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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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55
swervelib/SwerveModule.java
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@@ -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);
}
}