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Updated Telemetry, added javadocs

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This commit is contained in:
thenetworkgrinch
2024-06-12 15:58:37 -05:00
parent 2d992a453a
commit 6aa91f2598
4 changed files with 48 additions and 44 deletions
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24
swervelib/SwerveDrive.java
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@@ -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;
}