Updated swervelib

2026-06-19 06:21:40 +00:00 · 2023-02-13 14:37:05 -06:00
parent f929f12e41
commit 6a40ec018e
151 changed files with 24641 additions and 5320 deletions
--- a/swervelib/parser/json/PhysicalPropertiesJson.java
+++ b/swervelib/parser/json/PhysicalPropertiesJson.java
@@ -0,0 +1,128 @@
+package frc.robot.subsystems.swervedrive2.swervelib.parser.json;
+
+import edu.wpi.first.math.util.Units;
+import frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics;
+
+/**
+ * {@link frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics} parsed data. Used to
+ * configure the SwerveModule.
+ */
+public class PhysicalPropertiesJson
+{
+
+  /**
+   * Wheel diameter in inches.
+   */
+  public double            wheelDiameter;
+  /**
+   * Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
+   */
+  public MotorConfigDouble gearRatio;
+  /**
+   * Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders.
+   */
+  public MotorConfigInt    encoderPulsePerRotation        = new MotorConfigInt(1, 1);
+  /**
+   * The current limit in AMPs to apply to the motors.
+   */
+  public MotorConfigInt    currentLimit                   = new MotorConfigInt(40, 20);
+  /**
+   * The minimum number of seconds to take for the motor to go from 0 to full throttle.
+   */
+  public MotorConfigDouble rampRate                       = new MotorConfigDouble(0.25, 0.25);
+  /**
+   * The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.
+   */
+  public double            wheelGripCoefficientOfFriction = 1.19;
+  /**
+   * Angle motor free speed rotations per minute.
+   */
+  public double            angleMotorFreeSpeedRPM;
+
+  /**
+   * Create the physical characteristics based off the parsed data.
+   *
+   * @param optimalVoltage Optimal voltage to compensate for and use to calculate drive motor feedforward.
+   * @return {@link SwerveModulePhysicalCharacteristics} based on parsed data.
+   */
+  public SwerveModulePhysicalCharacteristics createPhysicalProperties(double optimalVoltage)
+  {
+    return new SwerveModulePhysicalCharacteristics(gearRatio.drive, gearRatio.angle, angleMotorFreeSpeedRPM,
+                                                   Units.inchesToMeters(wheelDiameter), wheelGripCoefficientOfFriction,
+                                                   optimalVoltage,
+                                                   currentLimit.drive, currentLimit.angle, rampRate.drive,
+                                                   rampRate.angle, encoderPulsePerRotation.drive,
+                                                   encoderPulsePerRotation.angle);
+  }
+}
+
+/**
+ * Used to store doubles for motor configuration.
+ */
+class MotorConfigDouble
+{
+
+  /**
+   * Drive motor.
+   */
+  public double drive;
+  /**
+   * Angle motor.
+   */
+  public double angle;
+
+  /**
+   * Default constructor.
+   */
+  public MotorConfigDouble()
+  {
+  }
+
+  /**
+   * Default constructor.
+   *
+   * @param angle Angle data.
+   * @param drive Drive data.
+   */
+  public MotorConfigDouble(double angle, double drive)
+  {
+    this.angle = angle;
+    this.drive = drive;
+  }
+
+}
+
+/**
+ * Used to store ints for motor configuration.
+ */
+class MotorConfigInt
+{
+
+  /**
+   * Drive motor.
+   */
+  public int drive;
+  /**
+   * Angle motor.
+   */
+  public int angle;
+
+  /**
+   * Default constructor.
+   */
+  public MotorConfigInt()
+  {
+  }
+
+  /**
+   * Default constructor with values.
+   *
+   * @param drive Drive data.
+   * @param angle Angle data.
+   */
+  public MotorConfigInt(int drive, int angle)
+  {
+    this.angle = angle;
+    this.drive = drive;
+  }
+}