mirror of
https://github.com/BroncBotz3481/YAGSL
synced 2026-06-29 07:01:41 +00:00
Updated to 2024.4.6.3
This commit is contained in:
thenetworkgrinch
@@ -1,11 +1,11 @@
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<!DOCTYPE HTML>
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<html lang="en">
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<head>
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<!-- Generated by javadoc (17) on Tue Jan 23 20:51:53 CST 2024 -->
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<!-- Generated by javadoc (17) on Fri Jan 26 11:27:20 CST 2024 -->
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<title>SwerveDrive</title>
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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<meta name="dc.created" content="2024-01-23">
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<meta name="dc.created" content="2024-01-26">
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<meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
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<meta name="generator" content="javadoc/ClassWriterImpl">
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<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
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@@ -107,89 +107,84 @@ loadScripts(document, 'script');</script>
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<div class="block">Correct chassis velocity in <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(Translation2d, double, boolean, boolean)</code></a> using 254's
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correction.</div>
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</div>
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<div class="col-first odd-row-color"><code>private boolean</code></div>
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<div class="col-second odd-row-color"><code><a href="#correctionEnabled" class="member-name-link">correctionEnabled</a></code></div>
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<div class="col-first odd-row-color"><code>edu.wpi.first.wpilibj.smartdashboard.Field2d</code></div>
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<div class="col-second odd-row-color"><code><a href="#field" class="member-name-link">field</a></code></div>
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||||
<div class="col-last odd-row-color">
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<div class="block">Whether heading correction PID is currently active.</div>
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</div>
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<div class="col-first even-row-color"><code>edu.wpi.first.wpilibj.smartdashboard.Field2d</code></div>
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<div class="col-second even-row-color"><code><a href="#field" class="member-name-link">field</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Field object.</div>
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</div>
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<div class="col-first odd-row-color"><code>private double</code></div>
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<div class="col-second odd-row-color"><code><a href="#HEADING_CORRECTION_DEADBAND" class="member-name-link">HEADING_CORRECTION_DEADBAND</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>private double</code></div>
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<div class="col-second even-row-color"><code><a href="#HEADING_CORRECTION_DEADBAND" class="member-name-link">HEADING_CORRECTION_DEADBAND</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Deadband for speeds in heading correction.</div>
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</div>
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<div class="col-first even-row-color"><code>boolean</code></div>
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<div class="col-second even-row-color"><code><a href="#headingCorrection" class="member-name-link">headingCorrection</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>boolean</code></div>
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<div class="col-second odd-row-color"><code><a href="#headingCorrection" class="member-name-link">headingCorrection</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Whether to correct heading when driving translationally.</div>
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</div>
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<div class="col-first odd-row-color"><code>private <a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>private <a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
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<div class="col-second even-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Swerve IMU device for sensing the heading of the robot.</div>
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</div>
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<div class="col-first even-row-color"><code>final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
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<div class="col-second even-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
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<div class="col-second odd-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Swerve Kinematics object.</div>
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</div>
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<div class="col-first odd-row-color"><code>private double</code></div>
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<div class="col-second odd-row-color"><code><a href="#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>private double</code></div>
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<div class="col-second even-row-color"><code><a href="#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">The last heading set in radians.</div>
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</div>
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<div class="col-first even-row-color"><code>private double</code></div>
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<div class="col-second even-row-color"><code><a href="#maxSpeedMPS" class="member-name-link">maxSpeedMPS</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>private double</code></div>
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<div class="col-second odd-row-color"><code><a href="#maxSpeedMPS" class="member-name-link">maxSpeedMPS</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Maximum speed of the robot in meters per second.</div>
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</div>
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<div class="col-first odd-row-color"><code>private int</code></div>
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<div class="col-second odd-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>private int</code></div>
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<div class="col-second even-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Counter to synchronize the modules relative encoder with absolute encoder when not moving.</div>
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</div>
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<div class="col-first even-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/concurrent/locks/Lock.html" title="class or interface in java.util.concurrent.locks" class="external-link">Lock</a></code></div>
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<div class="col-second even-row-color"><code><a href="#odometryLock" class="member-name-link">odometryLock</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/concurrent/locks/Lock.html" title="class or interface in java.util.concurrent.locks" class="external-link">Lock</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#odometryLock" class="member-name-link">odometryLock</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Odometry lock to ensure thread safety.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
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<div class="col-second odd-row-color"><code><a href="#odometryThread" class="member-name-link">odometryThread</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
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<div class="col-second even-row-color"><code><a href="#odometryThread" class="member-name-link">odometryThread</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">WPILib <code>Notifier</code> to keep odometry up to date.</div>
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</div>
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<div class="col-first even-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
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<div class="col-second even-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Simulation of the swerve drive.</div>
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</div>
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<div class="col-first odd-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
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<div class="col-second even-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Swerve controller for controlling heading of the robot.</div>
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</div>
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<div class="col-first even-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
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<div class="col-second even-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Swerve drive configuration.</div>
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</div>
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<div class="col-first odd-row-color"><code>final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></div>
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<div class="col-second odd-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></div>
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<div class="col-second even-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Swerve odometry.</div>
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</div>
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<div class="col-first even-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
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<div class="col-second even-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
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<div class="col-second odd-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Swerve modules.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final <a href="telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#tunerXRecommendation" class="member-name-link">tunerXRecommendation</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>private final <a href="telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
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<div class="col-second even-row-color"><code><a href="#tunerXRecommendation" class="member-name-link">tunerXRecommendation</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Alert to recommend Tuner X if the configuration is compatible.</div>
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</div>
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</div>
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@@ -299,215 +294,220 @@ loadScripts(document, 'script');</script>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyroRotation3d()" class="member-name-link">getGyroRotation3d</a>()</code></div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyro()" class="member-name-link">getGyro</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Getter for the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a>.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyroRotation3d()" class="member-name-link">getGyroRotation3d</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Gets the current gyro <code>Rotation3d</code> of the robot, as reported by the imu.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumAngularVelocity()" class="member-name-link">getMaximumAngularVelocity</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumAngularVelocity()" class="member-name-link">getMaximumAngularVelocity</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Get the maximum angular velocity, either <a href="#attainableMaxRotationalVelocityRadiansPerSecond"><code>attainableMaxRotationalVelocityRadiansPerSecond</code></a> or
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<a href="parser/SwerveControllerConfiguration.html#maxAngularVelocity"><code>SwerveControllerConfiguration.maxAngularVelocity</code></a>.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumVelocity()" class="member-name-link">getMaximumVelocity</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumVelocity()" class="member-name-link">getMaximumVelocity</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Get the maximum velocity from <a href="#attainableMaxTranslationalSpeedMetersPerSecond"><code>attainableMaxTranslationalSpeedMetersPerSecond</code></a> or
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<a href="#maxSpeedMPS"><code>maxSpeedMPS</code></a> whichever is higher.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModulePositions()" class="member-name-link">getModulePositions</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModulePositions()" class="member-name-link">getModulePositions</a>()</code></div>
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||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Gets the current module positions (azimuth and wheel position (meters)).</div>
|
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModules()" class="member-name-link">getModules</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModules()" class="member-name-link">getModules</a>()</code></div>
|
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Get the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>s associated with the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a>.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getOdometryHeading()" class="member-name-link">getOdometryHeading</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getOdometryHeading()" class="member-name-link">getOdometryHeading</a>()</code></div>
|
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
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<div class="block">Fetch the latest odometry heading, should be trusted over <a href="#getYaw()"><code>getYaw()</code></a>.</div>
|
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</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current pitch angle of the robot, as reported by the imu.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPose()" class="member-name-link">getPose</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPose()" class="member-name-link">getPose</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRobotVelocity()" class="member-name-link">getRobotVelocity</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRobotVelocity()" class="member-name-link">getRobotVelocity</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current roll angle of the robot, as reported by the imu.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState[]</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState[]</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current module states (azimuth and velocity)</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveController()" class="member-name-link">getSwerveController</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveController()" class="member-name-link">getSwerveController</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Helper function to get the <a href="#swerveController"><code>swerveController</code></a> for the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> which can be used to
|
||||
generate <code>ChassisSpeeds</code> for the robot to orient it correctly given axis or angles, and apply
|
||||
<code>SlewRateLimiter</code> to given inputs.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d[]</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses</a><wbr>(edu.wpi.first.math.geometry.Pose2d robotPose)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d[]</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses</a><wbr>(edu.wpi.first.math.geometry.Pose2d robotPose)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Get the swerve module poses and on the field relative to the robot.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory trajectory)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory trajectory)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Post the trajectory to the field</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#pushOffsetsToControllers()" class="member-name-link">pushOffsetsToControllers</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#pushOffsetsToControllers()" class="member-name-link">pushOffsetsToControllers</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Setup the swerve module feedforward.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetDriveEncoders()" class="member-name-link">resetDriveEncoders</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetDriveEncoders()" class="member-name-link">resetDriveEncoders</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in
|
||||
autonomous.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d pose)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d pose)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Resets odometry to the given pose.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#restoreInternalOffset()" class="member-name-link">restoreInternalOffset</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#restoreInternalOffset()" class="member-name-link">restoreInternalOffset</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAngleMotorConversionFactor(double)" class="member-name-link">setAngleMotorConversionFactor</a><wbr>(double conversionFactor)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAngleMotorConversionFactor(double)" class="member-name-link">setAngleMotorConversionFactor</a><wbr>(double conversionFactor)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the conversion factor for the angle/azimuth motor controller.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set chassis speeds with closed-loop velocity control.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDriveMotorConversionFactor(double)" class="member-name-link">setDriveMotorConversionFactor</a><wbr>(double conversionFactor)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDriveMotorConversionFactor(double)" class="member-name-link">setDriveMotorConversionFactor</a><wbr>(double conversionFactor)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the conversion factor for the drive motor controller.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setGyro(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyro</a><wbr>(edu.wpi.first.math.geometry.Rotation3d gyro)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setGyro(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyro</a><wbr>(edu.wpi.first.math.geometry.Rotation3d gyro)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the expected gyroscope angle using a <code>Rotation3d</code> object.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setGyroOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyroOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d offset)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setGyroOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyroOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d offset)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the gyro scope offset to a desired known rotation.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setHeadingCorrection(boolean)" class="member-name-link">setHeadingCorrection</a><wbr>(boolean state)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the heading correction capabilities of YAGSL.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setHeadingCorrection(boolean,double)" class="member-name-link">setHeadingCorrection</a><wbr>(boolean state,
|
||||
double deadband)</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setHeadingCorrection(boolean)" class="member-name-link">setHeadingCorrection</a><wbr>(boolean state)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the heading correction capabilities of YAGSL.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeed(double)" class="member-name-link">setMaximumSpeed</a><wbr>(double maximumSpeed)</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setHeadingCorrection(boolean,double)" class="member-name-link">setHeadingCorrection</a><wbr>(boolean state,
|
||||
double deadband)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the heading correction capabilities of YAGSL.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeed(double)" class="member-name-link">setMaximumSpeed</a><wbr>(double maximumSpeed)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the maximum speed of the drive motors, modified <a href="#maxSpeedMPS"><code>maxSpeedMPS</code></a> which is used for the
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
|
||||
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeed(double,boolean,double)" class="member-name-link">setMaximumSpeed</a><wbr>(double maximumSpeed,
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeed(double,boolean,double)" class="member-name-link">setMaximumSpeed</a><wbr>(double maximumSpeed,
|
||||
boolean updateModuleFeedforward,
|
||||
double optimalVoltage)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the maximum speed of the drive motors, modified <a href="#maxSpeedMPS"><code>maxSpeedMPS</code></a> which is used for the
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
|
||||
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeeds(double,double,double)" class="member-name-link">setMaximumSpeeds</a><wbr>(double attainableMaxModuleSpeedMetersPerSecond,
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeeds(double,double,double)" class="member-name-link">setMaximumSpeeds</a><wbr>(double attainableMaxModuleSpeedMetersPerSecond,
|
||||
double attainableMaxTranslationalSpeedMetersPerSecond,
|
||||
double attainableMaxRotationalVelocityRadiansPerSecond)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the maximum speeds for desaturation.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
|
||||
boolean isOpenLoop)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the module states (azimuth and velocity) directly.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorIdleMode(boolean)" class="member-name-link">setMotorIdleMode</a><wbr>(boolean brake)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorIdleMode(boolean)" class="member-name-link">setMotorIdleMode</a><wbr>(boolean brake)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Sets the drive motors to brake/coast mode.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setOdometryPeriod(double)" class="member-name-link">setOdometryPeriod</a><wbr>(double period)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setOdometryPeriod(double)" class="member-name-link">setOdometryPeriod</a><wbr>(double period)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the odometry update period in seconds.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setRawModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setRawModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
|
||||
boolean isOpenLoop)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the module states (azimuth and velocity) directly.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#stopOdometryThread()" class="member-name-link">stopOdometryThread</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#stopOdometryThread()" class="member-name-link">stopOdometryThread</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Stop the odometry thread in favor of manually updating odometry.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#synchronizeModuleEncoders()" class="member-name-link">synchronizeModuleEncoders</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#synchronizeModuleEncoders()" class="member-name-link">synchronizeModuleEncoders</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Synchronize angle motor integrated encoders with data from absolute encoders.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateOdometry()" class="member-name-link">updateOdometry</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateOdometry()" class="member-name-link">updateOdometry</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Update odometry should be run every loop.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#zeroGyro()" class="member-name-link">zeroGyro</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#zeroGyro()" class="member-name-link">zeroGyro</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.</div>
|
||||
</div>
|
||||
</div>
|
||||
@@ -613,13 +613,6 @@ loadScripts(document, 'script');</script>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="correctionEnabled">
|
||||
<h3>correctionEnabled</h3>
|
||||
<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">boolean</span> <span class="element-name">correctionEnabled</span></div>
|
||||
<div class="block">Whether heading correction PID is currently active.</div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="imu">
|
||||
<h3>imu</h3>
|
||||
<div class="member-signature"><span class="modifiers">private</span> <span class="return-type"><a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span> <span class="element-name">imu</span></div>
|
||||
@@ -1065,6 +1058,29 @@ loadScripts(document, 'script');</script>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="getGyro()">
|
||||
<h3>getGyro</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span> <span class="element-name">getGyro</span>()</div>
|
||||
<div class="block">Getter for the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a>.</div>
|
||||
<dl class="notes">
|
||||
<dt>Returns:</dt>
|
||||
<dd>generated <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a></dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="setGyro(edu.wpi.first.math.geometry.Rotation3d)">
|
||||
<h3>setGyro</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setGyro</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation3d gyro)</span></div>
|
||||
<div class="block">Set the expected gyroscope angle using a <code>Rotation3d</code> object. To reset gyro, set to a new <code>Rotation3d</code>
|
||||
subtracted from the current gyroscopic readings <a href="imu/SwerveIMU.html#getRotation3d()"><code>SwerveIMU.getRotation3d()</code></a>.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>gyro</code> - expected gyroscope angle as <code>Rotation3d</code>.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="zeroGyro()">
|
||||
<h3>zeroGyro</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">zeroGyro</span>()</div>
|
||||
@@ -1270,18 +1286,6 @@ loadScripts(document, 'script');</script>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="setGyro(edu.wpi.first.math.geometry.Rotation3d)">
|
||||
<h3>setGyro</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setGyro</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation3d gyro)</span></div>
|
||||
<div class="block">Set the expected gyroscope angle using a <code>Rotation3d</code> object. To reset gyro, set to a new <code>Rotation3d</code>
|
||||
subtracted from the current gyroscopic readings <a href="imu/SwerveIMU.html#getRotation3d()"><code>SwerveIMU.getRotation3d()</code></a>.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>gyro</code> - expected gyroscope angle as <code>Rotation3d</code>.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="getSwerveController()">
|
||||
<h3>getSwerveController</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="SwerveController.html" title="class in swervelib">SwerveController</a></span> <span class="element-name">getSwerveController</span>()</div>
|
||||
|
||||
Reference in New Issue
Block a user