Updated to 2024.4.6.3

swervelib/parser/SwerveModuleConfiguration.java

@@ -62,6 +62,10 @@ public class SwerveModuleConfiguration
    * Name for the swerve module for telemetry.
    */
   public String                name;
+  /**
+   * Should do cosine compensation when not pointing correct direction;.
+   */
+  public boolean               useCosineCompensator;
 
   /**
    * Construct a configuration object for swerve modules.
@@ -80,6 +84,7 @@ public class SwerveModuleConfiguration
    * @param physicalCharacteristics Physical characteristics of the swerve module.
    * @param name                    The name for the swerve module.
    * @param conversionFactors       Conversion factors to be applied to the drive and angle motors.
+   * @param useCosineCompensator    Should use cosineCompensation.
    */
   public SwerveModuleConfiguration(
       SwerveMotor driveMotor,
@@ -95,7 +100,8 @@ public class SwerveModuleConfiguration
       boolean absoluteEncoderInverted,
       boolean driveMotorInverted,
       boolean angleMotorInverted,
-      String name)
+      String name,
+      boolean useCosineCompensator)
   {
     this.driveMotor = driveMotor;
     this.angleMotor = angleMotor;
@@ -110,6 +116,7 @@ public class SwerveModuleConfiguration
     this.velocityPIDF = velocityPIDF;
     this.physicalCharacteristics = physicalCharacteristics;
     this.name = name;
+    this.useCosineCompensator = useCosineCompensator;
   }
 
   /**
@@ -127,6 +134,7 @@ public class SwerveModuleConfiguration
    * @param velocityPIDF            Velocity PIDF configuration.
    * @param physicalCharacteristics Physical characteristics of the swerve module.
    * @param name                    Name for the module.
+   * @param useCosineCompensator    Should use cosineCompensation.
    */
   public SwerveModuleConfiguration(
       SwerveMotor driveMotor,
@@ -139,7 +147,8 @@ public class SwerveModuleConfiguration
       PIDFConfig anglePIDF,
       PIDFConfig velocityPIDF,
       SwerveModulePhysicalCharacteristics physicalCharacteristics,
-      String name)
+      String name,
+      boolean useCosineCompensator)
   {
     this(
         driveMotor,
@@ -155,7 +164,8 @@ public class SwerveModuleConfiguration
         false,
         false,
         false,
-        name);
+        name,
+        useCosineCompensator);
   }