturation at edges of joystick.
|
||||
|
||||
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
|
||||
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
|
||||
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
|
||||
maintaining the ratio of speeds between modules.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>moduleStates</code> - Reference to array of module states. The array will be
|
||||
mutated with the normalized speeds!</dd>
|
||||
<dd><code>currentChassisSpeed</code> - The current speed of the robot</dd>
|
||||
<dd><code>attainableMaxModuleSpeedMetersPerSecond</code> - The absolute max speed that a module can reach</dd>
|
||||
<dd><code>attainableMaxTranslationalSpeedMetersPerSecond</code> - The absolute max speed that your robot can reach while
|
||||
translating</dd>
|
||||
<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can reach while rotating</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>toSwerveModuleStates</h4>
|
||||
<pre class="methodSignature">public <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</pre>
|
||||
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity. This method is often used
|
||||
to convert joystick values into module speeds and angles.
|
||||
|
||||
<p>This function also supports variable centers of rotation. During normal operations, the
|
||||
center of rotation is usually the same as the physical center of the robot; therefore, the argument is defaulted to
|
||||
that use case. However, if you wish to change the center of rotation for evasive maneuvers, vision alignment, or
|
||||
for any other use case, you can do so.
|
||||
|
||||
<p>In the case that the desired chassis speeds are zero (i.e. the robot will be stationary),
|
||||
the previously calculated module angle will be maintained.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
||||
<dd><code>toSwerveModuleStates</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
|
||||
<dd><code>centerOfRotationMeters</code> - The center of rotation. For example, if you set the center of rotation at one corner
|
||||
of the robot and provide a chassis speed that only has a dtheta component, the robot
|
||||
will rotate around that corner.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>An array containing the module states. Use caution because these module states are not normalized.
|
||||
Sometimes, a user input may cause one of the module speeds to go above the attainable max velocity. Use the
|
||||
<a href="#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2%5B%5D,double)"><code>DesaturateWheelSpeeds</code></a> function to rectify this issue.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>toSwerveModuleStates</h4>
|
||||
<pre class="methodSignature">public <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</pre>
|
||||
<div class="block">Performs inverse kinematics. See <a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"><code>toSwerveModuleStates(ChassisSpeeds, Translation2d)</code></a> toSwerveModuleStates
|
||||
for more information.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
||||
<dd><code>toSwerveModuleStates</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>An array containing the module states.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toChassisSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2...)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>toChassisSpeeds</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.kinematics.ChassisSpeeds toChassisSpeeds​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>... wheelStates)</pre>
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
|
||||
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
|
||||
angle of each module on the robot.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>wheelStates</code> - The state of the modules (as a SwerveModuleState type) as measured from respective encoders and
|
||||
gyros. The order of the swerve module states should be same as passed into the constructor of
|
||||
this class.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The resulting chassis speed.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>toTwist2d</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.geometry.Twist2d toTwist2d​(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)</pre>
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
|
||||
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
|
||||
angle of each module on the robot.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
||||
<dd><code>toTwist2d</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>wheelDeltas</code> - The latest change in position of the modules (as a SwerveModulePosition type) as measured from
|
||||
respective encoders and gyros. The order of the swerve module states should be same as passed
|
||||
into the constructor of this class.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The resulting Twist2d.</dd>
|
||||
</dl>
|
||||
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|
||||
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|
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.math</a></div>
|
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<h2 title="Class SwerveMath" class="title">Class SwerveMath</h2>
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<pre>public class <span class="typeNameLabel">SwerveMath</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Mathematical functions which pertain to swerve drive.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveMath</a></span>()</code></th>
|
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
|
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|
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|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#applyDeadband(double,boolean,double)">applyDeadband</a></span>​(double value,
|
||||
boolean scaled,
|
||||
double deadband)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Algebraically apply a deadband using a piece wise function.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>private static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)">calcMaxAccel</a></span>​(edu.wpi.first.math.geometry.Rotation2d angle,
|
||||
double chassisMass,
|
||||
double robotMass,
|
||||
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
|
||||
<a href="../parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> config)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateAngleKV(double,double,double)">calculateAngleKV</a></span>​(double optimalVoltage,
|
||||
double motorFreeSpeedRPM,
|
||||
double angleGearRatio)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculate the angle kV which will be multiplied by the radians per second for the feedforward.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateDegreesPerSteeringRotation(double,double)">calculateDegreesPerSteeringRotation</a></span>​(double angleGearRatio,
|
||||
double pulsePerRotation)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculate the degrees per steering rotation for the integrated encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMaxAcceleration(double)">calculateMaxAcceleration</a></span>​(double cof)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMaxAcceleration(double,double,double,double,double)">calculateMaxAcceleration</a></span>​(double stallTorqueNm,
|
||||
double gearRatio,
|
||||
double moduleCount,
|
||||
double wheelDiameter,
|
||||
double robotMass)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculate the maximum theoretical acceleration without friction.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMaxAngularVelocity(double,double,double)">calculateMaxAngularVelocity</a></span>​(double maxSpeed,
|
||||
double furthestModuleX,
|
||||
double furthestModuleY)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculate the maximum angular velocity.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMetersPerRotation(double,double,double)">calculateMetersPerRotation</a></span>​(double wheelDiameter,
|
||||
double driveGearRatio,
|
||||
double pulsePerRotation)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculate the meters per rotation for the integrated encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i8" class="altColor">
|
||||
<td class="colFirst"><code>static edu.wpi.first.math.geometry.Translation2d</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)">limitVelocity</a></span>​(edu.wpi.first.math.geometry.Translation2d commandedVelocity,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity,
|
||||
edu.wpi.first.math.geometry.Pose2d robotPose,
|
||||
double loopTime,
|
||||
double chassisMass,
|
||||
double robotMass,
|
||||
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
|
||||
<a href="../parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> config)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by
|
||||
<a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
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<ul class="blockList">
|
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<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
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<!-- -->
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</a>
|
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>SwerveMath</h4>
|
||||
<pre>public SwerveMath()</pre>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.detail">
|
||||
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|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="calculateAngleKV(double,double,double)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>calculateAngleKV</h4>
|
||||
<pre class="methodSignature">public static double calculateAngleKV​(double optimalVoltage,
|
||||
double motorFreeSpeedRPM,
|
||||
double angleGearRatio)</pre>
|
||||
<div class="block">Calculate the angle kV which will be multiplied by the radians per second for the feedforward. Volt * seconds /
|
||||
degree <=> (maxVolts) / (maxSpeed)</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>optimalVoltage</code> - Optimal voltage to use when calculating the angle kV.</dd>
|
||||
<dd><code>motorFreeSpeedRPM</code> - Motor free speed in Rotations per Minute.</dd>
|
||||
<dd><code>angleGearRatio</code> - Angle gear ratio, the amount of times the motor as to turn for the wheel rotation.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>angle kV for feedforward.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="calculateMetersPerRotation(double,double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>calculateMetersPerRotation</h4>
|
||||
<pre class="methodSignature">public static double calculateMetersPerRotation​(double wheelDiameter,
|
||||
double driveGearRatio,
|
||||
double pulsePerRotation)</pre>
|
||||
<div class="block">Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels * pi [circumfrence]
|
||||
/ gear ratio.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
|
||||
<dd><code>driveGearRatio</code> - The gear ratio of the drive motor.</dd>
|
||||
<dd><code>pulsePerRotation</code> - The number of encoder pulses per rotation. 1 if using an integrated encoder.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Meters per rotation for the drive motor.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="applyDeadband(double,boolean,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>applyDeadband</h4>
|
||||
<pre class="methodSignature">public static double applyDeadband​(double value,
|
||||
boolean scaled,
|
||||
double deadband)</pre>
|
||||
<div class="block">Algebraically apply a deadband using a piece wise function.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>value</code> - value to apply deadband to.</dd>
|
||||
<dd><code>scaled</code> - Use algebra to determine deadband by starting the value at 0 past deadband.</dd>
|
||||
<dd><code>deadband</code> - The deadbnad to apply.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Value with deadband applied.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="calculateDegreesPerSteeringRotation(double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>calculateDegreesPerSteeringRotation</h4>
|
||||
<pre class="methodSignature">public static double calculateDegreesPerSteeringRotation​(double angleGearRatio,
|
||||
double pulsePerRotation)</pre>
|
||||
<div class="block">Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts
|
||||
motor rotations to linear wheel distance and steering converts motor rotations to module azimuth.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>angleGearRatio</code> - The gear ratio of the steering motor.</dd>
|
||||
<dd><code>pulsePerRotation</code> - The number of pulses in a complete rotation for the encoder, 1 if integrated.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Degrees per steering rotation for the angle motor.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="calculateMaxAngularVelocity(double,double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>calculateMaxAngularVelocity</h4>
|
||||
<pre class="methodSignature">public static double calculateMaxAngularVelocity​(double maxSpeed,
|
||||
double furthestModuleX,
|
||||
double furthestModuleY)</pre>
|
||||
<div class="block">Calculate the maximum angular velocity.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>maxSpeed</code> - Max speed of the robot in meters per second.</dd>
|
||||
<dd><code>furthestModuleX</code> - X of the furthest module in meters.</dd>
|
||||
<dd><code>furthestModuleY</code> - Y of the furthest module in meters.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Maximum angular velocity in rad/s.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="calculateMaxAcceleration(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>calculateMaxAcceleration</h4>
|
||||
<pre class="methodSignature">public static double calculateMaxAcceleration​(double cof)</pre>
|
||||
<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>cof</code> - Coefficient of Friction of the wheel grip tape.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Practical maximum acceleration in m/s/s.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="calculateMaxAcceleration(double,double,double,double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>calculateMaxAcceleration</h4>
|
||||
<pre class="methodSignature">public static double calculateMaxAcceleration​(double stallTorqueNm,
|
||||
double gearRatio,
|
||||
double moduleCount,
|
||||
double wheelDiameter,
|
||||
double robotMass)</pre>
|
||||
<div class="block">Calculate the maximum theoretical acceleration without friction.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>stallTorqueNm</code> - Stall torque of driving motor in nM.</dd>
|
||||
<dd><code>gearRatio</code> - Gear ratio for driving motor number of motor rotations until one wheel rotation.</dd>
|
||||
<dd><code>moduleCount</code> - Number of swerve modules.</dd>
|
||||
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
|
||||
<dd><code>robotMass</code> - Mass of the robot in kg.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Theoretical maximum acceleration in m/s/s.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>calcMaxAccel</h4>
|
||||
<pre class="methodSignature">private static double calcMaxAccel​(edu.wpi.first.math.geometry.Rotation2d angle,
|
||||
double chassisMass,
|
||||
double robotMass,
|
||||
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
|
||||
<a href="../parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> config)</pre>
|
||||
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from
|
||||
NetworkTables and is passed the direction in question.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>angle</code> - The direction in which to calculate max acceleration, as a Rotation2d. Note that this
|
||||
is robot-relative.</dd>
|
||||
<dd><code>chassisMass</code> - Chassis mass in kg. (The weight of just the chassis not anything else)</dd>
|
||||
<dd><code>robotMass</code> - The weight of the robot in kg. (Including manipulators, etc).</dd>
|
||||
<dd><code>chassisCenterOfGravity</code> - Chassis center of gravity.</dd>
|
||||
<dd><code>config</code> - The swerve drive configuration.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Maximum acceleration allowed in the robot direction.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>limitVelocity</h4>
|
||||
<pre class="methodSignature">public static edu.wpi.first.math.geometry.Translation2d limitVelocity​(edu.wpi.first.math.geometry.Translation2d commandedVelocity,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity,
|
||||
edu.wpi.first.math.geometry.Pose2d robotPose,
|
||||
double loopTime,
|
||||
double chassisMass,
|
||||
double robotMass,
|
||||
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
|
||||
<a href="../parser/SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> config)</pre>
|
||||
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by
|
||||
<a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>. Note that
|
||||
this takes and returns field-relative velocities.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>commandedVelocity</code> - The desired velocity</dd>
|
||||
<dd><code>fieldVelocity</code> - The velocity of the robot within a field relative state.</dd>
|
||||
<dd><code>robotPose</code> - The current pose of the robot.</dd>
|
||||
<dd><code>loopTime</code> - The time it takes to update the velocity in seconds. <b>Note: this should include the
|
||||
100ms that it takes for a SparkMax velocity to update.</b></dd>
|
||||
<dd><code>chassisMass</code> - Chassis mass in kg. (The weight of just the chassis not anything else)</dd>
|
||||
<dd><code>robotMass</code> - The weight of the robot in kg. (Including manipulators, etc).</dd>
|
||||
<dd><code>chassisCenterOfGravity</code> - Chassis center of gravity.</dd>
|
||||
<dd><code>config</code> - The swerve drive configuration.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable
|
||||
velocity.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
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<h2 title="Class SwerveModuleState2" class="title">Class SwerveModuleState2</h2>
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<pre>public class <span class="typeNameLabel">SwerveModuleState2</span>
|
||||
extends edu.wpi.first.math.kinematics.SwerveModuleState</pre>
|
||||
<div class="block">Second order kinematics swerve module state.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colLast" scope="col">Description</th>
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|
||||
<td class="colFirst"><code>edu.wpi.first.math.geometry.Rotation2d</code></td>
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#omegaRadPerSecond">omegaRadPerSecond</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Rad per sec</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#speedMetersPerSecond">speedMetersPerSecond</a></span></code></th>
|
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveModuleState2</a></span>()</code></th>
|
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<td class="colLast">
|
||||
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
|
||||
</td>
|
||||
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|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)">SwerveModuleState2</a></span>​(double speedMetersPerSecond,
|
||||
edu.wpi.first.math.geometry.Rotation2d angle,
|
||||
double omegaRadPerSecond)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructs a SwerveModuleState.</div>
|
||||
</td>
|
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|
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<!-- -->
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|
||||
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||||
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|
||||
<h4>speedMetersPerSecond</h4>
|
||||
<pre>public double speedMetersPerSecond</pre>
|
||||
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|
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|
||||
<a id="omegaRadPerSecond">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
<li class="blockList">
|
||||
<h4>omegaRadPerSecond</h4>
|
||||
<pre>public double omegaRadPerSecond</pre>
|
||||
<div class="block">Rad per sec</div>
|
||||
</li>
|
||||
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|
||||
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|
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<!-- -->
|
||||
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|
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|
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<h4>angle</h4>
|
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<pre>public edu.wpi.first.math.geometry.Rotation2d angle</pre>
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|
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<h4>SwerveModuleState2</h4>
|
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<pre>public SwerveModuleState2()</pre>
|
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<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
|
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</li>
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<pre>public SwerveModuleState2​(double speedMetersPerSecond,
|
||||
edu.wpi.first.math.geometry.Rotation2d angle,
|
||||
double omegaRadPerSecond)</pre>
|
||||
<div class="block">Constructs a SwerveModuleState.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>speedMetersPerSecond</code> - The speed of the wheel of the module.</dd>
|
||||
<dd><code>angle</code> - The angle of the module.</dd>
|
||||
<dd><code>omegaRadPerSecond</code> - The angular velocity of the module.</dd>
|
||||
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|
||||
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|
||||
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|
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|
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<tbody>
|
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<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveKinematics2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveKinematics2</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
|
||||
speed.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
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<th class="colFirst" scope="row"><a href="SwerveMath.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveMath</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Mathematical functions which pertain to swerve drive.</div>
|
||||
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|
||||
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|
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<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Second order kinematics swerve module state.</div>
|
||||
</td>
|
||||
</tr>
|
||||
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|
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<h2 title="Class Hierarchy">Class Hierarchy</h2>
|
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<ul>
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<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
|
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<ul>
|
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<li class="circle">edu.wpi.first.math.kinematics.SwerveDriveKinematics
|
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<ul>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.math.<a href="SwerveKinematics2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math"><span class="typeNameLink">SwerveKinematics2</span></a></li>
|
||||
</ul>
|
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</li>
|
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<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.math.<a href="SwerveMath.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math"><span class="typeNameLink">SwerveMath</span></a></li>
|
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<li class="circle">edu.wpi.first.math.kinematics.SwerveModuleState (implements java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a><T>)
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<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.math.<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math"><span class="typeNameLink">SwerveModuleState2</span></a></li>
|
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|
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<h2 title="Enum SparkMaxSwerve.SparkMAX_slotIdx" class="title">Enum SparkMaxSwerve.SparkMAX_slotIdx</h2>
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<dt>Enclosing class:</dt>
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<dd><a href="SparkMaxSwerve.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve</a></dd>
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<pre>static enum <span class="typeNameLabel">SparkMaxSwerve.SparkMAX_slotIdx</span>
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extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a><<a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a>></pre>
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<div class="block">REV Slots for PID configuration.</div>
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<td class="colFirst"><code>private </code></td>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SparkMAX_slotIdx</a></span>()</code></th>
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<td class="colFirst"><code>static <a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></code></td>
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<td class="colFirst"><code>static <a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a>[]</code></td>
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<div class="block">Returns an array containing the constants of this enum type, in
|
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<pre>public static final <a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a> Position</pre>
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<pre>public static final <a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a> Velocity</pre>
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<pre>public static final <a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a> Simulation</pre>
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<pre>private SparkMAX_slotIdx()</pre>
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<h4>values</h4>
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<pre class="methodSignature">public static <a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a>[] values()</pre>
|
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<div class="block">Returns an array containing the constants of this enum type, in
|
||||
the order they are declared. This method may be used to iterate
|
||||
over the constants as follows:
|
||||
<pre>
|
||||
for (SparkMaxSwerve.SparkMAX_slotIdx c : SparkMaxSwerve.SparkMAX_slotIdx.values())
|
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System.out.println(c);
|
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</pre></div>
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<dt><span class="returnLabel">Returns:</span></dt>
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<pre class="methodSignature">public static <a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a> valueOf​(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a> name)</pre>
|
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<div class="block">Returns the enum constant of this type with the specified name.
|
||||
The string must match <i>exactly</i> an identifier used to declare an
|
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enum constant in this type. (Extraneous whitespace characters are
|
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<dd><code>name</code> - the name of the enum constant to be returned.</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>the enum constant with the specified name</dd>
|
||||
<dt><span class="throwsLabel">Throws:</span></dt>
|
||||
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.motors</a></div>
|
||||
<h2 title="Class SparkMaxSwerve" class="title">Class SparkMaxSwerve</h2>
|
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</div>
|
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<div class="contentContainer">
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<ul class="inheritance">
|
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor</a></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive2.swervelib.motors.SparkMaxSwerve</li>
|
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|
||||
<pre>public class <span class="typeNameLabel">SparkMaxSwerve</span>
|
||||
extends <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></pre>
|
||||
<div class="block">An implementation of <code>CANSparkMax</code> as a <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a>.</div>
|
||||
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|
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|
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|
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|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Class</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>(package private) static class </code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">REV Slots for PID configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
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|
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<!-- =========== FIELD SUMMARY =========== -->
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|
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|
||||
<table class="memberSummary">
|
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>com.revrobotics.AbsoluteEncoder</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoder">absoluteEncoder</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Absolute encoder attached to the SparkMax (if exists)</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>com.revrobotics.RelativeEncoder</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoder">encoder</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Integrated encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefaultOccurred">factoryDefaultOccurred</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Factory default already occurred.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>com.revrobotics.CANSparkMax</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#motor">motor</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">SparkMAX Instance.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>com.revrobotics.SparkMaxPIDController</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#pid">pid</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Closed-loop PID controller.</div>
|
||||
</td>
|
||||
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|
||||
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|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="fields.inherited.from.class.frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Fields inherited from class frc.robot.subsystems.swervedrive2.swervelib.motors.<a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></h3>
|
||||
<code><a href="SwerveMotor.html#isDriveMotor">isDriveMotor</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||||
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|
||||
<ul class="blockList">
|
||||
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|
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|
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|
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|
||||
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|
||||
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|
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|
||||
<th class="colLast" scope="col">Description</th>
|
||||
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|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int,boolean)">SparkMaxSwerve</a></span>​(int id,
|
||||
boolean isDriveMotor)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Initialize the <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a> as a <code>CANSparkMax</code> connected to a Brushless Motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.revrobotics.CANSparkMax,boolean)">SparkMaxSwerve</a></span>​(com.revrobotics.CANSparkMax motor,
|
||||
boolean isDriveMotor)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Initialize the swerve motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.summary">
|
||||
<!-- -->
|
||||
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|
||||
<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#burnFlash()">burnFlash</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Save the configurations from flash to EEPROM.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Clear the sticky faults on the motor controller.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configureCANStatusFrames(int,int,int,int,int)">configureCANStatusFrames</a></span>​(int CANStatus0,
|
||||
int CANStatus1,
|
||||
int CANStatus2,
|
||||
int CANStatus3,
|
||||
int CANStatus4)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the CAN status frames.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configureIntegratedEncoder(double)">configureIntegratedEncoder</a></span>​(double positionConversionFactor)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the integrated encoder for the swerve module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configurePIDF(frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig)">configurePIDF</a></span>​(<a href="../parser/PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> config)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the PIDF values for the closed loop controller.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configurePIDWrapping(double,double)">configurePIDWrapping</a></span>​(double minInput,
|
||||
double maxInput)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefaults()">factoryDefaults</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the factory defaults.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMotor()">getMotor</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the motor object from the module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i8" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the position of the integrated encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i9" class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the velocity of the integrated encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i10" class="altColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isAttachedAbsoluteEncoder()">isAttachedAbsoluteEncoder</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i11" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(double)">set</a></span>​(double percentOutput)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the percentage output.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i12" class="altColor">
|
||||
<td class="colFirst"><code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setAbsoluteEncoder(frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder</a></span>​(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> encoder)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i13" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentLimit(int)">setCurrentLimit</a></span>​(int currentLimit)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
|
||||
voltage compensation.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i14" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>​(boolean inverted)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the motor to be inverted.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i15" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setLoopRampRate(double)">setLoopRampRate</a></span>​(double rampRate)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i16" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setMotorBrake(boolean)">setMotorBrake</a></span>​(boolean isBrakeMode)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the idle mode.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i17" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPosition(double)">setPosition</a></span>​(double position)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the integrated encoder position.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i18" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setReference(double,double)">setReference</a></span>​(double setpoint,
|
||||
double feedforward)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the closed loop PID controller reference point.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i19" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>​(double nominalVoltage)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the voltage compensation for the swerve module motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="motor">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>motor</h4>
|
||||
<pre>public com.revrobotics.CANSparkMax motor</pre>
|
||||
<div class="block">SparkMAX Instance.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="encoder">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>encoder</h4>
|
||||
<pre>public com.revrobotics.RelativeEncoder encoder</pre>
|
||||
<div class="block">Integrated encoder.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="absoluteEncoder">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>absoluteEncoder</h4>
|
||||
<pre>public com.revrobotics.AbsoluteEncoder absoluteEncoder</pre>
|
||||
<div class="block">Absolute encoder attached to the SparkMax (if exists)</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="pid">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>pid</h4>
|
||||
<pre>public com.revrobotics.SparkMaxPIDController pid</pre>
|
||||
<div class="block">Closed-loop PID controller.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="factoryDefaultOccurred">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>factoryDefaultOccurred</h4>
|
||||
<pre>private boolean factoryDefaultOccurred</pre>
|
||||
<div class="block">Factory default already occurred.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(com.revrobotics.CANSparkMax,boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>SparkMaxSwerve</h4>
|
||||
<pre>public SparkMaxSwerve​(com.revrobotics.CANSparkMax motor,
|
||||
boolean isDriveMotor)</pre>
|
||||
<div class="block">Initialize the swerve motor.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>motor</code> - The SwerveMotor as a SparkMax object.</dd>
|
||||
<dd><code>isDriveMotor</code> - Is the motor being initialized a drive motor?</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="<init>(int,boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>SparkMaxSwerve</h4>
|
||||
<pre>public SparkMaxSwerve​(int id,
|
||||
boolean isDriveMotor)</pre>
|
||||
<div class="block">Initialize the <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a> as a <code>CANSparkMax</code> connected to a Brushless Motor.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>id</code> - CAN ID of the SparkMax.</dd>
|
||||
<dd><code>isDriveMotor</code> - Is the motor being initialized a drive motor?</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="setVoltageCompensation(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setVoltageCompensation</h4>
|
||||
<pre class="methodSignature">public void setVoltageCompensation​(double nominalVoltage)</pre>
|
||||
<div class="block">Set the voltage compensation for the swerve module motor.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#setVoltageCompensation(double)">setVoltageCompensation</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>nominalVoltage</code> - Nominal voltage for operation to output to.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setCurrentLimit(int)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setCurrentLimit</h4>
|
||||
<pre class="methodSignature">public void setCurrentLimit​(int currentLimit)</pre>
|
||||
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
|
||||
voltage compensation. This is useful to protect the motor from current spikes.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#setCurrentLimit(int)">setCurrentLimit</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>currentLimit</code> - Current limit in AMPS at free speed.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setLoopRampRate(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setLoopRampRate</h4>
|
||||
<pre class="methodSignature">public void setLoopRampRate​(double rampRate)</pre>
|
||||
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#setLoopRampRate(double)">setLoopRampRate</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>rampRate</code> - Time in seconds to go from 0 to full throttle.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getMotor()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getMotor</h4>
|
||||
<pre class="methodSignature">public <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a> getMotor()</pre>
|
||||
<div class="block">Get the motor object from the module.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#getMotor()">getMotor</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Motor object.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="isAttachedAbsoluteEncoder()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>isAttachedAbsoluteEncoder</h4>
|
||||
<pre class="methodSignature">public boolean isAttachedAbsoluteEncoder()</pre>
|
||||
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#isAttachedAbsoluteEncoder()">isAttachedAbsoluteEncoder</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>connected absolute encoder state.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="factoryDefaults()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>factoryDefaults</h4>
|
||||
<pre class="methodSignature">public void factoryDefaults()</pre>
|
||||
<div class="block">Configure the factory defaults.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#factoryDefaults()">factoryDefaults</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="clearStickyFaults()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>clearStickyFaults</h4>
|
||||
<pre class="methodSignature">public void clearStickyFaults()</pre>
|
||||
<div class="block">Clear the sticky faults on the motor controller.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#clearStickyFaults()">clearStickyFaults</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setAbsoluteEncoder(frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setAbsoluteEncoder</h4>
|
||||
<pre class="methodSignature">public <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> setAbsoluteEncoder​(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> encoder)</pre>
|
||||
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#setAbsoluteEncoder(frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>encoder</code> - The encoder to use.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a> for easy instantiation.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="configureIntegratedEncoder(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>configureIntegratedEncoder</h4>
|
||||
<pre class="methodSignature">public void configureIntegratedEncoder​(double positionConversionFactor)</pre>
|
||||
<div class="block">Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#configureIntegratedEncoder(double)">configureIntegratedEncoder</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>positionConversionFactor</code> - The conversion factor to apply.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="configurePIDF(frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>configurePIDF</h4>
|
||||
<pre class="methodSignature">public void configurePIDF​(<a href="../parser/PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> config)</pre>
|
||||
<div class="block">Configure the PIDF values for the closed loop controller.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#configurePIDF(frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig)">configurePIDF</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>config</code> - Configuration class holding the PIDF values.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="configurePIDWrapping(double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>configurePIDWrapping</h4>
|
||||
<pre class="methodSignature">public void configurePIDWrapping​(double minInput,
|
||||
double maxInput)</pre>
|
||||
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#configurePIDWrapping(double,double)">configurePIDWrapping</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>minInput</code> - Minimum PID input.</dd>
|
||||
<dd><code>maxInput</code> - Maximum PID input.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="configureCANStatusFrames(int,int,int,int,int)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>configureCANStatusFrames</h4>
|
||||
<pre class="methodSignature">public void configureCANStatusFrames​(int CANStatus0,
|
||||
int CANStatus1,
|
||||
int CANStatus2,
|
||||
int CANStatus3,
|
||||
int CANStatus4)</pre>
|
||||
<div class="block">Set the CAN status frames.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>CANStatus0</code> - Applied Output, Faults, Sticky Faults, Is Follower</dd>
|
||||
<dd><code>CANStatus1</code> - Motor Velocity, Motor Temperature, Motor Voltage, Motor Current</dd>
|
||||
<dd><code>CANStatus2</code> - Motor Position</dd>
|
||||
<dd><code>CANStatus3</code> - Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position</dd>
|
||||
<dd><code>CANStatus4</code> - Alternate Encoder Velocity, Alternate Encoder Position</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setMotorBrake(boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setMotorBrake</h4>
|
||||
<pre class="methodSignature">public void setMotorBrake​(boolean isBrakeMode)</pre>
|
||||
<div class="block">Set the idle mode.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#setMotorBrake(boolean)">setMotorBrake</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>isBrakeMode</code> - Set the brake mode.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setInverted(boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setInverted</h4>
|
||||
<pre class="methodSignature">public void setInverted​(boolean inverted)</pre>
|
||||
<div class="block">Set the motor to be inverted.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#setInverted(boolean)">setInverted</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>inverted</code> - State of inversion.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="burnFlash()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>burnFlash</h4>
|
||||
<pre class="methodSignature">public void burnFlash()</pre>
|
||||
<div class="block">Save the configurations from flash to EEPROM.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#burnFlash()">burnFlash</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="set(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>set</h4>
|
||||
<pre class="methodSignature">public void set​(double percentOutput)</pre>
|
||||
<div class="block">Set the percentage output.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#set(double)">set</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>percentOutput</code> - percent out for the motor controller.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setReference(double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setReference</h4>
|
||||
<pre class="methodSignature">public void setReference​(double setpoint,
|
||||
double feedforward)</pre>
|
||||
<div class="block">Set the closed loop PID controller reference point.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#setReference(double,double)">setReference</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>setpoint</code> - Setpoint in MPS or Angle in degrees.</dd>
|
||||
<dd><code>feedforward</code> - Feedforward in volt-meter-per-second or kV.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getVelocity()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getVelocity</h4>
|
||||
<pre class="methodSignature">public double getVelocity()</pre>
|
||||
<div class="block">Get the velocity of the integrated encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#getVelocity()">getVelocity</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>velocity</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getPosition()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getPosition</h4>
|
||||
<pre class="methodSignature">public double getPosition()</pre>
|
||||
<div class="block">Get the position of the integrated encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#getPosition()">getPosition</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Position</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setPosition(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>setPosition</h4>
|
||||
<pre class="methodSignature">public void setPosition​(double position)</pre>
|
||||
<div class="block">Set the integrated encoder position.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="SwerveMotor.html#setPosition(double)">setPosition</a></code> in class <code><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>position</code> - Integrated encoder position.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
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|
||||
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|
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<!-- ======== START OF CLASS DATA ======== -->
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.motors</a></div>
|
||||
<h2 title="Class SwerveMotor" class="title">Class SwerveMotor</h2>
|
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</div>
|
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<div class="contentContainer">
|
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<ul class="inheritance">
|
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
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<ul class="inheritance">
|
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<li>frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor</li>
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<dl>
|
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<dt>Direct Known Subclasses:</dt>
|
||||
<dd><code><a href="SparkMaxSwerve.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve</a></code></dd>
|
||||
</dl>
|
||||
<hr>
|
||||
<pre>public abstract class <span class="typeNameLabel">SwerveMotor</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Swerve motor abstraction which defines a standard interface for motors within a swerve module.</div>
|
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|
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<!-- =========== FIELD SUMMARY =========== -->
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
|
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<th class="colSecond" scope="col">Field</th>
|
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<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>protected boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isDriveMotor">isDriveMotor</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Whether the swerve motor is a drive motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
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</ul>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<table class="memberSummary">
|
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
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<tr>
|
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<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveMotor</a></span>()</code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
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</ul>
|
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|
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|
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<section>
|
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|
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|
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|
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|
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<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#burnFlash()">burnFlash</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Save the configurations from flash to EEPROM.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Clear the sticky faults on the motor controller.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configureIntegratedEncoder(double)">configureIntegratedEncoder</a></span>​(double positionConversionFactor)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the integrated encoder for the swerve module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configurePIDF(frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig)">configurePIDF</a></span>​(<a href="../parser/PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> config)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the PIDF values for the closed loop controller.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configurePIDWrapping(double,double)">configurePIDWrapping</a></span>​(double minInput,
|
||||
double maxInput)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefaults()">factoryDefaults</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the factory defaults.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>abstract <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMotor()">getMotor</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the motor object from the module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>abstract double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the position of the integrated encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i8" class="altColor">
|
||||
<td class="colFirst"><code>abstract double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the velocity of the integrated encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i9" class="rowColor">
|
||||
<td class="colFirst"><code>abstract boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isAttachedAbsoluteEncoder()">isAttachedAbsoluteEncoder</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i10" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(double)">set</a></span>​(double percentOutput)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the percentage output.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i11" class="rowColor">
|
||||
<td class="colFirst"><code>abstract <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setAbsoluteEncoder(frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder)">setAbsoluteEncoder</a></span>​(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> encoder)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i12" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentLimit(int)">setCurrentLimit</a></span>​(int currentLimit)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
|
||||
voltage compensation.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i13" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>​(boolean inverted)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the motor to be inverted.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i14" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setLoopRampRate(double)">setLoopRampRate</a></span>​(double rampRate)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i15" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setMotorBrake(boolean)">setMotorBrake</a></span>​(boolean isBrakeMode)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the idle mode.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i16" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPosition(double)">setPosition</a></span>​(double position)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the integrated encoder position.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i17" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setReference(double,double)">setReference</a></span>​(double setpoint,
|
||||
double feedforward)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the closed loop PID controller reference point.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i18" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>​(double nominalVoltage)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the voltage compensation for the swerve module motor.</div>
|
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
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</section>
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<div class="details">
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<ul class="blockList">
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|
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<!-- ============ FIELD DETAIL =========== -->
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<section>
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<li class="blockList"><a id="field.detail">
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</a>
|
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<h3>Field Detail</h3>
|
||||
<a id="isDriveMotor">
|
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|
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</a>
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<ul class="blockListLast">
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|
||||
<h4>isDriveMotor</h4>
|
||||
<pre>protected boolean isDriveMotor</pre>
|
||||
<div class="block">Whether the swerve motor is a drive motor.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
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<a id="<init>()">
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<ul class="blockListLast">
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|
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<h4>SwerveMotor</h4>
|
||||
<pre>public SwerveMotor()</pre>
|
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</li>
|
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</ul>
|
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</li>
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|
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<a id="factoryDefaults()">
|
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|
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</a>
|
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|
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|
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<h4>factoryDefaults</h4>
|
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<pre class="methodSignature">public abstract void factoryDefaults()</pre>
|
||||
<div class="block">Configure the factory defaults.</div>
|
||||
</li>
|
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</ul>
|
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<a id="clearStickyFaults()">
|
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|
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</a>
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||||
<li class="blockList">
|
||||
<h4>clearStickyFaults</h4>
|
||||
<pre class="methodSignature">public abstract void clearStickyFaults()</pre>
|
||||
<div class="block">Clear the sticky faults on the motor controller.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setAbsoluteEncoder(frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setAbsoluteEncoder</h4>
|
||||
<pre class="methodSignature">public abstract <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> setAbsoluteEncoder​(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> encoder)</pre>
|
||||
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>encoder</code> - The encoder to use.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="configureIntegratedEncoder(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>configureIntegratedEncoder</h4>
|
||||
<pre class="methodSignature">public abstract void configureIntegratedEncoder​(double positionConversionFactor)</pre>
|
||||
<div class="block">Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>positionConversionFactor</code> - The conversion factor to apply for position.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="configurePIDF(frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>configurePIDF</h4>
|
||||
<pre class="methodSignature">public abstract void configurePIDF​(<a href="../parser/PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> config)</pre>
|
||||
<div class="block">Configure the PIDF values for the closed loop controller. 0 is disabled or off.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>config</code> - Configuration class holding the PIDF values.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="configurePIDWrapping(double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>configurePIDWrapping</h4>
|
||||
<pre class="methodSignature">public abstract void configurePIDWrapping​(double minInput,
|
||||
double maxInput)</pre>
|
||||
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>minInput</code> - Minimum PID input.</dd>
|
||||
<dd><code>maxInput</code> - Maximum PID input.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setMotorBrake(boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setMotorBrake</h4>
|
||||
<pre class="methodSignature">public abstract void setMotorBrake​(boolean isBrakeMode)</pre>
|
||||
<div class="block">Set the idle mode.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>isBrakeMode</code> - Set the brake mode.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setInverted(boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setInverted</h4>
|
||||
<pre class="methodSignature">public abstract void setInverted​(boolean inverted)</pre>
|
||||
<div class="block">Set the motor to be inverted.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>inverted</code> - State of inversion.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="burnFlash()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>burnFlash</h4>
|
||||
<pre class="methodSignature">public abstract void burnFlash()</pre>
|
||||
<div class="block">Save the configurations from flash to EEPROM.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="set(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>set</h4>
|
||||
<pre class="methodSignature">public abstract void set​(double percentOutput)</pre>
|
||||
<div class="block">Set the percentage output.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>percentOutput</code> - percent out for the motor controller.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setReference(double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setReference</h4>
|
||||
<pre class="methodSignature">public abstract void setReference​(double setpoint,
|
||||
double feedforward)</pre>
|
||||
<div class="block">Set the closed loop PID controller reference point.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>setpoint</code> - Setpoint in MPS or Angle in degrees.</dd>
|
||||
<dd><code>feedforward</code> - Feedforward in volt-meter-per-second or kV.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getVelocity()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getVelocity</h4>
|
||||
<pre class="methodSignature">public abstract double getVelocity()</pre>
|
||||
<div class="block">Get the velocity of the integrated encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>velocity</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getPosition()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getPosition</h4>
|
||||
<pre class="methodSignature">public abstract double getPosition()</pre>
|
||||
<div class="block">Get the position of the integrated encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Position</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setPosition(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setPosition</h4>
|
||||
<pre class="methodSignature">public abstract void setPosition​(double position)</pre>
|
||||
<div class="block">Set the integrated encoder position.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>position</code> - Integrated encoder position. Should be angle in degrees or meters per second.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setVoltageCompensation(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setVoltageCompensation</h4>
|
||||
<pre class="methodSignature">public abstract void setVoltageCompensation​(double nominalVoltage)</pre>
|
||||
<div class="block">Set the voltage compensation for the swerve module motor.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>nominalVoltage</code> - Nominal voltage for operation to output to.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setCurrentLimit(int)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setCurrentLimit</h4>
|
||||
<pre class="methodSignature">public abstract void setCurrentLimit​(int currentLimit)</pre>
|
||||
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
|
||||
voltage compensation. This is useful to protect the motor from current spikes.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>currentLimit</code> - Current limit in AMPS at free speed.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setLoopRampRate(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setLoopRampRate</h4>
|
||||
<pre class="methodSignature">public abstract void setLoopRampRate​(double rampRate)</pre>
|
||||
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>rampRate</code> - Time in seconds to go from 0 to full throttle.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getMotor()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getMotor</h4>
|
||||
<pre class="methodSignature">public abstract <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a> getMotor()</pre>
|
||||
<div class="block">Get the motor object from the module.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Motor object.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="isAttachedAbsoluteEncoder()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>isAttachedAbsoluteEncoder</h4>
|
||||
<pre class="methodSignature">public abstract boolean isAttachedAbsoluteEncoder()</pre>
|
||||
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>connected absolute encoder state.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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<th class="colFirst" scope="row"><a href="SparkMaxSwerve.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve</a></th>
|
||||
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|
||||
<div class="block">An implementation of <code>CANSparkMax</code> as a <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a>.</div>
|
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|
||||
<th class="colFirst" scope="row"><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve motor abstraction which defines a standard interface for motors within a swerve module.</div>
|
||||
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|
||||
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|
||||
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|
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|
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|
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<th class="colFirst" scope="row"><a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive2.swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">REV Slots for PID configuration.</div>
|
||||
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|
||||
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|
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|
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|
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<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.motors.<a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive2.swervelib.motors"><span class="typeNameLink">SparkMaxSwerve.SparkMAX_slotIdx</span></a></li>
|
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<tr>
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<th class="colFirst" scope="col">Class</th>
|
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<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tbody>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveController.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveController</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Controller class used to convert raw inputs into robot speeds.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveDrive</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve Drive class representing and controlling the swerve drive.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveModule</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The Swerve Module class which represents and controls Swerve Modules for the swerve drive.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
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|
||||
<h2 title="Class PIDFConfig" class="title">Class PIDFConfig</h2>
|
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|
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|
||||
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|
||||
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<pre>public class <span class="typeNameLabel">PIDFConfig</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Hold the PIDF and Integral Zone values for a PID.</div>
|
||||
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#d">d</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Derivative Gain for PID.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#f">f</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Feedforward value for PID.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#i">i</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Integral Gain for PID.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#iz">iz</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Integral zone of the PID.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="deserializer/PIDFRange.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.deserializer">PIDFRange</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#output">output</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The PIDF output range.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#p">p</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Proportional Gain for PID.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
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|
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|
||||
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|
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|
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|
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|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">PIDFConfig</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Used when parsing PIDF values from JSON.</div>
|
||||
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|
||||
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|
||||
<tr class="rowColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double)">PIDFConfig</a></span>​(double p,
|
||||
double d)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">PIDF Config constructor to contain the values.</div>
|
||||
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|
||||
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|
||||
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|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double)">PIDFConfig</a></span>​(double p,
|
||||
double i,
|
||||
double d)</code></th>
|
||||
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|
||||
<div class="block">PIDF Config constructor to contain the values.</div>
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||||
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|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double,double)">PIDFConfig</a></span>​(double p,
|
||||
double i,
|
||||
double d,
|
||||
double f)</code></th>
|
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||||
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||||
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double,double,double)">PIDFConfig</a></span>​(double p,
|
||||
double i,
|
||||
double d,
|
||||
double f,
|
||||
double iz)</code></th>
|
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<div class="block">PIDF Config constructor to contain the values.</div>
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||||
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<td class="colFirst"><code>edu.wpi.first.math.controller.PIDController</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createPIDController()">createPIDController</a></span>()</code></th>
|
||||
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|
||||
<div class="block">Create a PIDController from the PID values.</div>
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<h4>p</h4>
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<pre>public double p</pre>
|
||||
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|
||||
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<h4>i</h4>
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|
||||
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|
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||||
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|
||||
<h4>d</h4>
|
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<pre>public double d</pre>
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|
||||
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|
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|
||||
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||||
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||||
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<h4>f</h4>
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||||
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|
||||
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|
||||
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||||
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|
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|
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<h4>iz</h4>
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||||
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|
||||
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<pre>public <a href="deserializer/PIDFRange.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.deserializer">PIDFRange</a> output</pre>
|
||||
<div class="block">The PIDF output range.</div>
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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<h4>PIDFConfig</h4>
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<pre>public PIDFConfig()</pre>
|
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<div class="block">Used when parsing PIDF values from JSON.</div>
|
||||
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|
||||
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<h4>PIDFConfig</h4>
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double i,
|
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double d,
|
||||
double f,
|
||||
double iz)</pre>
|
||||
<div class="block">PIDF Config constructor to contain the values.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>p</code> - P gain.</dd>
|
||||
<dd><code>i</code> - I gain.</dd>
|
||||
<dd><code>d</code> - D gain.</dd>
|
||||
<dd><code>f</code> - F gain.</dd>
|
||||
<dd><code>iz</code> - Intergral zone.</dd>
|
||||
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<h4>PIDFConfig</h4>
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<pre>public PIDFConfig​(double p,
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|
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|
||||
double f)</pre>
|
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<div class="block">PIDF Config constructor to contain the values.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>p</code> - P gain.</dd>
|
||||
<dd><code>i</code> - I gain.</dd>
|
||||
<dd><code>d</code> - D gain.</dd>
|
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<dd><code>f</code> - F gain.</dd>
|
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|
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<h4>PIDFConfig</h4>
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|
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<div class="block">PIDF Config constructor to contain the values.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>p</code> - P gain.</dd>
|
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<dd><code>i</code> - I gain.</dd>
|
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<dd><code>d</code> - D gain.</dd>
|
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|
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<h4>PIDFConfig</h4>
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|
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<div class="block">PIDF Config constructor to contain the values.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>p</code> - P gain.</dd>
|
||||
<dd><code>d</code> - D gain.</dd>
|
||||
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|
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|
||||
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|
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<a id="createPIDController()">
|
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|
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||||
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<h4>createPIDController</h4>
|
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|
||||
<div class="block">Create a PIDController from the PID values.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>PIDController.</dd>
|
||||
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||||
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||||
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||||
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.parser</a></div>
|
||||
<h2 title="Class SwerveControllerConfiguration" class="title">Class SwerveControllerConfiguration</h2>
|
||||
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|
||||
<div class="contentContainer">
|
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|
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<pre>public class <span class="typeNameLabel">SwerveControllerConfiguration</span>
|
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extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Swerve Controller configuration class which is used to configure
|
||||
<a href="../SwerveController.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveController</code></a>.</div>
|
||||
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|
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
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|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
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<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleJoyStickRadiusDeadband">angleJoyStickRadiusDeadband</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">hypotenuse deadband for the robot angle control joystick.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#headingPIDF">headingPIDF</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">PIDF for the heading of the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxAngularVelocity">maxAngularVelocity</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Maximum angular velocity in rad/s</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxSpeed">maxSpeed</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Maximum robot speed in meters per second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
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|
||||
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|
||||
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|
||||
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|
||||
<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig)">SwerveControllerConfiguration</a></span>​(<a href="SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> driveCfg,
|
||||
<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> headingPIDF)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Construct the swerve controller configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,double)">SwerveControllerConfiguration</a></span>​(<a href="SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> driveCfg,
|
||||
<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> headingPIDF,
|
||||
double angleJoyStickRadiusDeadband)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Construct the swerve controller configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
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<!-- ========== METHOD SUMMARY =========== -->
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
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</ul>
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</li>
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||||
</ul>
|
||||
</section>
|
||||
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||||
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|
||||
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|
||||
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||||
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<!-- ============ FIELD DETAIL =========== -->
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<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
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||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="maxSpeed">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>maxSpeed</h4>
|
||||
<pre>public final double maxSpeed</pre>
|
||||
<div class="block">Maximum robot speed in meters per second.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="maxAngularVelocity">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>maxAngularVelocity</h4>
|
||||
<pre>public final double maxAngularVelocity</pre>
|
||||
<div class="block">Maximum angular velocity in rad/s</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="headingPIDF">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>headingPIDF</h4>
|
||||
<pre>public final <a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> headingPIDF</pre>
|
||||
<div class="block">PIDF for the heading of the robot.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angleJoyStickRadiusDeadband">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>angleJoyStickRadiusDeadband</h4>
|
||||
<pre>public final double angleJoyStickRadiusDeadband</pre>
|
||||
<div class="block">hypotenuse deadband for the robot angle control joystick.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
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<section>
|
||||
<ul class="blockList">
|
||||
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|
||||
<!-- -->
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||||
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|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>SwerveControllerConfiguration</h4>
|
||||
<pre>public SwerveControllerConfiguration​(<a href="SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> driveCfg,
|
||||
<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> headingPIDF,
|
||||
double angleJoyStickRadiusDeadband)</pre>
|
||||
<div class="block">Construct the swerve controller configuration.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>driveCfg</code> - Drive configuration.</dd>
|
||||
<dd><code>headingPIDF</code> - Heading PIDF configuration.</dd>
|
||||
<dd><code>angleJoyStickRadiusDeadband</code> - Deadband on radius of angle joystick.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="<init>(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>SwerveControllerConfiguration</h4>
|
||||
<pre>public SwerveControllerConfiguration​(<a href="SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> driveCfg,
|
||||
<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> headingPIDF)</pre>
|
||||
<div class="block">Construct the swerve controller configuration. Assumes hypotenuse deadband of 0.5 (minimum radius for angle to be
|
||||
set on angle joystick is .5 of the controller).</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>driveCfg</code> - Drive configuration.</dd>
|
||||
<dd><code>headingPIDF</code> - Heading PIDF configuration.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.parser</a></div>
|
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<h2 title="Class SwerveDriveConfiguration" class="title">Class SwerveDriveConfiguration</h2>
|
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</div>
|
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<div class="contentContainer">
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<ul class="inheritance">
|
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<li>frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration</li>
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<pre>public class <span class="typeNameLabel">SwerveDriveConfiguration</span>
|
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extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Swerve drive configurations used during SwerveDrive construction.</div>
|
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|
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|
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|
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<tr>
|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="../imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#imu">imu</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve IMU</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#invertedIMU">invertedIMU</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Invert the imu measurements.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxSpeed">maxSpeed</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Max speed in meters per second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleCount">moduleCount</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Number of modules on the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.geometry.Translation2d[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleLocationsMeters">moduleLocationsMeters</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve Module locations.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveModule</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#modules">modules</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve Modules.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
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<section>
|
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|
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|
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<h3>Constructor Summary</h3>
|
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<table class="memberSummary">
|
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
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<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration%5B%5D,frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU,double,boolean)">SwerveDriveConfiguration</a></span>​(<a href="SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a>[] moduleConfigs,
|
||||
<a href="../imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a> swerveIMU,
|
||||
double maxSpeed,
|
||||
boolean invertedIMU)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create swerve drive configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
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</ul>
|
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<!-- ========== METHOD SUMMARY =========== -->
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|
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|
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<h3>Method Summary</h3>
|
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<table class="memberSummary">
|
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
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|
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|
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|
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|
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<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code><a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveModule</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createModules(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration%5B%5D)">createModules</a></span>​(<a href="SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a>[] swerves)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create modules based off of the SwerveModuleConfiguration.</div>
|
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</td>
|
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|
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|
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|
||||
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|
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
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</ul>
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</li>
|
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</ul>
|
||||
</section>
|
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</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
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<section>
|
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<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
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|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="moduleLocationsMeters">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>moduleLocationsMeters</h4>
|
||||
<pre>public edu.wpi.first.math.geometry.Translation2d[] moduleLocationsMeters</pre>
|
||||
<div class="block">Swerve Module locations.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="imu">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>imu</h4>
|
||||
<pre>public <a href="../imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a> imu</pre>
|
||||
<div class="block">Swerve IMU</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="invertedIMU">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>invertedIMU</h4>
|
||||
<pre>public boolean invertedIMU</pre>
|
||||
<div class="block">Invert the imu measurements.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="maxSpeed">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>maxSpeed</h4>
|
||||
<pre>public double maxSpeed</pre>
|
||||
<div class="block">Max speed in meters per second.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="moduleCount">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>moduleCount</h4>
|
||||
<pre>public int moduleCount</pre>
|
||||
<div class="block">Number of modules on the robot.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="modules">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>modules</h4>
|
||||
<pre>public <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveModule</a>[] modules</pre>
|
||||
<div class="block">Swerve Modules.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
<!-- -->
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||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration[],frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU,double,boolean)">
|
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<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
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||||
<h4>SwerveDriveConfiguration</h4>
|
||||
<pre>public SwerveDriveConfiguration​(<a href="SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a>[] moduleConfigs,
|
||||
<a href="../imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a> swerveIMU,
|
||||
double maxSpeed,
|
||||
boolean invertedIMU)</pre>
|
||||
<div class="block">Create swerve drive configuration.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>moduleConfigs</code> - Module configuration.</dd>
|
||||
<dd><code>swerveIMU</code> - Swerve IMU.</dd>
|
||||
<dd><code>maxSpeed</code> - Max speed of the robot in meters per second.</dd>
|
||||
<dd><code>invertedIMU</code> - Invert the IMU.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
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<!-- ============ METHOD DETAIL ========== -->
|
||||
<section>
|
||||
<ul class="blockList">
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||||
<li class="blockList"><a id="method.detail">
|
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<!-- -->
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</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="createModules(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration[])">
|
||||
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|
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</a>
|
||||
<ul class="blockListLast">
|
||||
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|
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<h4>createModules</h4>
|
||||
<pre class="methodSignature">public <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveModule</a>[] createModules​(<a href="SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a>[] swerves)</pre>
|
||||
<div class="block">Create modules based off of the SwerveModuleConfiguration.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>swerves</code> - Swerve constants.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Swerve Modules.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
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</li>
|
||||
</ul>
|
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</div>
|
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</div>
|
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</main>
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<footer role="contentinfo">
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.parser</a></div>
|
||||
<h2 title="Class SwerveModuleConfiguration" class="title">Class SwerveModuleConfiguration</h2>
|
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</div>
|
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<div class="contentContainer">
|
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<ul class="inheritance">
|
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
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<li>
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<ul class="inheritance">
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<li>frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration</li>
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|
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|
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<div class="description">
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<hr>
|
||||
<pre>public class <span class="typeNameLabel">SwerveModuleConfiguration</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Swerve Module configuration class which is used to configure
|
||||
<a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveModule</code></a>.</div>
|
||||
</li>
|
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</ul>
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</div>
|
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<div class="summary">
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<!-- =========== FIELD SUMMARY =========== -->
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<!-- -->
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</a>
|
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<h3>Field Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoder">absoluteEncoder</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The Absolute Encoder for the swerve module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoderInverted">absoluteEncoderInverted</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Whether the absolute encoder is inverted.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleKV">angleKV</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Angle volt-meter-per-second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotor">angleMotor</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The drive motor and angle motor of this swerve module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorInverted">angleMotorInverted</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">State of inversion of the angle motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleOffset">angleOffset</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Angle offset in degrees for the Swerve Module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#anglePIDF">anglePIDF</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">PIDF configuration options for the angle motor closed-loop PID controller.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotor">driveMotor</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The drive motor and angle motor of this swerve module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotorInverted">driveMotorInverted</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">State of inversion of the drive motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxSpeed">maxSpeed</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Maximum robot speed in meters per second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.geometry.Translation2d</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleLocation">moduleLocation</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve module location relative to the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#physicalCharacteristics">physicalCharacteristics</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Physical characteristics of the swerve module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#velocityPIDF">velocityPIDF</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">PIDF configuration options for the drive motor closed-loop PID controller.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.summary">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor,frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor,frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,double,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics)">SwerveModuleConfiguration</a></span>​(<a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> driveMotor,
|
||||
<a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> angleMotor,
|
||||
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> absoluteEncoder,
|
||||
double angleOffset,
|
||||
double xMeters,
|
||||
double yMeters,
|
||||
<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> anglePIDF,
|
||||
<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> velocityPIDF,
|
||||
double maxSpeed,
|
||||
<a href="SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a> physicalCharacteristics)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Construct a configuration object for swerve modules.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor,frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor,frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,double,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean)">SwerveModuleConfiguration</a></span>​(<a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> driveMotor,
|
||||
<a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> angleMotor,
|
||||
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> absoluteEncoder,
|
||||
double angleOffset,
|
||||
double xMeters,
|
||||
double yMeters,
|
||||
<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> anglePIDF,
|
||||
<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> velocityPIDF,
|
||||
double maxSpeed,
|
||||
<a href="SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a> physicalCharacteristics,
|
||||
boolean absoluteEncoderInverted,
|
||||
boolean driveMotorInverted,
|
||||
boolean angleMotorInverted)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Construct a configuration object for swerve modules.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.summary">
|
||||
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|
||||
</a>
|
||||
<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.controller.SimpleMotorFeedforward</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createDriveFeedforward()">createDriveFeedforward</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create the drive feedforward for swerve modules.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPositionEncoderConversion(boolean)">getPositionEncoderConversion</a></span>​(boolean isDriveMotor)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the encoder conversion for position encoders.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
||||
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|
||||
</a>
|
||||
<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
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|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="angleOffset">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>angleOffset</h4>
|
||||
<pre>public final double angleOffset</pre>
|
||||
<div class="block">Angle offset in degrees for the Swerve Module.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="absoluteEncoderInverted">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>absoluteEncoderInverted</h4>
|
||||
<pre>public final boolean absoluteEncoderInverted</pre>
|
||||
<div class="block">Whether the absolute encoder is inverted.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="driveMotorInverted">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>driveMotorInverted</h4>
|
||||
<pre>public final boolean driveMotorInverted</pre>
|
||||
<div class="block">State of inversion of the drive motor.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angleMotorInverted">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>angleMotorInverted</h4>
|
||||
<pre>public final boolean angleMotorInverted</pre>
|
||||
<div class="block">State of inversion of the angle motor.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="maxSpeed">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>maxSpeed</h4>
|
||||
<pre>public final double maxSpeed</pre>
|
||||
<div class="block">Maximum robot speed in meters per second.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="anglePIDF">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>anglePIDF</h4>
|
||||
<pre>public <a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> anglePIDF</pre>
|
||||
<div class="block">PIDF configuration options for the angle motor closed-loop PID controller.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="velocityPIDF">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>velocityPIDF</h4>
|
||||
<pre>public <a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> velocityPIDF</pre>
|
||||
<div class="block">PIDF configuration options for the drive motor closed-loop PID controller.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angleKV">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>angleKV</h4>
|
||||
<pre>public double angleKV</pre>
|
||||
<div class="block">Angle volt-meter-per-second.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="moduleLocation">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>moduleLocation</h4>
|
||||
<pre>public edu.wpi.first.math.geometry.Translation2d moduleLocation</pre>
|
||||
<div class="block">Swerve module location relative to the robot.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="physicalCharacteristics">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>physicalCharacteristics</h4>
|
||||
<pre>public <a href="SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a> physicalCharacteristics</pre>
|
||||
<div class="block">Physical characteristics of the swerve module.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="driveMotor">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>driveMotor</h4>
|
||||
<pre>public <a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> driveMotor</pre>
|
||||
<div class="block">The drive motor and angle motor of this swerve module.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angleMotor">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>angleMotor</h4>
|
||||
<pre>public <a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> angleMotor</pre>
|
||||
<div class="block">The drive motor and angle motor of this swerve module.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="absoluteEncoder">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>absoluteEncoder</h4>
|
||||
<pre>public <a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> absoluteEncoder</pre>
|
||||
<div class="block">The Absolute Encoder for the swerve module.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor,frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor,frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,double,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>SwerveModuleConfiguration</h4>
|
||||
<pre>public SwerveModuleConfiguration​(<a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> driveMotor,
|
||||
<a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> angleMotor,
|
||||
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> absoluteEncoder,
|
||||
double angleOffset,
|
||||
double xMeters,
|
||||
double yMeters,
|
||||
<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> anglePIDF,
|
||||
<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> velocityPIDF,
|
||||
double maxSpeed,
|
||||
<a href="SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a> physicalCharacteristics,
|
||||
boolean absoluteEncoderInverted,
|
||||
boolean driveMotorInverted,
|
||||
boolean angleMotorInverted)</pre>
|
||||
<div class="block">Construct a configuration object for swerve modules.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>driveMotor</code> - Drive <a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a>.</dd>
|
||||
<dd><code>angleMotor</code> - Angle <a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a></dd>
|
||||
<dd><code>absoluteEncoder</code> - Absolute encoder <a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a>.</dd>
|
||||
<dd><code>angleOffset</code> - Absolute angle offset to 0.</dd>
|
||||
<dd><code>absoluteEncoderInverted</code> - Absolute encoder inverted.</dd>
|
||||
<dd><code>angleMotorInverted</code> - State of inversion of the angle motor.</dd>
|
||||
<dd><code>driveMotorInverted</code> - Drive motor inverted.</dd>
|
||||
<dd><code>xMeters</code> - Module location in meters from the center horizontally.</dd>
|
||||
<dd><code>yMeters</code> - Module location in meters from center vertically.</dd>
|
||||
<dd><code>anglePIDF</code> - Angle PIDF configuration.</dd>
|
||||
<dd><code>velocityPIDF</code> - Velocity PIDF configuration.</dd>
|
||||
<dd><code>maxSpeed</code> - Maximum speed in meters per second.</dd>
|
||||
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="<init>(frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor,frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor,frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,double,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>SwerveModuleConfiguration</h4>
|
||||
<pre>public SwerveModuleConfiguration​(<a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> driveMotor,
|
||||
<a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> angleMotor,
|
||||
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> absoluteEncoder,
|
||||
double angleOffset,
|
||||
double xMeters,
|
||||
double yMeters,
|
||||
<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> anglePIDF,
|
||||
<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> velocityPIDF,
|
||||
double maxSpeed,
|
||||
<a href="SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a> physicalCharacteristics)</pre>
|
||||
<div class="block">Construct a configuration object for swerve modules. Assumes the absolute encoder and drive motor are not
|
||||
inverted.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>driveMotor</code> - Drive <a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a>.</dd>
|
||||
<dd><code>angleMotor</code> - Angle <a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a></dd>
|
||||
<dd><code>absoluteEncoder</code> - Absolute encoder <a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a>.</dd>
|
||||
<dd><code>angleOffset</code> - Absolute angle offset to 0.</dd>
|
||||
<dd><code>xMeters</code> - Module location in meters from the center horizontally.</dd>
|
||||
<dd><code>yMeters</code> - Module location in meters from center vertically.</dd>
|
||||
<dd><code>anglePIDF</code> - Angle PIDF configuration.</dd>
|
||||
<dd><code>velocityPIDF</code> - Velocity PIDF configuration.</dd>
|
||||
<dd><code>maxSpeed</code> - Maximum robot speed in meters per second.</dd>
|
||||
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="createDriveFeedforward()">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>createDriveFeedforward</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.controller.SimpleMotorFeedforward createDriveFeedforward()</pre>
|
||||
<div class="block">Create the drive feedforward for swerve modules.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Drive feedforward for drive motor on a swerve module.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getPositionEncoderConversion(boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>getPositionEncoderConversion</h4>
|
||||
<pre class="methodSignature">public double getPositionEncoderConversion​(boolean isDriveMotor)</pre>
|
||||
<div class="block">Get the encoder conversion for position encoders.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>isDriveMotor</code> - For the drive motor.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Position encoder conversion factor.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.parser</a></div>
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<h2 title="Class SwerveModulePhysicalCharacteristics" class="title">Class SwerveModulePhysicalCharacteristics</h2>
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<pre>public class <span class="typeNameLabel">SwerveModulePhysicalCharacteristics</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Configuration class which stores physical characteristics shared between every swerve module.</div>
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|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
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<th class="colSecond" scope="col">Field</th>
|
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<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleEncoderPulsePerRotation">angleEncoderPulsePerRotation</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Angle motor encoder pulse per rotation.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleGearRatio">angleGearRatio</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Angle gear ratio.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorCurrentLimit">angleMotorCurrentLimit</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Current limits for the Swerve Module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorFreeSpeedRPM">angleMotorFreeSpeedRPM</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorRampRate">angleMotorRampRate</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveEncoderPulsePerRotation">driveEncoderPulsePerRotation</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Drive motor encoder pulse per rotation.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveGearRatio">driveGearRatio</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Drive gear ratio.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotorCurrentLimit">driveMotorCurrentLimit</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Current limits for the Swerve Module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotorRampRate">driveMotorRampRate</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimalVoltage">optimalVoltage</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Optimal voltage of the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#wheelDiameter">wheelDiameter</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Wheel diameter in meters.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#wheelGripCoefficientOfFriction">wheelGripCoefficientOfFriction</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
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|
||||
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|
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
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|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double,double,double,double,int,int)">SwerveModulePhysicalCharacteristics</a></span>​(double driveGearRatio,
|
||||
double angleGearRatio,
|
||||
double angleMotorFreeSpeedRPM,
|
||||
double wheelDiameter,
|
||||
double driveMotorRampRate,
|
||||
double angleMotorRampRate,
|
||||
int driveEncoderPulsePerRotation,
|
||||
int angleEncoderPulsePerRotation)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Construct the swerve module physical characteristics.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int)">SwerveModulePhysicalCharacteristics</a></span>​(double driveGearRatio,
|
||||
double angleGearRatio,
|
||||
double angleMotorFreeSpeedRPM,
|
||||
double wheelDiameter,
|
||||
double wheelGripCoefficientOfFriction,
|
||||
double optimalVoltage,
|
||||
int driveMotorCurrentLimit,
|
||||
int angleMotorCurrentLimit,
|
||||
double driveMotorRampRate,
|
||||
double angleMotorRampRate,
|
||||
int driveEncoderPulsePerRotation,
|
||||
int angleEncoderPulsePerRotation)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Construct the swerve module physical characteristics.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
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<!-- ============ FIELD DETAIL =========== -->
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|
||||
<!-- -->
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||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="wheelDiameter">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>wheelDiameter</h4>
|
||||
<pre>public final double wheelDiameter</pre>
|
||||
<div class="block">Wheel diameter in meters.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="driveGearRatio">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>driveGearRatio</h4>
|
||||
<pre>public final double driveGearRatio</pre>
|
||||
<div class="block">Drive gear ratio. How many times the motor has to spin before the wheel makes a complete rotation.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angleGearRatio">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>angleGearRatio</h4>
|
||||
<pre>public final double angleGearRatio</pre>
|
||||
<div class="block">Angle gear ratio. How many times the motor has to spin before the wheel makes a full rotation.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="driveEncoderPulsePerRotation">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>driveEncoderPulsePerRotation</h4>
|
||||
<pre>public final int driveEncoderPulsePerRotation</pre>
|
||||
<div class="block">Drive motor encoder pulse per rotation. 1 if integrated encoder.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angleEncoderPulsePerRotation">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>angleEncoderPulsePerRotation</h4>
|
||||
<pre>public final int angleEncoderPulsePerRotation</pre>
|
||||
<div class="block">Angle motor encoder pulse per rotation. 1 if integrated encoder.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="optimalVoltage">
|
||||
<!-- -->
|
||||
</a>
|
||||
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|
||||
<li class="blockList">
|
||||
<h4>optimalVoltage</h4>
|
||||
<pre>public final double optimalVoltage</pre>
|
||||
<div class="block">Optimal voltage of the robot.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="driveMotorCurrentLimit">
|
||||
<!-- -->
|
||||
</a>
|
||||
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|
||||
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|
||||
<h4>driveMotorCurrentLimit</h4>
|
||||
<pre>public final int driveMotorCurrentLimit</pre>
|
||||
<div class="block">Current limits for the Swerve Module.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angleMotorCurrentLimit">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>angleMotorCurrentLimit</h4>
|
||||
<pre>public final int angleMotorCurrentLimit</pre>
|
||||
<div class="block">Current limits for the Swerve Module.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="driveMotorRampRate">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
<li class="blockList">
|
||||
<h4>driveMotorRampRate</h4>
|
||||
<pre>public final double driveMotorRampRate</pre>
|
||||
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angleMotorRampRate">
|
||||
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|
||||
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|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>angleMotorRampRate</h4>
|
||||
<pre>public final double angleMotorRampRate</pre>
|
||||
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="wheelGripCoefficientOfFriction">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>wheelGripCoefficientOfFriction</h4>
|
||||
<pre>public final double wheelGripCoefficientOfFriction</pre>
|
||||
<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angleMotorFreeSpeedRPM">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>angleMotorFreeSpeedRPM</h4>
|
||||
<pre>public final double angleMotorFreeSpeedRPM</pre>
|
||||
<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
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<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
<!-- -->
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||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(double,double,double,double,double,double,int,int,double,double,int,int)">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
<li class="blockList">
|
||||
<h4>SwerveModulePhysicalCharacteristics</h4>
|
||||
<pre>public SwerveModulePhysicalCharacteristics​(double driveGearRatio,
|
||||
double angleGearRatio,
|
||||
double angleMotorFreeSpeedRPM,
|
||||
double wheelDiameter,
|
||||
double wheelGripCoefficientOfFriction,
|
||||
double optimalVoltage,
|
||||
int driveMotorCurrentLimit,
|
||||
int angleMotorCurrentLimit,
|
||||
double driveMotorRampRate,
|
||||
double angleMotorRampRate,
|
||||
int driveEncoderPulsePerRotation,
|
||||
int angleEncoderPulsePerRotation)</pre>
|
||||
<div class="block">Construct the swerve module physical characteristics.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the
|
||||
wheel.</dd>
|
||||
<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.</dd>
|
||||
<dd><code>angleMotorFreeSpeedRPM</code> - Motor free speed rotation per minute.</dd>
|
||||
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
|
||||
<dd><code>wheelGripCoefficientOfFriction</code> - Wheel grip coefficient of friction on carpet given by manufacturer.</dd>
|
||||
<dd><code>optimalVoltage</code> - Optimal robot voltage.</dd>
|
||||
<dd><code>driveMotorCurrentLimit</code> - Current limit for the drive motor.</dd>
|
||||
<dd><code>angleMotorCurrentLimit</code> - Current limit for the angle motor.</dd>
|
||||
<dd><code>driveMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents
|
||||
over drawing power from battery)</dd>
|
||||
<dd><code>angleMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents
|
||||
overdrawing power and power loss).</dd>
|
||||
<dd><code>driveEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
|
||||
<dd><code>angleEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="<init>(double,double,double,double,double,double,int,int)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>SwerveModulePhysicalCharacteristics</h4>
|
||||
<pre>public SwerveModulePhysicalCharacteristics​(double driveGearRatio,
|
||||
double angleGearRatio,
|
||||
double angleMotorFreeSpeedRPM,
|
||||
double wheelDiameter,
|
||||
double driveMotorRampRate,
|
||||
double angleMotorRampRate,
|
||||
int driveEncoderPulsePerRotation,
|
||||
int angleEncoderPulsePerRotation)</pre>
|
||||
<div class="block">Construct the swerve module physical characteristics. Assume coefficient of friction is 1.19 (taken from blue
|
||||
nitrile on carpet from Studica) and optimal voltage is 12v. Assumes the drive motor current limit is 40A, and the
|
||||
angle motor current limit is 20A.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.</dd>
|
||||
<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.</dd>
|
||||
<dd><code>angleMotorFreeSpeedRPM</code> - Motor free speed rotation per minute.</dd>
|
||||
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
|
||||
<dd><code>driveMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents over
|
||||
drawing power from battery)</dd>
|
||||
<dd><code>angleMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents
|
||||
overdrawing power and power loss).</dd>
|
||||
<dd><code>driveEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
|
||||
<dd><code>angleEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.parser</a></div>
|
||||
<h2 title="Class SwerveParser" class="title">Class SwerveParser</h2>
|
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</div>
|
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<div class="contentContainer">
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<ul class="inheritance">
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<li>frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveParser</li>
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|
||||
<pre>public class <span class="typeNameLabel">SwerveParser</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Helper class used to parse the JSON directory with specified configuration options.</div>
|
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<table class="memberSummary">
|
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>static <a href="json/ControllerPropertiesJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">ControllerPropertiesJson</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#controllerPropertiesJson">controllerPropertiesJson</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Parsed controllerproperties.json</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private static <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/HashMap.html?is-external=true" title="class or interface in java.util" class="externalLink">HashMap</a><<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>,​<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Integer.html?is-external=true" title="class or interface in java.lang" class="externalLink">Integer</a>></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleConfigs">moduleConfigs</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>static <a href="json/ModuleJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">ModuleJson</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleJsons">moduleJsons</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Array holding the module jsons given in <a href="json/SwerveDriveJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json"><code>SwerveDriveJson</code></a>.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>static <a href="json/PhysicalPropertiesJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">PhysicalPropertiesJson</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#physicalPropertiesJson">physicalPropertiesJson</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Parsed modules/physicalproperties.json</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>static <a href="json/PIDFPropertiesJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">PIDFPropertiesJson</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#pidfPropertiesJson">pidfPropertiesJson</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Parsed modules/pidfproperties.json</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>static <a href="json/SwerveDriveJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">SwerveDriveJson</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveDriveJson">swerveDriveJson</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Parsed swervedrive.json</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.summary">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(java.io.File)">SwerveParser</a></span>​(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a> directory)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Construct a swerve parser.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.summary">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>private void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkDirectory(java.io.File)">checkDirectory</a></span>​(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a> directory)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Check directory structure.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code><a href="../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveDrive</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createSwerveDrive()">createSwerveDrive</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create <a href="../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>static <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveModule</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getModuleConfigurationByName(java.lang.String,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)">getModuleConfigurationByName</a></span>​(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a> name,
|
||||
<a href="SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> driveConfiguration)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the swerve module by the json name.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>private com.fasterxml.jackson.databind.JsonNode</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#openJson(java.io.File)">openJson</a></span>​(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a> file)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Open JSON file.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="moduleConfigs">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>moduleConfigs</h4>
|
||||
<pre>private static final <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/HashMap.html?is-external=true" title="class or interface in java.util" class="externalLink">HashMap</a><<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>,​<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Integer.html?is-external=true" title="class or interface in java.lang" class="externalLink">Integer</a>> moduleConfigs</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="swerveDriveJson">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>swerveDriveJson</h4>
|
||||
<pre>public static <a href="json/SwerveDriveJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">SwerveDriveJson</a> swerveDriveJson</pre>
|
||||
<div class="block">Parsed swervedrive.json</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="controllerPropertiesJson">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>controllerPropertiesJson</h4>
|
||||
<pre>public static <a href="json/ControllerPropertiesJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">ControllerPropertiesJson</a> controllerPropertiesJson</pre>
|
||||
<div class="block">Parsed controllerproperties.json</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="pidfPropertiesJson">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>pidfPropertiesJson</h4>
|
||||
<pre>public static <a href="json/PIDFPropertiesJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">PIDFPropertiesJson</a> pidfPropertiesJson</pre>
|
||||
<div class="block">Parsed modules/pidfproperties.json</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="physicalPropertiesJson">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>physicalPropertiesJson</h4>
|
||||
<pre>public static <a href="json/PhysicalPropertiesJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">PhysicalPropertiesJson</a> physicalPropertiesJson</pre>
|
||||
<div class="block">Parsed modules/physicalproperties.json</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="moduleJsons">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>moduleJsons</h4>
|
||||
<pre>public static <a href="json/ModuleJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">ModuleJson</a>[] moduleJsons</pre>
|
||||
<div class="block">Array holding the module jsons given in <a href="json/SwerveDriveJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json"><code>SwerveDriveJson</code></a>.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(java.io.File)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>SwerveParser</h4>
|
||||
<pre>public SwerveParser​(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a> directory)
|
||||
throws <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/IOException.html?is-external=true" title="class or interface in java.io" class="externalLink">IOException</a></pre>
|
||||
<div class="block">Construct a swerve parser. Will throw an error if there is a missing file.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>directory</code> - Directory with swerve configurations.</dd>
|
||||
<dt><span class="throwsLabel">Throws:</span></dt>
|
||||
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/IOException.html?is-external=true" title="class or interface in java.io" class="externalLink">IOException</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="getModuleConfigurationByName(java.lang.String,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getModuleConfigurationByName</h4>
|
||||
<pre class="methodSignature">public static <a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveModule</a> getModuleConfigurationByName​(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a> name,
|
||||
<a href="SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> driveConfiguration)</pre>
|
||||
<div class="block">Get the swerve module by the json name.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>name</code> - JSON name.</dd>
|
||||
<dd><code>driveConfiguration</code> - <a href="SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveDriveConfiguration</code></a> to pull from.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd><a href="SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveModuleConfiguration</code></a> based on the file.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="openJson(java.io.File)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>openJson</h4>
|
||||
<pre class="methodSignature">private com.fasterxml.jackson.databind.JsonNode openJson​(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a> file)</pre>
|
||||
<div class="block">Open JSON file.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>file</code> - JSON File to open.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>JsonNode of file.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="checkDirectory(java.io.File)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>checkDirectory</h4>
|
||||
<pre class="methodSignature">private void checkDirectory​(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a> directory)</pre>
|
||||
<div class="block">Check directory structure.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>directory</code> - JSON Configuration Directory</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="createSwerveDrive()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>createSwerveDrive</h4>
|
||||
<pre class="methodSignature">public <a href="../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive2.swervelib">SwerveDrive</a> createSwerveDrive()</pre>
|
||||
<div class="block">Create <a href="../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd><a href="../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveDrive</code></a> instance.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</main>
|
||||
<!-- ========= END OF CLASS DATA ========= -->
|
||||
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.parser.deserializer</a></div>
|
||||
<h2 title="Class PIDFRange" class="title">Class PIDFRange</h2>
|
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|
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Class to hold the minimum and maximum input or output of the PIDF.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
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</tr>
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<tr class="altColor">
|
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<td class="colFirst"><code>double</code></td>
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|
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|
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|
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">PIDFRange</a></span>()</code></th>
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|
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<!-- -->
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|
||||
<ul class="blockList">
|
||||
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|
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<h4>min</h4>
|
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<pre>public double min</pre>
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|
||||
</li>
|
||||
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<a id="max">
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<!-- -->
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|
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|
||||
</ul>
|
||||
</li>
|
||||
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<!-- -->
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|
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<h4>PIDFRange</h4>
|
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<pre>public PIDFRange()</pre>
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|
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</li>
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</section>
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|
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|
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<!-- Generated by javadoc (11.0.17) on Mon Feb 13 14:36:54 CST 2023 -->
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<title>frc.robot.subsystems.swervedrive2.swervelib.parser.deserializer</title>
|
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|
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<th class="colFirst" scope="col">Class</th>
|
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<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tbody>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="PIDFRange.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.deserializer">PIDFRange</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Class to hold the minimum and maximum input or output of the PIDF.</div>
|
||||
</td>
|
||||
</tr>
|
||||
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|
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|
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||||
<h1 class="title">Hierarchy For Package frc.robot.subsystems.swervedrive2.swervelib.parser.deserializer</h1>
|
||||
<span class="packageHierarchyLabel">Package Hierarchies:</span>
|
||||
<ul class="horizontal">
|
||||
<li><a href="../../../../../../../overview-tree.html">All Packages</a></li>
|
||||
</ul>
|
||||
</div>
|
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<div class="contentContainer">
|
||||
<section>
|
||||
<h2 title="Class Hierarchy">Class Hierarchy</h2>
|
||||
<ul>
|
||||
<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
|
||||
<ul>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.deserializer.<a href="PIDFRange.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.deserializer"><span class="typeNameLink">PIDFRange</span></a></li>
|
||||
</ul>
|
||||
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|
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|
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@@ -0,0 +1,377 @@
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<!DOCTYPE HTML>
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<!-- NewPage -->
|
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<html lang="en">
|
||||
<head>
|
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<!-- Generated by javadoc (11.0.17) on Mon Feb 13 14:36:54 CST 2023 -->
|
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<title>ControllerPropertiesJson</title>
|
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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|
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}
|
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}
|
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catch(err) {
|
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}
|
||||
//-->
|
||||
var data = {"i0":10};
|
||||
var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
|
||||
var altColor = "altColor";
|
||||
var rowColor = "rowColor";
|
||||
var tableTab = "tableTab";
|
||||
var activeTableTab = "activeTableTab";
|
||||
var pathtoroot = "../../../../../../../";
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|
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|
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<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
|
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|
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<input type="text" id="search" value="search" disabled="disabled">
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<div>
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<script type="text/javascript"><!--
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allClassesLink = document.getElementById("allclasses_navbar_top");
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</div>
|
||||
<div>
|
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<ul class="subNavList">
|
||||
<li>Summary: </li>
|
||||
<li>Nested | </li>
|
||||
<li><a href="#field.summary">Field</a> | </li>
|
||||
<li><a href="#constructor.summary">Constr</a> | </li>
|
||||
<li><a href="#method.summary">Method</a></li>
|
||||
</ul>
|
||||
<ul class="subNavList">
|
||||
<li>Detail: </li>
|
||||
<li><a href="#field.detail">Field</a> | </li>
|
||||
<li><a href="#constructor.detail">Constr</a> | </li>
|
||||
<li><a href="#method.detail">Method</a></li>
|
||||
</ul>
|
||||
</div>
|
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|
||||
<h2 title="Class ControllerPropertiesJson" class="title">Class ControllerPropertiesJson</h2>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<ul class="inheritance">
|
||||
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive2.swervelib.parser.json.ControllerPropertiesJson</li>
|
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|
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|
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|
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|
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|
||||
<pre>public class <span class="typeNameLabel">ControllerPropertiesJson</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block"><a href="../../SwerveController.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveController</code></a> parsed class. Used to access the JSON data.</div>
|
||||
</li>
|
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|
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|
||||
<div class="summary">
|
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|
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|
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<h3>Field Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
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<th class="colSecond" scope="col">Field</th>
|
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<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
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<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleJoystickRadiusDeadband">angleJoystickRadiusDeadband</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The minimum radius of the angle control joystick to allow for heading adjustment of the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="../PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#heading">heading</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The PID used to control the robot heading.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
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<section>
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<ul class="blockList">
|
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<li class="blockList"><a id="constructor.summary">
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|
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<h3>Constructor Summary</h3>
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<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">ControllerPropertiesJson</a></span>()</code></th>
|
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<td class="colLast"> </td>
|
||||
</tr>
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||||
</table>
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||||
</li>
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<section>
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<ul class="blockList">
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<h3>Method Summary</h3>
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<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code><a href="../SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createControllerConfiguration(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)">createControllerConfiguration</a></span>​(<a href="../SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> driveConfiguration)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create the <a href="../SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveControllerConfiguration</code></a> based on parsed and given data.</div>
|
||||
</td>
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</table>
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<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
||||
</ul>
|
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</li>
|
||||
</ul>
|
||||
</section>
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</li>
|
||||
</ul>
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||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
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<!-- ============ FIELD DETAIL =========== -->
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<section>
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<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="angleJoystickRadiusDeadband">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>angleJoystickRadiusDeadband</h4>
|
||||
<pre>public double angleJoystickRadiusDeadband</pre>
|
||||
<div class="block">The minimum radius of the angle control joystick to allow for heading adjustment of the robot.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="heading">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>heading</h4>
|
||||
<pre>public <a href="../PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> heading</pre>
|
||||
<div class="block">The PID used to control the robot heading.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
<!-- -->
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</a>
|
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<h3>Constructor Detail</h3>
|
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<a id="<init>()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>ControllerPropertiesJson</h4>
|
||||
<pre>public ControllerPropertiesJson()</pre>
|
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</li>
|
||||
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|
||||
</li>
|
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|
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<section>
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<ul class="blockList">
|
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<li class="blockList"><a id="method.detail">
|
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<!-- -->
|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="createControllerConfiguration(frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>createControllerConfiguration</h4>
|
||||
<pre class="methodSignature">public <a href="../SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a> createControllerConfiguration​(<a href="../SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a> driveConfiguration)</pre>
|
||||
<div class="block">Create the <a href="../SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveControllerConfiguration</code></a> based on parsed and given data.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>driveConfiguration</code> - <a href="../SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveDriveConfiguration</code></a> parsed configuration.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd><a href="../SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveControllerConfiguration</code></a> object based on parsed data.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
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</li>
|
||||
</ul>
|
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var data = {"i0":10,"i1":10,"i2":10,"i3":10};
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<li><a href="#method.summary">Method</a></li>
|
||||
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|
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<ul class="subNavList">
|
||||
<li>Detail: </li>
|
||||
<li><a href="#field.detail">Field</a> | </li>
|
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<li><a href="#constructor.detail">Constr</a> | </li>
|
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<li><a href="#method.detail">Method</a></li>
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|
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<!-- ======== START OF CLASS DATA ======== -->
|
||||
<main role="main">
|
||||
<div class="header">
|
||||
<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.parser.json</a></div>
|
||||
<h2 title="Class DeviceJson" class="title">Class DeviceJson</h2>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<ul class="inheritance">
|
||||
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive2.swervelib.parser.json.DeviceJson</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
<div class="description">
|
||||
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||||
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|
||||
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|
||||
<pre>public class <span class="typeNameLabel">DeviceJson</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Device JSON parsed class. Used to access the JSON data.</div>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
<div class="summary">
|
||||
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||||
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||||
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|
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<h3>Field Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#canbus">canbus</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The CAN bus name which the device resides on if using CAN.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#id">id</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The CAN ID or pin ID of the device.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#type">type</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The device type, e.g.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
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<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
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<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">DeviceJson</a></span>()</code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
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|
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|
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<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code><a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createEncoder()">createEncoder</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create a <a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the current configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code><a href="../../imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createIMU()">createIMU</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create a <a href="../../imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu"><code>SwerveIMU</code></a> from the given configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code><a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createIntegratedEncoder(frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor)">createIntegratedEncoder</a></span>​(<a href="../../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> motor)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create a <a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the data port on the motor controller.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code><a href="../../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createMotor(boolean)">createMotor</a></span>​(boolean isDriveMotor)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create a <a href="../../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a> from the given configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
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<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
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|
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section>
|
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<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
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|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="type">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
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<li class="blockList">
|
||||
<h4>type</h4>
|
||||
<pre>public <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a> type</pre>
|
||||
<div class="block">The device type, e.g. pigeon/pigeon2/sparkmax/talonfx/navx</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="id">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>id</h4>
|
||||
<pre>public int id</pre>
|
||||
<div class="block">The CAN ID or pin ID of the device.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="canbus">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>canbus</h4>
|
||||
<pre>public <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a> canbus</pre>
|
||||
<div class="block">The CAN bus name which the device resides on if using CAN.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>DeviceJson</h4>
|
||||
<pre>public DeviceJson()</pre>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.detail">
|
||||
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|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="createEncoder()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>createEncoder</h4>
|
||||
<pre class="methodSignature">public <a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> createEncoder()</pre>
|
||||
<div class="block">Create a <a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the current configuration.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd><a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> given.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="createIMU()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>createIMU</h4>
|
||||
<pre class="methodSignature">public <a href="../../imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu">SwerveIMU</a> createIMU()</pre>
|
||||
<div class="block">Create a <a href="../../imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu"><code>SwerveIMU</code></a> from the given configuration.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd><a href="../../imu/SwerveIMU.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.imu"><code>SwerveIMU</code></a> given.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="createMotor(boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>createMotor</h4>
|
||||
<pre class="methodSignature">public <a href="../../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> createMotor​(boolean isDriveMotor)</pre>
|
||||
<div class="block">Create a <a href="../../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a> from the given configuration.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>isDriveMotor</code> - If the motor being generated is a drive motor.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd><a href="../../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors"><code>SwerveMotor</code></a> given.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="createIntegratedEncoder(frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>createIntegratedEncoder</h4>
|
||||
<pre class="methodSignature">public <a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> createIntegratedEncoder​(<a href="../../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> motor)</pre>
|
||||
<div class="block">Create a <a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the data port on the motor controller.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>motor</code> - The motor to create the absolute encoder from.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd><a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the motor controller.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.parser.json</a></div>
|
||||
<h2 title="Class ModuleJson" class="title">Class ModuleJson</h2>
|
||||
</div>
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||||
<div class="contentContainer">
|
||||
<ul class="inheritance">
|
||||
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
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<li>frc.robot.subsystems.swervedrive2.swervelib.parser.json.ModuleJson</li>
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<pre>public class <span class="typeNameLabel">ModuleJson</span>
|
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extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block"><a href="../../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveModule</code></a> JSON parsed class. Used to access the JSON data.</div>
|
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|
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|
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<tr>
|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
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<th class="colSecond" scope="col">Field</th>
|
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<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoderInverted">absoluteEncoderInverted</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Absolute encoder inversion state.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoderOffset">absoluteEncoderOffset</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Absolute encoder offset from 0 in degrees.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="DeviceJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">DeviceJson</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Angle motor device configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="DeviceJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">DeviceJson</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Drive motor device configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="DeviceJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">DeviceJson</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoder">encoder</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Absolute encoder device configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="modules/BoolMotorJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json.modules">BoolMotorJson</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#inverted">inverted</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Defines which motors are inverted.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="modules/LocationJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json.modules">LocationJson</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#location">location</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The location of the swerve module from the center of the robot in inches.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
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|
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
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|
||||
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|
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|
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
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<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
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|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">ModuleJson</a></span>()</code></th>
|
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|
||||
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|
||||
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|
||||
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|
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|
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|
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
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|
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|
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|
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|
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|
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<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code><a href="../SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createModuleConfiguration(frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,double,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics)">createModuleConfiguration</a></span>​(<a href="../PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> anglePIDF,
|
||||
<a href="../PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> velocityPIDF,
|
||||
double maxSpeed,
|
||||
<a href="../SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a> physicalCharacteristics)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create the swerve module configuration based off of parsed data.</div>
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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|
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</ul>
|
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</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="drive">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>drive</h4>
|
||||
<pre>public <a href="DeviceJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">DeviceJson</a> drive</pre>
|
||||
<div class="block">Drive motor device configuration.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angle">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>angle</h4>
|
||||
<pre>public <a href="DeviceJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">DeviceJson</a> angle</pre>
|
||||
<div class="block">Angle motor device configuration.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="encoder">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>encoder</h4>
|
||||
<pre>public <a href="DeviceJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">DeviceJson</a> encoder</pre>
|
||||
<div class="block">Absolute encoder device configuration.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="inverted">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>inverted</h4>
|
||||
<pre>public <a href="modules/BoolMotorJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json.modules">BoolMotorJson</a> inverted</pre>
|
||||
<div class="block">Defines which motors are inverted.</div>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
<h4>absoluteEncoderOffset</h4>
|
||||
<pre>public double absoluteEncoderOffset</pre>
|
||||
<div class="block">Absolute encoder offset from 0 in degrees.</div>
|
||||
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|
||||
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||||
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||||
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||||
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|
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<pre>public boolean absoluteEncoderInverted</pre>
|
||||
<div class="block">Absolute encoder inversion state.</div>
|
||||
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||||
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<h4>location</h4>
|
||||
<pre>public <a href="modules/LocationJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json.modules">LocationJson</a> location</pre>
|
||||
<div class="block">The location of the swerve module from the center of the robot in inches.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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|
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|
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|
||||
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|
||||
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|
||||
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||||
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|
||||
<h4>ModuleJson</h4>
|
||||
<pre>public ModuleJson()</pre>
|
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|
||||
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|
||||
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|
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|
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|
||||
<h3>Method Detail</h3>
|
||||
<a id="createModuleConfiguration(frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig,double,frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics)">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>createModuleConfiguration</h4>
|
||||
<pre class="methodSignature">public <a href="../SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a> createModuleConfiguration​(<a href="../PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> anglePIDF,
|
||||
<a href="../PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> velocityPIDF,
|
||||
double maxSpeed,
|
||||
<a href="../SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a> physicalCharacteristics)</pre>
|
||||
<div class="block">Create the swerve module configuration based off of parsed data.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>anglePIDF</code> - The PIDF values for the angle motor.</dd>
|
||||
<dd><code>velocityPIDF</code> - The velocity PIDF values for the drive motor.</dd>
|
||||
<dd><code>maxSpeed</code> - The maximum speed of the robot in meters per second.</dd>
|
||||
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd><a href="../SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveModuleConfiguration</code></a> based on the provided data and parsed data.</dd>
|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
<h2 title="Class MotorConfigDouble" class="title">Class MotorConfigDouble</h2>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<ul class="inheritance">
|
||||
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
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<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive2.swervelib.parser.json.MotorConfigDouble</li>
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|
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|
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|
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<div class="description">
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|
||||
<pre>class <span class="typeNameLabel">MotorConfigDouble</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Used to store doubles for motor configuration.</div>
|
||||
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|
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|
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|
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|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Angle motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Drive motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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|
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|
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|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">MotorConfigDouble</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Default constructor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double)">MotorConfigDouble</a></span>​(double angle,
|
||||
double drive)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Default constructor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
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|
||||
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|
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|
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="drive">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>drive</h4>
|
||||
<pre>public double drive</pre>
|
||||
<div class="block">Drive motor.</div>
|
||||
</li>
|
||||
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|
||||
<h4>angle</h4>
|
||||
<pre>public double angle</pre>
|
||||
<div class="block">Angle motor.</div>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>MotorConfigDouble</h4>
|
||||
<pre>public MotorConfigDouble()</pre>
|
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<div class="block">Default constructor.</div>
|
||||
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|
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|
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|
||||
<pre>public MotorConfigDouble​(double angle,
|
||||
double drive)</pre>
|
||||
<div class="block">Default constructor.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>angle</code> - Angle data.</dd>
|
||||
<dd><code>drive</code> - Drive data.</dd>
|
||||
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|
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|
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.parser.json</a></div>
|
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<h2 title="Class MotorConfigInt" class="title">Class MotorConfigInt</h2>
|
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<div class="contentContainer">
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<li>frc.robot.subsystems.swervedrive2.swervelib.parser.json.MotorConfigInt</li>
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<pre>class <span class="typeNameLabel">MotorConfigInt</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Used to store ints for motor configuration.</div>
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<td class="colFirst"><code>int</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Angle motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>int</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Drive motor.</div>
|
||||
</td>
|
||||
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|
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|
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|
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int,int)">MotorConfigInt</a></span>​(int drive,
|
||||
int angle)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Default constructor with values.</div>
|
||||
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|
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|
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<div class="details">
|
||||
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|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
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|
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|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
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</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="drive">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>drive</h4>
|
||||
<pre>public int drive</pre>
|
||||
<div class="block">Drive motor.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angle">
|
||||
<!-- -->
|
||||
</a>
|
||||
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|
||||
<li class="blockList">
|
||||
<h4>angle</h4>
|
||||
<pre>public int angle</pre>
|
||||
<div class="block">Angle motor.</div>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
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|
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|
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|
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<!-- -->
|
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|
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|
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|
||||
<h4>MotorConfigInt</h4>
|
||||
<pre>public MotorConfigInt()</pre>
|
||||
<div class="block">Default constructor.</div>
|
||||
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|
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|
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|
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|
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|
||||
<h4>MotorConfigInt</h4>
|
||||
<pre>public MotorConfigInt​(int drive,
|
||||
int angle)</pre>
|
||||
<div class="block">Default constructor with values.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>drive</code> - Drive data.</dd>
|
||||
<dd><code>angle</code> - Angle data.</dd>
|
||||
</dl>
|
||||
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|
||||
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|
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|
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|
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<h2 title="Class PIDFPropertiesJson" class="title">Class PIDFPropertiesJson</h2>
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<pre>public class <span class="typeNameLabel">PIDFPropertiesJson</span>
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extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block"><a href="../../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveModule</code></a> PID with Feedforward for the drive motor and angle
|
||||
motor.</div>
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<td class="colFirst"><code><a href="../PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a></code></td>
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The PIDF with Integral Zone used for the angle motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
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<td class="colFirst"><code><a href="../PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The PIDF with Integral Zone used for the drive motor.</div>
|
||||
</td>
|
||||
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|
||||
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|
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">PIDFPropertiesJson</a></span>()</code></th>
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<!-- -->
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|
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<!-- -->
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|
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|
||||
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|
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<h4>drive</h4>
|
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<pre>public <a href="../PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> drive</pre>
|
||||
<div class="block">The PIDF with Integral Zone used for the drive motor.</div>
|
||||
</li>
|
||||
</ul>
|
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<a id="angle">
|
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<!-- -->
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</a>
|
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<li class="blockList">
|
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<h4>angle</h4>
|
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<pre>public <a href="../PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> angle</pre>
|
||||
<div class="block">The PIDF with Integral Zone used for the angle motor.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
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|
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<h4>PIDFPropertiesJson</h4>
|
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<pre>public PIDFPropertiesJson()</pre>
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<title>PhysicalPropertiesJson</title>
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<h2 title="Class PhysicalPropertiesJson" class="title">Class PhysicalPropertiesJson</h2>
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<pre>public class <span class="typeNameLabel">PhysicalPropertiesJson</span>
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extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
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<div class="block"><a href="../SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveModulePhysicalCharacteristics</code></a> parsed data. Used to
|
||||
configure the SwerveModule.</div>
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<th class="colLast" scope="col">Description</th>
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||||
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|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorFreeSpeedRPM">angleMotorFreeSpeedRPM</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Angle motor free speed rotations per minute.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="MotorConfigInt.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">MotorConfigInt</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#currentLimit">currentLimit</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The current limit in AMPs to apply to the motors.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="MotorConfigInt.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">MotorConfigInt</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoderPulsePerRotation">encoderPulsePerRotation</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Encoder pulse per rotation for non-integrated encoders.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="MotorConfigDouble.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">MotorConfigDouble</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#gearRatio">gearRatio</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="MotorConfigDouble.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">MotorConfigDouble</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#rampRate">rampRate</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The minimum number of seconds to take for the motor to go from 0 to full throttle.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#wheelDiameter">wheelDiameter</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Wheel diameter in inches.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#wheelGripCoefficientOfFriction">wheelGripCoefficientOfFriction</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The grip tape coefficient of friction on carpet.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
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|
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|
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|
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|
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|
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|
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">PhysicalPropertiesJson</a></span>()</code></th>
|
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<td class="colLast"> </td>
|
||||
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|
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|
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|
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|
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|
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|
||||
<td class="colFirst"><code><a href="../SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createPhysicalProperties(double)">createPhysicalProperties</a></span>​(double optimalVoltage)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create the physical characteristics based off the parsed data.</div>
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</td>
|
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|
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|
||||
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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<!-- ============ FIELD DETAIL =========== -->
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<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="wheelDiameter">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>wheelDiameter</h4>
|
||||
<pre>public double wheelDiameter</pre>
|
||||
<div class="block">Wheel diameter in inches.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="gearRatio">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>gearRatio</h4>
|
||||
<pre>public <a href="MotorConfigDouble.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">MotorConfigDouble</a> gearRatio</pre>
|
||||
<div class="block">Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="encoderPulsePerRotation">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>encoderPulsePerRotation</h4>
|
||||
<pre>public <a href="MotorConfigInt.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">MotorConfigInt</a> encoderPulsePerRotation</pre>
|
||||
<div class="block">Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="currentLimit">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>currentLimit</h4>
|
||||
<pre>public <a href="MotorConfigInt.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">MotorConfigInt</a> currentLimit</pre>
|
||||
<div class="block">The current limit in AMPs to apply to the motors.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="rampRate">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>rampRate</h4>
|
||||
<pre>public <a href="MotorConfigDouble.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">MotorConfigDouble</a> rampRate</pre>
|
||||
<div class="block">The minimum number of seconds to take for the motor to go from 0 to full throttle.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="wheelGripCoefficientOfFriction">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>wheelGripCoefficientOfFriction</h4>
|
||||
<pre>public double wheelGripCoefficientOfFriction</pre>
|
||||
<div class="block">The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="angleMotorFreeSpeedRPM">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>angleMotorFreeSpeedRPM</h4>
|
||||
<pre>public double angleMotorFreeSpeedRPM</pre>
|
||||
<div class="block">Angle motor free speed rotations per minute.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
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||||
</a>
|
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<h3>Constructor Detail</h3>
|
||||
<a id="<init>()">
|
||||
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|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
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|
||||
<h4>PhysicalPropertiesJson</h4>
|
||||
<pre>public PhysicalPropertiesJson()</pre>
|
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</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
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<!-- ============ METHOD DETAIL ========== -->
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|
||||
<h3>Method Detail</h3>
|
||||
<a id="createPhysicalProperties(double)">
|
||||
<!-- -->
|
||||
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|
||||
<ul class="blockListLast">
|
||||
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|
||||
<h4>createPhysicalProperties</h4>
|
||||
<pre class="methodSignature">public <a href="../SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a> createPhysicalProperties​(double optimalVoltage)</pre>
|
||||
<div class="block">Create the physical characteristics based off the parsed data.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>optimalVoltage</code> - Optimal voltage to compensate for and use to calculate drive motor feedforward.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd><a href="../SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveModulePhysicalCharacteristics</code></a> based on parsed data.</dd>
|
||||
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|
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.parser.json</a></div>
|
||||
<h2 title="Class SwerveDriveJson" class="title">Class SwerveDriveJson</h2>
|
||||
</div>
|
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<div class="contentContainer">
|
||||
<ul class="inheritance">
|
||||
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
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<li>
|
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<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive2.swervelib.parser.json.SwerveDriveJson</li>
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</ul>
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|
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|
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<div class="description">
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|
||||
<pre>public class <span class="typeNameLabel">SwerveDriveJson</span>
|
||||
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block"><a href="../../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveDrive</code></a> JSON parsed class. Used to access parsed data from
|
||||
the swervedrive.json file.</div>
|
||||
</li>
|
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|
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</div>
|
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|
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<!-- -->
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</a>
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|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="DeviceJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">DeviceJson</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#imu">imu</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Robot IMU used to determine heading of the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#invertedIMU">invertedIMU</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Invert the IMU of the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxSpeed">maxSpeed</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Maximum robot speed in feet per second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#modules">modules</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Module JSONs in order clockwise order starting from front left.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimalVoltage">optimalVoltage</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Optimal voltage to compensate to and base feedforward calculations off of.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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|
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
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<tr>
|
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colLast" scope="col">Description</th>
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|
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<tr class="altColor">
|
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveDriveJson</a></span>()</code></th>
|
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<td class="colLast"> </td>
|
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
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</ul>
|
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</li>
|
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</ul>
|
||||
</section>
|
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|
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|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="maxSpeed">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>maxSpeed</h4>
|
||||
<pre>public double maxSpeed</pre>
|
||||
<div class="block">Maximum robot speed in feet per second.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="optimalVoltage">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>optimalVoltage</h4>
|
||||
<pre>public double optimalVoltage</pre>
|
||||
<div class="block">Optimal voltage to compensate to and base feedforward calculations off of.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="imu">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>imu</h4>
|
||||
<pre>public <a href="DeviceJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">DeviceJson</a> imu</pre>
|
||||
<div class="block">Robot IMU used to determine heading of the robot.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="invertedIMU">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>invertedIMU</h4>
|
||||
<pre>public boolean invertedIMU</pre>
|
||||
<div class="block">Invert the IMU of the robot.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="modules">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>modules</h4>
|
||||
<pre>public <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>[] modules</pre>
|
||||
<div class="block">Module JSONs in order clockwise order starting from front left.</div>
|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
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<h2 title="Class BoolMotorJson" class="title">Class BoolMotorJson</h2>
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|
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<pre>public class <span class="typeNameLabel">BoolMotorJson</span>
|
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extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
||||
<div class="block">Inverted motor JSON parsed class. Used to access the JSON data.</div>
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|
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|
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<td class="colFirst"><code>boolean</code></td>
|
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|
||||
<td class="colLast">
|
||||
<div class="block">Angle motor inversion state.</div>
|
||||
</td>
|
||||
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|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
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|
||||
<td class="colLast">
|
||||
<div class="block">Drive motor inversion state.</div>
|
||||
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|
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<!-- ============ FIELD DETAIL =========== -->
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|
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<!-- -->
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<h3>Field Detail</h3>
|
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<a id="drive">
|
||||
<!-- -->
|
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|
||||
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|
||||
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|
||||
<h4>drive</h4>
|
||||
<pre>public boolean drive</pre>
|
||||
<div class="block">Drive motor inversion state.</div>
|
||||
</li>
|
||||
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|
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<a id="angle">
|
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<!-- -->
|
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|
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|
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|
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<h4>angle</h4>
|
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<pre>public boolean angle</pre>
|
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<div class="block">Angle motor inversion state.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
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|
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<h4>BoolMotorJson</h4>
|
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<pre>public BoolMotorJson()</pre>
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|
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<h2 title="Class LocationJson" class="title">Class LocationJson</h2>
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<pre>public class <span class="typeNameLabel">LocationJson</span>
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|
||||
<div class="block">Location JSON parsed class. Used to access the JSON data. Module locations, in inches, as distances to the center of
|
||||
the robot. Positive x is torwards the robot front, and * +y is torwards robot left.</div>
|
||||
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#x">x</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Location of the swerve module in inches from the center of the robot horizontally.</div>
|
||||
</td>
|
||||
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|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
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|
||||
<td class="colLast">
|
||||
<div class="block">Location of the swerve module in inches from the center of the robot vertically.</div>
|
||||
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">LocationJson</a></span>()</code></th>
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|
||||
<h4>x</h4>
|
||||
<pre>public double x</pre>
|
||||
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|
||||
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|
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<tbody>
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<tr class="altColor">
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|
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<td class="colLast">
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<div class="block">Inverted motor JSON parsed class.</div>
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<th class="colFirst" scope="row"><a href="LocationJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json.modules">LocationJson</a></th>
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<div class="block">Location JSON parsed class.</div>
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|
||||
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|
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|
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<section>
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<h2 title="Class Hierarchy">Class Hierarchy</h2>
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<ul>
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<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
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|
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<h1 title="Package" class="title">Package frc.robot.subsystems.swervedrive2.swervelib.parser.json</h1>
|
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</div>
|
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<div class="contentContainer">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
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<table class="typeSummary">
|
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<caption><span>Class Summary</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Class</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tbody>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="ControllerPropertiesJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">ControllerPropertiesJson</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block"><a href="../../SwerveController.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveController</code></a> parsed class.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="DeviceJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">DeviceJson</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Device JSON parsed class.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="ModuleJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">ModuleJson</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block"><a href="../../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveModule</code></a> JSON parsed class.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="MotorConfigDouble.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">MotorConfigDouble</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Used to store doubles for motor configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="MotorConfigInt.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">MotorConfigInt</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Used to store ints for motor configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="PhysicalPropertiesJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">PhysicalPropertiesJson</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block"><a href="../SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><code>SwerveModulePhysicalCharacteristics</code></a> parsed data.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="PIDFPropertiesJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">PIDFPropertiesJson</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block"><a href="../../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveModule</code></a> PID with Feedforward for the drive motor and angle
|
||||
motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveDriveJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json">SwerveDriveJson</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block"><a href="../../SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveDrive</code></a> JSON parsed class.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
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</div>
|
||||
</main>
|
||||
<footer role="contentinfo">
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|
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|
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</html>
|
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@@ -0,0 +1,169 @@
|
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<!DOCTYPE HTML>
|
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<!-- NewPage -->
|
||||
<html lang="en">
|
||||
<head>
|
||||
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 14:36:54 CST 2023 -->
|
||||
<title>frc.robot.subsystems.swervedrive2.swervelib.parser.json Class Hierarchy</title>
|
||||
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
|
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<meta name="dc.created" content="2023-02-13">
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<link rel="stylesheet" type="text/css" href="../../../../../../../stylesheet.css" title="Style">
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|
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|
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|
||||
}
|
||||
//-->
|
||||
var pathtoroot = "../../../../../../../";
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|
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loadScripts(document, 'script');</script>
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|
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<li class="navBarCell1Rev">Tree</li>
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|
||||
<div class="header">
|
||||
<h1 class="title">Hierarchy For Package frc.robot.subsystems.swervedrive2.swervelib.parser.json</h1>
|
||||
<span class="packageHierarchyLabel">Package Hierarchies:</span>
|
||||
<ul class="horizontal">
|
||||
<li><a href="../../../../../../../overview-tree.html">All Packages</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<section>
|
||||
<h2 title="Class Hierarchy">Class Hierarchy</h2>
|
||||
<ul>
|
||||
<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
|
||||
<ul>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.json.<a href="ControllerPropertiesJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json"><span class="typeNameLink">ControllerPropertiesJson</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.json.<a href="DeviceJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json"><span class="typeNameLink">DeviceJson</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.json.<a href="ModuleJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json"><span class="typeNameLink">ModuleJson</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.json.<a href="MotorConfigDouble.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json"><span class="typeNameLink">MotorConfigDouble</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.json.<a href="MotorConfigInt.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json"><span class="typeNameLink">MotorConfigInt</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.json.<a href="PhysicalPropertiesJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json"><span class="typeNameLink">PhysicalPropertiesJson</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.json.<a href="PIDFPropertiesJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json"><span class="typeNameLink">PIDFPropertiesJson</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.json.<a href="SwerveDriveJson.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser.json"><span class="typeNameLink">SwerveDriveJson</span></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</div>
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<ul class="navList" title="Navigation">
|
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<li><a href="../../../../../../../index.html">Overview</a></li>
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<li><a href="package-summary.html">Package</a></li>
|
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<li>Class</li>
|
||||
<li class="navBarCell1Rev">Tree</li>
|
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<li><a href="../../../../../../../deprecated-list.html">Deprecated</a></li>
|
||||
<li><a href="../../../../../../../index-files/index-1.html">Index</a></li>
|
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<li><a href="../../../../../../../help-doc.html">Help</a></li>
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</body>
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</html>
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@@ -0,0 +1,199 @@
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<!DOCTYPE HTML>
|
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<!-- NewPage -->
|
||||
<html lang="en">
|
||||
<head>
|
||||
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 14:36:54 CST 2023 -->
|
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<title>frc.robot.subsystems.swervedrive2.swervelib.parser</title>
|
||||
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
|
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<meta name="dc.created" content="2023-02-13">
|
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<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
|
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<link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.min.css" title="Style">
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|
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<script type="text/javascript" src="../../../../../../script.js"></script>
|
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<script type="text/javascript" src="../../../../../../jquery/jszip/dist/jszip.min.js"></script>
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|
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<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
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<![endif]-->
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<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.0.min.js"></script>
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<body>
|
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<script type="text/javascript"><!--
|
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try {
|
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if (location.href.indexOf('is-external=true') == -1) {
|
||||
parent.document.title="frc.robot.subsystems.swervedrive2.swervelib.parser";
|
||||
}
|
||||
}
|
||||
catch(err) {
|
||||
}
|
||||
//-->
|
||||
var pathtoroot = "../../../../../../";
|
||||
var useModuleDirectories = true;
|
||||
loadScripts(document, 'script');</script>
|
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<noscript>
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<div>JavaScript is disabled on your browser.</div>
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|
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<li>Class</li>
|
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<li><a href="package-tree.html">Tree</a></li>
|
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<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
|
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<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
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<script type="text/javascript"><!--
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|
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||||
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|
||||
<div class="header">
|
||||
<h1 title="Package" class="title">Package frc.robot.subsystems.swervedrive2.swervelib.parser</h1>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<table class="typeSummary">
|
||||
<caption><span>Class Summary</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Class</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tbody>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Hold the PIDF and Integral Zone values for a PID.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveControllerConfiguration</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve Controller configuration class which is used to configure
|
||||
<a href="../SwerveController.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveController</code></a>.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveDriveConfiguration</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve drive configurations used during SwerveDrive construction.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModuleConfiguration</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve Module configuration class which is used to configure
|
||||
<a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveModule</code></a>.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configuration class which stores physical characteristics shared between every swerve module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveParser.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveParser</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Helper class used to parse the JSON directory with specified configuration options.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</main>
|
||||
<footer role="contentinfo">
|
||||
<nav role="navigation">
|
||||
<!-- ======= START OF BOTTOM NAVBAR ====== -->
|
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<div class="bottomNav"><a id="navbar.bottom">
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||||
<!-- -->
|
||||
</a>
|
||||
<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
|
||||
<a id="navbar.bottom.firstrow">
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<!-- -->
|
||||
</a>
|
||||
<ul class="navList" title="Navigation">
|
||||
<li><a href="../../../../../../index.html">Overview</a></li>
|
||||
<li class="navBarCell1Rev">Package</li>
|
||||
<li>Class</li>
|
||||
<li><a href="package-tree.html">Tree</a></li>
|
||||
<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
|
||||
<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
|
||||
<li><a href="../../../../../../help-doc.html">Help</a></li>
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|
||||
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|
||||
<div class="subNav">
|
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<ul class="navList" id="allclasses_navbar_bottom">
|
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<li><a href="../../../../../../allclasses.html">All Classes</a></li>
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|
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|
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<script type="text/javascript"><!--
|
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allClassesLink = document.getElementById("allclasses_navbar_bottom");
|
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if(window==top) {
|
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allClassesLink.style.display = "block";
|
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}
|
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else {
|
||||
allClassesLink.style.display = "none";
|
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}
|
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//-->
|
||||
</script>
|
||||
<noscript>
|
||||
<div>JavaScript is disabled on your browser.</div>
|
||||
</noscript>
|
||||
</div>
|
||||
<a id="skip.navbar.bottom">
|
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</a></div>
|
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<!-- ======== END OF BOTTOM NAVBAR ======= -->
|
||||
</nav>
|
||||
</footer>
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,167 @@
|
||||
<!DOCTYPE HTML>
|
||||
<!-- NewPage -->
|
||||
<html lang="en">
|
||||
<head>
|
||||
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 14:36:54 CST 2023 -->
|
||||
<title>frc.robot.subsystems.swervedrive2.swervelib.parser Class Hierarchy</title>
|
||||
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
|
||||
<meta name="dc.created" content="2023-02-13">
|
||||
<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
|
||||
<link rel="stylesheet" type="text/css" href="../../../../../../jquery/jquery-ui.min.css" title="Style">
|
||||
<link rel="stylesheet" type="text/css" href="../../../../../../jquery-ui.overrides.css" title="Style">
|
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<script type="text/javascript" src="../../../../../../script.js"></script>
|
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<script type="text/javascript" src="../../../../../../jquery/jszip/dist/jszip.min.js"></script>
|
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<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
|
||||
<!--[if IE]>
|
||||
<script type="text/javascript" src="../../../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
|
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<![endif]-->
|
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<script type="text/javascript" src="../../../../../../jquery/jquery-3.6.0.min.js"></script>
|
||||
<script type="text/javascript" src="../../../../../../jquery/jquery-ui.min.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<script type="text/javascript"><!--
|
||||
try {
|
||||
if (location.href.indexOf('is-external=true') == -1) {
|
||||
parent.document.title="frc.robot.subsystems.swervedrive2.swervelib.parser Class Hierarchy";
|
||||
}
|
||||
}
|
||||
catch(err) {
|
||||
}
|
||||
//-->
|
||||
var pathtoroot = "../../../../../../";
|
||||
var useModuleDirectories = true;
|
||||
loadScripts(document, 'script');</script>
|
||||
<noscript>
|
||||
<div>JavaScript is disabled on your browser.</div>
|
||||
</noscript>
|
||||
<header role="banner">
|
||||
<nav role="navigation">
|
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<div class="fixedNav">
|
||||
<!-- ========= START OF TOP NAVBAR ======= -->
|
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<div class="topNav"><a id="navbar.top">
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<!-- -->
|
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</a>
|
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<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
|
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<a id="navbar.top.firstrow">
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</a>
|
||||
<ul class="navList" title="Navigation">
|
||||
<li><a href="../../../../../../index.html">Overview</a></li>
|
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<li><a href="package-summary.html">Package</a></li>
|
||||
<li>Class</li>
|
||||
<li class="navBarCell1Rev">Tree</li>
|
||||
<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
|
||||
<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
|
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<li><a href="../../../../../../help-doc.html">Help</a></li>
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</ul>
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</div>
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<div class="subNav">
|
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<ul class="navList" id="allclasses_navbar_top">
|
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<li><a href="../../../../../../allclasses.html">All Classes</a></li>
|
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</ul>
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<ul class="navListSearch">
|
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<li><label for="search">SEARCH:</label>
|
||||
<input type="text" id="search" value="search" disabled="disabled">
|
||||
<input type="reset" id="reset" value="reset" disabled="disabled">
|
||||
</li>
|
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</ul>
|
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<div>
|
||||
<script type="text/javascript"><!--
|
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allClassesLink = document.getElementById("allclasses_navbar_top");
|
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if(window==top) {
|
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allClassesLink.style.display = "block";
|
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}
|
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else {
|
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allClassesLink.style.display = "none";
|
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}
|
||||
//-->
|
||||
</script>
|
||||
<noscript>
|
||||
<div>JavaScript is disabled on your browser.</div>
|
||||
</noscript>
|
||||
</div>
|
||||
<a id="skip.navbar.top">
|
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|
||||
</a></div>
|
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<!-- ========= END OF TOP NAVBAR ========= -->
|
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</div>
|
||||
<div class="navPadding"> </div>
|
||||
<script type="text/javascript"><!--
|
||||
$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
|
||||
//-->
|
||||
</script>
|
||||
</nav>
|
||||
</header>
|
||||
<main role="main">
|
||||
<div class="header">
|
||||
<h1 class="title">Hierarchy For Package frc.robot.subsystems.swervedrive2.swervelib.parser</h1>
|
||||
<span class="packageHierarchyLabel">Package Hierarchies:</span>
|
||||
<ul class="horizontal">
|
||||
<li><a href="../../../../../../overview-tree.html">All Packages</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<section>
|
||||
<h2 title="Class Hierarchy">Class Hierarchy</h2>
|
||||
<ul>
|
||||
<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
|
||||
<ul>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><span class="typeNameLink">PIDFConfig</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.<a href="SwerveControllerConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><span class="typeNameLink">SwerveControllerConfiguration</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.<a href="SwerveDriveConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><span class="typeNameLink">SwerveDriveConfiguration</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.<a href="SwerveModuleConfiguration.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><span class="typeNameLink">SwerveModuleConfiguration</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.<a href="SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><span class="typeNameLink">SwerveModulePhysicalCharacteristics</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive2.swervelib.parser.<a href="SwerveParser.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser"><span class="typeNameLink">SwerveParser</span></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</div>
|
||||
</main>
|
||||
<footer role="contentinfo">
|
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<nav role="navigation">
|
||||
<!-- ======= START OF BOTTOM NAVBAR ====== -->
|
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<div class="bottomNav"><a id="navbar.bottom">
|
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<!-- -->
|
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</a>
|
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<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
|
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<a id="navbar.bottom.firstrow">
|
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<!-- -->
|
||||
</a>
|
||||
<ul class="navList" title="Navigation">
|
||||
<li><a href="../../../../../../index.html">Overview</a></li>
|
||||
<li><a href="package-summary.html">Package</a></li>
|
||||
<li>Class</li>
|
||||
<li class="navBarCell1Rev">Tree</li>
|
||||
<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
|
||||
<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
|
||||
<li><a href="../../../../../../help-doc.html">Help</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="subNav">
|
||||
<ul class="navList" id="allclasses_navbar_bottom">
|
||||
<li><a href="../../../../../../allclasses.html">All Classes</a></li>
|
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</ul>
|
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<div>
|
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<script type="text/javascript"><!--
|
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allClassesLink = document.getElementById("allclasses_navbar_bottom");
|
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if(window==top) {
|
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allClassesLink.style.display = "block";
|
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}
|
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else {
|
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allClassesLink.style.display = "none";
|
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}
|
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//-->
|
||||
</script>
|
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<noscript>
|
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<div>JavaScript is disabled on your browser.</div>
|
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</noscript>
|
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</div>
|
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<a id="skip.navbar.bottom">
|
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|
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</a></div>
|
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<!-- ======== END OF BOTTOM NAVBAR ======= -->
|
||||
</nav>
|
||||
</footer>
|
||||
</body>
|
||||
</html>
|
||||
Reference in New Issue
Block a user