Updated swervelib

swervelib/parser/json/ControllerPropertiesJson.java

@@ -0,0 +1,32 @@
+package frc.robot.subsystems.swervedrive2.swervelib.parser.json;
+
+import frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig;
+import frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveControllerConfiguration;
+import frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration;
+
+/**
+ * {@link frc.robot.subsystems.swervedrive2.swervelib.SwerveController} parsed class. Used to access the JSON data.
+ */
+public class ControllerPropertiesJson
+{
+
+  /**
+   * The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
+   */
+  public double     angleJoystickRadiusDeadband;
+  /**
+   * The PID used to control the robot heading.
+   */
+  public PIDFConfig heading;
+
+  /**
+   * Create the {@link SwerveControllerConfiguration} based on parsed and given data.
+   *
+   * @param driveConfiguration {@link SwerveDriveConfiguration} parsed configuration.
+   * @return {@link SwerveControllerConfiguration} object based on parsed data.
+   */
+  public SwerveControllerConfiguration createControllerConfiguration(SwerveDriveConfiguration driveConfiguration)
+  {
+    return new SwerveControllerConfiguration(driveConfiguration, heading, angleJoystickRadiusDeadband);
+  }
+}