mirror of
https://github.com/BroncBotz3481/YAGSL
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Updated swervelib
This commit is contained in:
thenetworkgrinch
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<li>Summary: </li>
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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.parser</a></div>
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<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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<pre>public class <span class="typeNameLabel">SwerveModuleConfiguration</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">Swerve Module configuration class which is used to configure
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<a href="../SwerveModule.html" title="class in frc.robot.subsystems.swervedrive2.swervelib"><code>SwerveModule</code></a>.</div>
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<table class="memberSummary">
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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>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code><a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoder">absoluteEncoder</a></span></code></th>
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<td class="colLast">
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<div class="block">The Absolute Encoder for the swerve module.</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>boolean</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoderInverted">absoluteEncoderInverted</a></span></code></th>
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<td class="colLast">
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<div class="block">Whether the absolute encoder is inverted.</div>
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</td>
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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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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleKV">angleKV</a></span></code></th>
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<td class="colLast">
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<div class="block">Angle volt-meter-per-second.</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><a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotor">angleMotor</a></span></code></th>
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<td class="colLast">
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<div class="block">The drive motor and angle motor of this swerve module.</div>
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</td>
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</tr>
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<tr class="altColor">
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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="#angleMotorInverted">angleMotorInverted</a></span></code></th>
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<td class="colLast">
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<div class="block">State of inversion of the angle motor.</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="#angleOffset">angleOffset</a></span></code></th>
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<td class="colLast">
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<div class="block">Angle offset in degrees for the Swerve Module.</div>
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</td>
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</tr>
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<tr class="altColor">
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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="#anglePIDF">anglePIDF</a></span></code></th>
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<td class="colLast">
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<div class="block">PIDF configuration options for the angle motor closed-loop PID controller.</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><a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotor">driveMotor</a></span></code></th>
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<td class="colLast">
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<div class="block">The drive motor and angle motor of this swerve module.</div>
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</td>
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</tr>
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<tr class="altColor">
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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="#driveMotorInverted">driveMotorInverted</a></span></code></th>
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<td class="colLast">
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<div class="block">State of inversion of the drive motor.</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="#maxSpeed">maxSpeed</a></span></code></th>
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<td class="colLast">
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<div class="block">Maximum robot speed in meters per second.</div>
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>edu.wpi.first.math.geometry.Translation2d</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleLocation">moduleLocation</a></span></code></th>
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<td class="colLast">
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<div class="block">Swerve module location relative to the robot.</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><a href="SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#physicalCharacteristics">physicalCharacteristics</a></span></code></th>
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<td class="colLast">
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<div class="block">Physical characteristics of the swerve module.</div>
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</td>
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</tr>
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<tr class="altColor">
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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="#velocityPIDF">velocityPIDF</a></span></code></th>
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<td class="colLast">
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<div class="block">PIDF configuration options for the drive motor closed-loop PID controller.</div>
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</td>
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</tr>
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</table>
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</li>
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</ul>
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</section>
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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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</a>
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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>
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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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</tr>
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<tr class="altColor">
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<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,
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<a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> angleMotor,
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<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> absoluteEncoder,
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double angleOffset,
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double xMeters,
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double yMeters,
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<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> anglePIDF,
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<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> velocityPIDF,
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double maxSpeed,
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<a href="SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a> physicalCharacteristics)</code></th>
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<td class="colLast">
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<div class="block">Construct a configuration object for swerve modules.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<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,
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<a href="../motors/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.motors">SwerveMotor</a> angleMotor,
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<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.encoders">SwerveAbsoluteEncoder</a> absoluteEncoder,
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double angleOffset,
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double xMeters,
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double yMeters,
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<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> anglePIDF,
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<a href="PIDFConfig.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">PIDFConfig</a> velocityPIDF,
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double maxSpeed,
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<a href="SwerveModulePhysicalCharacteristics.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.parser">SwerveModulePhysicalCharacteristics</a> physicalCharacteristics,
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boolean absoluteEncoderInverted,
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boolean driveMotorInverted,
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boolean angleMotorInverted)</code></th>
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<td class="colLast">
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<div class="block">Construct a configuration object for swerve modules.</div>
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</td>
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</tr>
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</table>
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</li>
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</ul>
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</section>
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<!-- ========== METHOD SUMMARY =========== -->
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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>
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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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<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>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tr id="i0" class="altColor">
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<td class="colFirst"><code>edu.wpi.first.math.controller.SimpleMotorFeedforward</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createDriveFeedforward()">createDriveFeedforward</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Create the drive feedforward for swerve modules.</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>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPositionEncoderConversion(boolean)">getPositionEncoderConversion</a></span>​(boolean isDriveMotor)</code></th>
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<td class="colLast">
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<div class="block">Get the encoder conversion for position encoders.</div>
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</td>
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</tr>
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</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">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</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)">
|
||||
<!-- -->
|
||||
</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()">
|
||||
<!-- -->
|
||||
</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>
|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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Reference in New Issue
Block a user