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Updated YAGSL to next-gen

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This commit is contained in:
thenetworkgrinch
2023-11-09 17:32:48 -06:00
parent 0b02b3c504
commit 6aaf512b38
21 changed files with 573 additions and 517 deletions
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19
swervelib/parser/SwerveControllerConfiguration.java
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@@ -17,10 +17,6 @@ public class SwerveControllerConfiguration
*/
public final double
angleJoyStickRadiusDeadband; // Deadband for the minimum hypot for the heading joystick.
/**
* Maximum robot speed in meters per second.
*/
public double maxSpeed;
/**
* Maximum angular velocity in rad/s
*/
@@ -29,19 +25,20 @@ public class SwerveControllerConfiguration
/**
* Construct the swerve controller configuration.
*
* @param driveCfg Drive configuration.
* @param headingPIDF Heading PIDF configuration.
* @param angleJoyStickRadiusDeadband Deadband on radius of angle joystick.
* @param maxSpeedMPS Maximum speed in meters per second for angular velocity, remember if you have
* feet per second use {@link edu.wpi.first.math.util.Units#feetToMeters(double)}.
*/
public SwerveControllerConfiguration(
SwerveDriveConfiguration driveCfg,
PIDFConfig headingPIDF,
double angleJoyStickRadiusDeadband)
double angleJoyStickRadiusDeadband,
double maxSpeedMPS)
{
this.maxSpeed = driveCfg.maxSpeed;
this.maxAngularVelocity =
calculateMaxAngularVelocity(
driveCfg.maxSpeed,
maxSpeedMPS,
Math.abs(driveCfg.moduleLocationsMeters[0].getX()),
Math.abs(driveCfg.moduleLocationsMeters[0].getY()));
this.headingPIDF = headingPIDF;
@@ -54,9 +51,11 @@ public class SwerveControllerConfiguration
*
* @param driveCfg Drive configuration.
* @param headingPIDF Heading PIDF configuration.
* @param maxSpeedMPS Maximum speed in meters per second for angular velocity, remember if you have feet per second
* use {@link edu.wpi.first.math.util.Units#feetToMeters(double)}.
*/
public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF)
public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF, double maxSpeedMPS)
{
this(driveCfg, headingPIDF, 0.5);
this(driveCfg, headingPIDF, 0.5, maxSpeedMPS);
}
}