Updated YAGSL to next-gen

swervelib/parser/json/PhysicalPropertiesJson.java

@@ -1,8 +1,6 @@
 package swervelib.parser.json;
 
-import edu.wpi.first.math.util.Units;
 import swervelib.parser.SwerveModulePhysicalCharacteristics;
-import swervelib.telemetry.SwerveDriveTelemetry;
 
 /**
  * {@link swervelib.parser.SwerveModulePhysicalCharacteristics} parsed data. Used to configure the SwerveModule.
@@ -10,18 +8,13 @@ import swervelib.telemetry.SwerveDriveTelemetry;
 public class PhysicalPropertiesJson
 {
 
+
   /**
-   * Wheel diameter in inches.
+   * Conversion factor applied to the motor controllers PID loops. Can be calculated with
+   * {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} for angle motors or
+   * {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} for drive motors.
    */
-  public double            wheelDiameter;
-  /**
-   * Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
-   */
-  public MotorConfigDouble gearRatio;
-  /**
-   * Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders.
-   */
-  public MotorConfigInt    encoderPulsePerRotation        = new MotorConfigInt(1, 1);
+  public MotorConfigDouble conversionFactor;
   /**
    * The current limit in AMPs to apply to the motors.
    */
@@ -35,106 +28,25 @@ public class PhysicalPropertiesJson
    */
   public double            wheelGripCoefficientOfFriction = 1.19;
   /**
-   * 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. Default value is 0. If
-   * robot arcs while translating and rotating negate this.
+   * The voltage to use for the smart motor voltage compensation, default is 12.
    */
-  public double            moduleFeedForwardClosedLoop    = SwerveDriveTelemetry.isSimulation ? 0.33 : 0;
-  /**
-   * DEPRECATED: No longer needed, tune {@link PhysicalPropertiesJson#moduleFeedForwardClosedLoop} instead.
-   */
-  public double            angleMotorFreeSpeedRPM         = 0;
+  public double            optimalVoltage                 = 12;
 
   /**
    * Create the physical characteristics based off the parsed data.
    *
-   * @param optimalVoltage Optimal voltage to compensate for and use to calculate drive motor feedforward.
    * @return {@link SwerveModulePhysicalCharacteristics} based on parsed data.
    */
-  public SwerveModulePhysicalCharacteristics createPhysicalProperties(double optimalVoltage)
+  public SwerveModulePhysicalCharacteristics createPhysicalProperties()
   {
     return new SwerveModulePhysicalCharacteristics(
-        gearRatio.drive,
-        gearRatio.angle,
-        Units.inchesToMeters(wheelDiameter),
+        conversionFactor,
         wheelGripCoefficientOfFriction,
         optimalVoltage,
         currentLimit.drive,
         currentLimit.angle,
         rampRate.drive,
-        rampRate.angle,
-        encoderPulsePerRotation.drive,
-        encoderPulsePerRotation.angle,
-        moduleFeedForwardClosedLoop);
+        rampRate.angle);
   }
 }
 
-/**
- * Used to store doubles for motor configuration.
- */
-class MotorConfigDouble
-{
-
-  /**
-   * Drive motor.
-   */
-  public double drive;
-  /**
-   * Angle motor.
-   */
-  public double angle;
-
-  /**
-   * Default constructor.
-   */
-  public MotorConfigDouble()
-  {
-  }
-
-  /**
-   * Default constructor.
-   *
-   * @param angle Angle data.
-   * @param drive Drive data.
-   */
-  public MotorConfigDouble(double angle, double drive)
-  {
-    this.angle = angle;
-    this.drive = drive;
-  }
-}
-
-/**
- * Used to store ints for motor configuration.
- */
-class MotorConfigInt
-{
-
-  /**
-   * Drive motor.
-   */
-  public int drive;
-  /**
-   * Angle motor.
-   */
-  public int angle;
-
-  /**
-   * Default constructor.
-   */
-  public MotorConfigInt()
-  {
-  }
-
-  /**
-   * Default constructor with values.
-   *
-   * @param drive Drive data.
-   * @param angle Angle data.
-   */
-  public MotorConfigInt(int drive, int angle)
-  {
-    this.angle = angle;
-    this.drive = drive;
-  }
-}