Updated swervelib

swervelib/parser/SwerveDriveConfiguration.java

@@ -0,0 +1,76 @@
+package frc.robot.subsystems.swervedrive2.swervelib.parser;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import frc.robot.subsystems.swervedrive2.swervelib.SwerveModule;
+import frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU;
+
+/**
+ * Swerve drive configurations used during SwerveDrive construction.
+ */
+public class SwerveDriveConfiguration
+{
+
+  /**
+   * Swerve Module locations.
+   */
+  public Translation2d[] moduleLocationsMeters;
+  /**
+   * Swerve IMU
+   */
+  public SwerveIMU       imu;
+  /**
+   * Invert the imu measurements.
+   */
+  public boolean         invertedIMU = false;
+  /**
+   * Max speed in meters per second.
+   */
+  public double          maxSpeed;
+  /**
+   * Number of modules on the robot.
+   */
+  public int             moduleCount;
+  /**
+   * Swerve Modules.
+   */
+  public SwerveModule[]  modules;
+
+  /**
+   * Create swerve drive configuration.
+   *
+   * @param moduleConfigs Module configuration.
+   * @param swerveIMU     Swerve IMU.
+   * @param maxSpeed      Max speed of the robot in meters per second.
+   * @param invertedIMU   Invert the IMU.
+   */
+  public SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, SwerveIMU swerveIMU, double maxSpeed,
+                                  boolean invertedIMU)
+  {
+    this.moduleCount = moduleConfigs.length;
+    this.imu = swerveIMU;
+    this.maxSpeed = maxSpeed;
+    this.invertedIMU = invertedIMU;
+    this.modules = createModules(moduleConfigs);
+    this.moduleLocationsMeters = new Translation2d[moduleConfigs.length];
+    for (SwerveModule module : modules)
+    {
+      this.moduleLocationsMeters[module.moduleNumber] = module.configuration.moduleLocation;
+    }
+  }
+
+  /**
+   * Create modules based off of the SwerveModuleConfiguration.
+   *
+   * @param swerves Swerve constants.
+   * @return Swerve Modules.
+   */
+  public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves)
+  {
+    SwerveModule[] modArr = new SwerveModule[swerves.length];
+    for (int i = 0; i < swerves.length; i++)
+    {
+      modArr[i] = new SwerveModule(i, swerves[i]);
+    }
+    return modArr;
+  }
+}