Updated YAGSL to next-gen

swervelib/parser/SwerveModulePhysicalCharacteristics.java

@@ -1,35 +1,13 @@
 package swervelib.parser;
 
+import swervelib.parser.json.MotorConfigDouble;
+
 /**
  * Configuration class which stores physical characteristics shared between every swerve module.
  */
 public class SwerveModulePhysicalCharacteristics
 {
 
-  /**
-   * Wheel diameter in meters.
-   */
-  public final double wheelDiameter;
-  /**
-   * Drive gear ratio. How many times the motor has to spin before the wheel makes a complete rotation.
-   */
-  public final double driveGearRatio;
-  /**
-   * Angle gear ratio. How many times the motor has to spin before the wheel makes a full rotation.
-   */
-  public final double angleGearRatio;
-  /**
-   * Drive motor encoder pulse per rotation. 1 if integrated encoder.
-   */
-  public final int    driveEncoderPulsePerRotation;
-  /**
-   * Angle motor encoder pulse per rotation. 1 for Neo encoder. 2048 for Falcons.
-   */
-  public final int    angleEncoderPulsePerRotation;
-  /**
-   * Optimal voltage of the robot.
-   */
-  public final double optimalVoltage;
   /**
    * Current limits for the Swerve Module.
    */
@@ -41,21 +19,26 @@ public class SwerveModulePhysicalCharacteristics
   /**
    * Wheel grip tape coefficient of friction on carpet, as described by the vendor.
    */
-  public final double wheelGripCoefficientOfFriction;
+  public final double            wheelGripCoefficientOfFriction;
   /**
-   * Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
-   * your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the
-   * calculated kV will be used.
+   * The voltage to use for the smart motor voltage compensation.
    */
-  public final double moduleSteerFFCL;
+  public       double            optimalVoltage;
+  /**
+   * The conversion factors for the drive and angle motors, created by
+   * {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} and
+   * {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)}.
+   */
+  public       MotorConfigDouble conversionFactor;
 
   /**
    * Construct the swerve module physical characteristics.
    *
-   * @param driveGearRatio                 Gear ratio of the drive motor. Number of motor rotations to rotate the
-   *                                       wheel.
-   * @param angleGearRatio                 Gear ratio of the angle motor. Number of motor rotations to spin the wheel.
-   * @param wheelDiameter                  Wheel diameter in meters.
+   * @param conversionFactors              The conversion factors for the drive and angle motors, created by
+   *                                       {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double,
+   *                                       double)} and
+   *                                       {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double,
+   *                                       double)}.
    * @param wheelGripCoefficientOfFriction Wheel grip coefficient of friction on carpet given by manufacturer.
    * @param optimalVoltage                 Optimal robot voltage.
    * @param driveMotorCurrentLimit         Current limit for the drive motor.
@@ -64,39 +47,33 @@ public class SwerveModulePhysicalCharacteristics
    *                                       over drawing power from battery)
    * @param angleMotorRampRate             The time in seconds to go from 0 to full throttle on the motor. (Prevents
    *                                       overdrawing power and power loss).
-   * @param driveEncoderPulsePerRotation   The number of encoder pulses per motor rotation, 1 for integrated encoders.
-   * @param angleEncoderPulsePerRotation   The number of encoder pulses per motor rotation, 1 for integrated encoders.
-   * @param moduleSteerFFCL                The kV applied to the steering motor to ensure your drivetrain does not drift
-   *                                       towards a direction when rotating while translating.
    */
   public SwerveModulePhysicalCharacteristics(
-      double driveGearRatio,
-      double angleGearRatio,
-      double wheelDiameter,
+      MotorConfigDouble conversionFactors,
       double wheelGripCoefficientOfFriction,
       double optimalVoltage,
       int driveMotorCurrentLimit,
       int angleMotorCurrentLimit,
       double driveMotorRampRate,
-      double angleMotorRampRate,
-      int driveEncoderPulsePerRotation,
-      int angleEncoderPulsePerRotation,
-      double moduleSteerFFCL)
+      double angleMotorRampRate)
   {
     this.wheelGripCoefficientOfFriction = wheelGripCoefficientOfFriction;
     this.optimalVoltage = optimalVoltage;
 
-    this.angleGearRatio = angleGearRatio;
-    this.driveGearRatio = driveGearRatio;
-    this.angleEncoderPulsePerRotation = angleEncoderPulsePerRotation;
-    this.driveEncoderPulsePerRotation = driveEncoderPulsePerRotation;
-    this.wheelDiameter = wheelDiameter;
+    this.conversionFactor = conversionFactors;
+    // Set the conversion factors to null if they are both 0.
+    if (conversionFactors != null)
+    {
+      if (conversionFactors.angle == 0 && conversionFactors.drive == 0)
+      {
+        this.conversionFactor = null;
+      }
+    }
 
     this.driveMotorCurrentLimit = driveMotorCurrentLimit;
     this.angleMotorCurrentLimit = angleMotorCurrentLimit;
     this.driveMotorRampRate = driveMotorRampRate;
     this.angleMotorRampRate = angleMotorRampRate;
-    this.moduleSteerFFCL = moduleSteerFFCL;
   }
 
   /**
@@ -104,36 +81,26 @@ public class SwerveModulePhysicalCharacteristics
    * nitrile on carpet from Studica) and optimal voltage is 12v. Assumes the drive motor current limit is 40A, and the
    * angle motor current limit is 20A.
    *
-   * @param driveGearRatio               Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.
-   * @param angleGearRatio               Gear ratio of the angle motor. Number of motor rotations to spin the wheel.
-   * @param wheelDiameter                Wheel diameter in meters.
-   * @param driveMotorRampRate           The time in seconds to go from 0 to full throttle on the motor. (Prevents over
-   *                                     drawing power from battery)
-   * @param angleMotorRampRate           The time in seconds to go from 0 to full throttle on the motor. (Prevents
-   *                                     overdrawing power and power loss).
-   * @param driveEncoderPulsePerRotation The number of encoder pulses per motor rotation, 1 for integrated encoders.
-   * @param angleEncoderPulsePerRotation The number of encoder pulses per motor rotation, 1 for integrated encoders.
+   * @param conversionFactors  The conversion factors for the drive and angle motors, created by
+   *                           {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} and
+   *                           {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)}.
+   * @param driveMotorRampRate The time in seconds to go from 0 to full throttle on the motor. (Prevents over drawing
+   *                           power from battery)
+   * @param angleMotorRampRate The time in seconds to go from 0 to full throttle on the motor. (Prevents overdrawing
+   *                           power and power loss).
    */
   public SwerveModulePhysicalCharacteristics(
-      double driveGearRatio,
-      double angleGearRatio,
-      double wheelDiameter,
+      MotorConfigDouble conversionFactors,
       double driveMotorRampRate,
-      double angleMotorRampRate,
-      int driveEncoderPulsePerRotation,
-      int angleEncoderPulsePerRotation)
+      double angleMotorRampRate)
   {
     this(
-        driveGearRatio,
-        angleGearRatio,
-        wheelDiameter,
+        conversionFactors,
         1.19,
         12,
         40,
         20,
         driveMotorRampRate,
-        angleMotorRampRate,
-        driveEncoderPulsePerRotation,
-        angleEncoderPulsePerRotation, -0.30);
+        angleMotorRampRate);
   }
 }