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Updated YAGSL to next-gen

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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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47
swervelib/parser/SwerveDriveConfiguration.java
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@@ -1,5 +1,6 @@
package swervelib.parser;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Translation2d;
import swervelib.SwerveModule;
import swervelib.imu.SwerveIMU;
@@ -13,69 +14,69 @@ public class SwerveDriveConfiguration
/**
* Swerve Module locations.
*/
public Translation2d[] moduleLocationsMeters;
public Translation2d[] moduleLocationsMeters;
/**
* Swerve IMU
*/
public SwerveIMU imu;
public SwerveIMU imu;
/**
* Invert the imu measurements.
*/
public boolean invertedIMU = false;
/**
* Max module speed in meters per second.
*/
public double maxSpeed, attainableMaxTranslationalSpeedMetersPerSecond,
attainableMaxRotationalVelocityRadiansPerSecond;
public boolean invertedIMU = false;
/**
* Number of modules on the robot.
*/
public int moduleCount;
public int moduleCount;
/**
* Swerve Modules.
*/
public SwerveModule[] modules;
public SwerveModule[] modules;
/**
* Physical characteristics of the swerve drive from physicalproperties.json.
*/
public SwerveModulePhysicalCharacteristics physicalCharacteristics;
/**
* Create swerve drive configuration.
*
* @param moduleConfigs Module configuration.
* @param swerveIMU Swerve IMU.
* @param maxSpeed Max speed of the robot in meters per second.
* @param invertedIMU Invert the IMU.
* @param moduleConfigs Module configuration.
* @param swerveIMU Swerve IMU.
* @param invertedIMU Invert the IMU.
* @param driveFeedforward The drive motor feedforward to use for the {@link SwerveModule}.
*/
public SwerveDriveConfiguration(
SwerveModuleConfiguration[] moduleConfigs,
SwerveIMU swerveIMU,
double maxSpeed,
boolean invertedIMU)
boolean invertedIMU,
SimpleMotorFeedforward driveFeedforward,
SwerveModulePhysicalCharacteristics physicalCharacteristics)
{
this.moduleCount = moduleConfigs.length;
this.imu = swerveIMU;
this.maxSpeed = maxSpeed;
this.attainableMaxRotationalVelocityRadiansPerSecond = 0;
this.attainableMaxTranslationalSpeedMetersPerSecond = 0;
this.invertedIMU = invertedIMU;
this.modules = createModules(moduleConfigs);
this.modules = createModules(moduleConfigs, driveFeedforward);
this.moduleLocationsMeters = new Translation2d[moduleConfigs.length];
for (SwerveModule module : modules)
{
this.moduleLocationsMeters[module.moduleNumber] = module.configuration.moduleLocation;
}
this.physicalCharacteristics = physicalCharacteristics;
}
/**
* Create modules based off of the SwerveModuleConfiguration.
*
* @param swerves Swerve constants.
* @param swerves Swerve constants.
* @param driveFeedforward Drive feedforward created using
* {@link swervelib.math.SwerveMath#createDriveFeedforward(double, double, double)}.
* @return Swerve Modules.
*/
public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves)
public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves, SimpleMotorFeedforward driveFeedforward)
{
SwerveModule[] modArr = new SwerveModule[swerves.length];
for (int i = 0; i < swerves.length; i++)
{
modArr[i] = new SwerveModule(i, swerves[i]);
modArr[i] = new SwerveModule(i, swerves[i], driveFeedforward);
}
return modArr;
}