Updated Telemetry, added javadocs

swervelib/SwerveDrive.java

@@ -104,7 +104,7 @@ public class SwerveDrive
   /**
    * Amount of seconds the duration of the timestep the speeds should be applied for.
    */
-  private        double                   discretizationdtSeconds                         = 0.02;
+  private       double                   discretizationdtSeconds                         = 0.02;
   /**
    * Deadband for speeds in heading correction.
    */
@@ -347,15 +347,17 @@ public class SwerveDrive
   }
 
   /**
-   * Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same time. 
-   * The inputs are added together so this is not intneded to be used to give the driver both methods of control.
-   * 
+   * Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same
+   * time. The inputs are added together so this is not intneded to be used to give the driver both methods of control.
+   *
    * @param fieldOrientedVelocity The field oriented velocties to use
    * @param robotOrientedVelocity The robot oriented velocties to use
    */
-  public void driveFieldOrientedandRobotOriented(ChassisSpeeds fieldOrientedVelocity, ChassisSpeeds robotOrientedVelocity)
+  public void driveFieldOrientedandRobotOriented(ChassisSpeeds fieldOrientedVelocity,
+                                                 ChassisSpeeds robotOrientedVelocity)
   {
-    ChassisSpeeds TotalVelocties = ChassisSpeeds.fromFieldRelativeSpeeds(fieldOrientedVelocity, getOdometryHeading()).plus(robotOrientedVelocity);
+    ChassisSpeeds TotalVelocties = ChassisSpeeds.fromFieldRelativeSpeeds(fieldOrientedVelocity, getOdometryHeading())
+                                                .plus(robotOrientedVelocity);
     drive(TotalVelocties);
   }
 
@@ -1174,11 +1176,13 @@ public class SwerveDrive
 
   /**
    * Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction
-   * 
-   * @param enable
-   * @param dtSeconds
+   *
+   * @param enable    Enable chassis velocity correction, which will use
+   *                  {@link ChassisSpeeds#discretize(ChassisSpeeds, double)} with the following.
+   * @param dtSeconds The duration of the timestep the speeds should be applied for.
    */
-  public void setChassisDiscretization(boolean enable, double dtSeconds){
+  public void setChassisDiscretization(boolean enable, double dtSeconds)
+  {
     chassisVelocityCorrection = enable;
     discretizationdtSeconds = dtSeconds;
   }

swervelib/SwerveDriveTest.java

@@ -286,9 +286,9 @@ public class SwerveDriveTest
     double power    = powerSupplied.get();
     double distance = module.getPosition().distanceMeters;
     double velocity = module.getDriveMotor().getVelocity();
-    SmartDashboard.putNumber("Module[" + module.configuration.name + "] SysId Drive Power", power);
-    SmartDashboard.putNumber("Module[" + module.configuration.name + "] SysId Drive Position", distance);
-    SmartDashboard.putNumber("Module[" + module.configuration.name + "] SysId Drive Velocity", velocity);
+    SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Drive Power", power);
+    SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Drive Position", distance);
+    SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Drive Velocity", velocity);
     log.motor("drive-" + module.configuration.name)
        .voltage(m_appliedVoltage.mut_replace(power, Volts))
        .linearPosition(m_distance.mut_replace(distance, Meters))
@@ -358,9 +358,9 @@ public class SwerveDriveTest
     double power    = powerSupplied.get();
     double angle    = module.getAbsolutePosition();
     double velocity = module.getAbsoluteEncoder().getVelocity();
-    SmartDashboard.putNumber("Module[" + module.configuration.name + "] SysId Angle Power", power);
-    SmartDashboard.putNumber("Module[" + module.configuration.name + "] SysId Angle Position", angle);
-    SmartDashboard.putNumber("Module[" + module.configuration.name + "] SysId Absolute Encoder Velocity", velocity);
+    SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Angle Power", power);
+    SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Angle Position", angle);
+    SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Absolute Encoder Velocity", velocity);
     log.motor("angle-" + module.configuration.name)
        .voltage(m_appliedVoltage.mut_replace(power, Volts))
        .angularPosition(m_anglePosition.mut_replace(angle, Degrees))

swervelib/SwerveModule.java

@@ -82,14 +82,14 @@ public class SwerveModule
    * Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
    */
   public        int                    moduleNumber;
-  /**
-   * Feedforward for the drive motor during closed loop control.
-   */
-  private       SimpleMotorFeedforward driveMotorFeedforward;
   /**
    * Maximum speed of the drive motors in meters per second.
    */
   public        double                 maxSpeed;
+  /**
+   * Feedforward for the drive motor during closed loop control.
+   */
+  private       SimpleMotorFeedforward driveMotorFeedforward;
   /**
    * Anti-Jitter AKA auto-centering disabled.
    */
@@ -206,12 +206,12 @@ public class SwerveModule
                                      moduleNumber,
                                      Alert.AlertType.WARNING);
 
-    rawAbsoluteAngleName = "Module[" + configuration.name + "] Raw Absolute Encoder";
-    adjAbsoluteAngleName = "Module[" + configuration.name + "] Adjusted Absolute Encoder";
-    absoluteEncoderIssueName = "Module[" + configuration.name + "] Absolute Encoder Read Issue";
-    rawAngleName = "Module[" + configuration.name + "] Raw Angle Encoder";
-    rawDriveName = "Module[" + configuration.name + "] Raw Drive Encoder";
-    rawDriveVelName = "Module[" + configuration.name + "] Raw Drive Velocity";
+    rawAbsoluteAngleName = "swerve/modules/" + configuration.name + "/Raw Absolute Encoder";
+    adjAbsoluteAngleName = "swerve/modules/" + configuration.name + "/Adjusted Absolute Encoder";
+    absoluteEncoderIssueName = "swerve/modules/" + configuration.name + "/Absolute Encoder Read Issue";
+    rawAngleName = "swerve/modules/" + configuration.name + "/Raw Angle Encoder";
+    rawDriveName = "swerve/modules/" + configuration.name + "/Raw Drive Encoder";
+    rawDriveVelName = "swerve/modules/" + configuration.name + "/Raw Drive Velocity";
   }
 
   /**
@@ -274,6 +274,16 @@ public class SwerveModule
     this.driveMotorFeedforward = drive;
   }
 
+  /**
+   * Get the current drive motor PIDF values.
+   *
+   * @return {@link PIDFConfig} of the drive motor.
+   */
+  public PIDFConfig getDrivePIDF()
+  {
+    return configuration.velocityPIDF;
+  }
+
   /**
    * Set the drive PIDF values.
    *
@@ -286,13 +296,13 @@ public class SwerveModule
   }
 
   /**
-   * Get the current drive motor PIDF values.
+   * Get the current angle/azimuth/steering motor PIDF values.
    *
-   * @return {@link PIDFConfig} of the drive motor.
+   * @return {@link PIDFConfig} of the angle motor.
    */
-  public PIDFConfig getDrivePIDF()
+  public PIDFConfig getAnglePIDF()
   {
-    return configuration.velocityPIDF;
+    return configuration.anglePIDF;
   }
 
   /**
@@ -306,16 +316,6 @@ public class SwerveModule
     angleMotor.configurePIDF(config);
   }
 
-  /**
-   * Get the current angle/azimuth/steering motor PIDF values.
-   *
-   * @return {@link PIDFConfig} of the angle motor.
-   */
-  public PIDFConfig getAnglePIDF()
-  {
-    return configuration.anglePIDF;
-  }
-
   /**
    * Set the desired state of the swerve module. <br /><b>WARNING: If you are not using one of the functions from
    * {@link SwerveDrive} you may screw up {@link SwerveDrive#kinematics}</b>
@@ -379,8 +379,8 @@ public class SwerveModule
 
     if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
     {
-      SmartDashboard.putNumber("Module[" + configuration.name + "] Speed Setpoint", desiredState.speedMetersPerSecond);
-      SmartDashboard.putNumber("Module[" + configuration.name + "] Angle Setpoint", desiredState.angle.getDegrees());
+      SmartDashboard.putNumber("swerve/modules/" + configuration.name + "/Speed Setpoint", desiredState.speedMetersPerSecond);
+      SmartDashboard.putNumber("swerve/modules/" + configuration.name + "/Angle Setpoint", desiredState.angle.getDegrees());
     }
   }
 
@@ -638,7 +638,8 @@ public class SwerveModule
     }
     SmartDashboard.putNumber(rawAngleName, angleMotor.getPosition());
     SmartDashboard.putNumber(rawDriveName, driveMotor.getPosition());
-    SmartDashboard.putNumber(rawDriveVelName, driveMotor.getVelocity()); SmartDashboard.putNumber(adjAbsoluteAngleName, getAbsolutePosition());
+    SmartDashboard.putNumber(rawDriveVelName, driveMotor.getVelocity());
+    SmartDashboard.putNumber(adjAbsoluteAngleName, getAbsolutePosition());
     SmartDashboard.putNumber(absoluteEncoderIssueName, getAbsoluteEncoderReadIssue() ? 1 : 0);
   }
 }

swervelib/motors/TalonSRXSwerve.java

@@ -7,7 +7,6 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
 import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-import edu.wpi.first.wpilibj.Timer;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.math.SwerveMath;
 import swervelib.parser.PIDFConfig;