Updated swervelib

swervelib/parser/json/ModuleJson.java

@@ -0,0 +1,76 @@
+package frc.robot.subsystems.swervedrive2.swervelib.parser.json;
+
+import edu.wpi.first.math.util.Units;
+import frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder;
+import frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor;
+import frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig;
+import frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration;
+import frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics;
+import frc.robot.subsystems.swervedrive2.swervelib.parser.json.modules.BoolMotorJson;
+import frc.robot.subsystems.swervedrive2.swervelib.parser.json.modules.LocationJson;
+
+/**
+ * {@link frc.robot.subsystems.swervedrive2.swervelib.SwerveModule} JSON parsed class. Used to access the JSON data.
+ */
+public class ModuleJson
+{
+
+  /**
+   * Drive motor device configuration.
+   */
+  public DeviceJson    drive;
+  /**
+   * Angle motor device configuration.
+   */
+  public DeviceJson    angle;
+  /**
+   * Absolute encoder device configuration.
+   */
+  public DeviceJson    encoder;
+  /**
+   * Defines which motors are inverted.
+   */
+  public BoolMotorJson inverted;
+  /**
+   * Absolute encoder offset from 0 in degrees.
+   */
+  public double        absoluteEncoderOffset;
+  /**
+   * Absolute encoder inversion state.
+   */
+  public boolean       absoluteEncoderInverted = false;
+  /**
+   * The location of the swerve module from the center of the robot in inches.
+   */
+  public LocationJson  location;
+
+  /**
+   * Create the swerve module configuration based off of parsed data.
+   *
+   * @param anglePIDF               The PIDF values for the angle motor.
+   * @param velocityPIDF            The velocity PIDF values for the drive motor.
+   * @param maxSpeed                The maximum speed of the robot in meters per second.
+   * @param physicalCharacteristics Physical characteristics of the swerve module.
+   * @return {@link SwerveModuleConfiguration} based on the provided data and parsed data.
+   */
+  public SwerveModuleConfiguration createModuleConfiguration(PIDFConfig anglePIDF, PIDFConfig velocityPIDF,
+                                                             double maxSpeed,
+                                                             SwerveModulePhysicalCharacteristics physicalCharacteristics)
+  {
+    SwerveMotor           angleMotor = angle.createMotor(false);
+    SwerveAbsoluteEncoder absEncoder = encoder.createEncoder();
+
+    // If the absolute encoder is attached.
+    if (absEncoder == null)
+    {
+      absEncoder = angle.createIntegratedEncoder(angleMotor);
+      angleMotor.setAbsoluteEncoder(absEncoder);
+    }
+
+    return new SwerveModuleConfiguration(drive.createMotor(true), angleMotor, absEncoder,
+                                         absoluteEncoderOffset, Units.inchesToMeters(location.x),
+                                         Units.inchesToMeters(location.y), anglePIDF, velocityPIDF, maxSpeed,
+                                         physicalCharacteristics, absoluteEncoderInverted, inverted.drive,
+                                         inverted.angle);
+  }
+}