From 80b79c3ac9a94775e533ea814eab46e12eacc9d2 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Thu, 16 Feb 2023 21:47:08 -0600 Subject: [PATCH] Updated docs, and swervelib TalonSRX --- docs/allclasses-index.html | 18 +- docs/allpackages-index.html | 2 +- docs/constant-values.html | 9 +- docs/help-doc.html | 2 +- docs/index-files/index-1.html | 6 +- docs/index-files/index-10.html | 2 +- docs/index-files/index-11.html | 2 +- docs/index-files/index-12.html | 6 +- docs/index-files/index-13.html | 2 +- docs/index-files/index-14.html | 2 +- docs/index-files/index-15.html | 10 +- docs/index-files/index-16.html | 10 +- docs/index-files/index-17.html | 2 +- docs/index-files/index-18.html | 22 +-- docs/index-files/index-19.html | 2 +- docs/index-files/index-2.html | 2 +- docs/index-files/index-20.html | 33 +--- docs/index-files/index-21.html | 2 +- docs/index-files/index-22.html | 2 +- docs/index-files/index-23.html | 2 +- docs/index-files/index-24.html | 2 +- docs/index-files/index-25.html | 2 +- docs/index-files/index-3.html | 12 +- docs/index-files/index-4.html | 6 +- docs/index-files/index-5.html | 2 +- docs/index-files/index-6.html | 6 +- docs/index-files/index-7.html | 6 +- docs/index-files/index-8.html | 2 +- docs/index-files/index-9.html | 2 +- docs/index.html | 2 +- docs/member-search-index.js | 2 +- docs/overview-summary.html | 2 +- docs/overview-tree.html | 5 +- docs/swervelib/SwerveController.html | 2 +- docs/swervelib/SwerveDrive.html | 2 +- docs/swervelib/SwerveModule.html | 2 +- docs/swervelib/encoders/CANCoderSwerve.html | 2 +- .../encoders/SparkMaxEncoderSwerve.html | 2 +- .../encoders/SwerveAbsoluteEncoder.html | 2 +- docs/swervelib/encoders/package-summary.html | 2 +- docs/swervelib/encoders/package-tree.html | 2 +- docs/swervelib/imu/ADIS16448Swerve.html | 2 +- docs/swervelib/imu/ADIS16470Swerve.html | 2 +- docs/swervelib/imu/ADXRS450Swerve.html | 2 +- docs/swervelib/imu/AnalogGyroSwerve.html | 2 +- docs/swervelib/imu/NavXSwerve.html | 2 +- docs/swervelib/imu/Pigeon2Swerve.html | 2 +- docs/swervelib/imu/PigeonSwerve.html | 2 +- docs/swervelib/imu/SwerveIMU.html | 2 +- docs/swervelib/imu/package-summary.html | 2 +- docs/swervelib/imu/package-tree.html | 2 +- docs/swervelib/math/SwerveKinematics2.html | 2 +- docs/swervelib/math/SwerveMath.html | 2 +- docs/swervelib/math/SwerveModuleState2.html | 2 +- docs/swervelib/math/package-summary.html | 2 +- docs/swervelib/math/package-tree.html | 2 +- .../SparkMaxSwerve.SparkMAX_slotIdx.html | 2 +- docs/swervelib/motors/SparkMaxSwerve.html | 2 +- docs/swervelib/motors/SwerveMotor.html | 2 +- docs/swervelib/motors/TalonFXSwerve.html | 2 +- docs/swervelib/motors/TalonSRXSwerve.html | 171 +++++++++++------- docs/swervelib/motors/package-summary.html | 14 +- docs/swervelib/motors/package-tree.html | 5 +- docs/swervelib/package-summary.html | 2 +- docs/swervelib/package-tree.html | 2 +- docs/swervelib/parser/PIDFConfig.html | 2 +- .../parser/SwerveControllerConfiguration.html | 2 +- .../parser/SwerveDriveConfiguration.html | 2 +- .../parser/SwerveModuleConfiguration.html | 2 +- .../SwerveModulePhysicalCharacteristics.html | 2 +- docs/swervelib/parser/SwerveParser.html | 2 +- .../parser/deserializer/PIDFRange.html | 2 +- .../parser/deserializer/package-summary.html | 2 +- .../parser/deserializer/package-tree.html | 2 +- .../parser/json/ControllerPropertiesJson.html | 2 +- docs/swervelib/parser/json/DeviceJson.html | 2 +- docs/swervelib/parser/json/ModuleJson.html | 2 +- .../parser/json/MotorConfigDouble.html | 2 +- .../swervelib/parser/json/MotorConfigInt.html | 2 +- .../parser/json/PIDFPropertiesJson.html | 2 +- .../parser/json/PhysicalPropertiesJson.html | 2 +- .../parser/json/SwerveDriveJson.html | 2 +- .../parser/json/modules/BoolMotorJson.html | 2 +- .../parser/json/modules/LocationJson.html | 2 +- .../parser/json/modules/package-summary.html | 2 +- .../parser/json/modules/package-tree.html | 2 +- .../parser/json/package-summary.html | 2 +- docs/swervelib/parser/json/package-tree.html | 2 +- docs/swervelib/parser/package-summary.html | 2 +- docs/swervelib/parser/package-tree.html | 2 +- .../simulation/SwerveIMUSimulation.html | 2 +- .../simulation/SwerveModuleSimulation.html | 2 +- .../ctre/PhysicsSim.SimProfile.html | 2 +- .../swervelib/simulation/ctre/PhysicsSim.html | 2 +- .../simulation/ctre/TalonFXSimProfile.html | 2 +- .../simulation/ctre/TalonSRXSimProfile.html | 2 +- .../simulation/ctre/VictorSPXSimProfile.html | 2 +- .../simulation/ctre/package-summary.html | 2 +- .../simulation/ctre/package-tree.html | 2 +- .../swervelib/simulation/package-summary.html | 2 +- docs/swervelib/simulation/package-tree.html | 2 +- docs/type-search-index.js | 2 +- swervelib/motors/TalonSRXSwerve.java | 151 ++++++++-------- 103 files changed, 301 insertions(+), 361 deletions(-) diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index e444f76..7eb0392 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,7 +1,7 @@ - + All Classes and Interfaces @@ -241,20 +241,8 @@ loadScripts(document, 'script');
WPI_TalonSRX Swerve Motor.
-
TalonSRXSwerve.CTRE_pidIdx
-
-
The Talon PID to use onboard.
-
-
TalonSRXSwerve.CTRE_remoteSensor
-
-
The remote sensor.
-
-
TalonSRXSwerve.CTRE_slotIdx
-
-
The Talon SRX Slot profile used to configure the motor to use for the PID.
-
-
VictorSPXSimProfile
-
+
VictorSPXSimProfile
+
Holds information about a simulated VictorSPX.
diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index 73654c7..052d0ed 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,7 +1,7 @@ - + All Packages diff --git a/docs/constant-values.html b/docs/constant-values.html index 942e213..146feb7 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,7 +1,7 @@ - + Constant Field Values @@ -79,9 +79,12 @@ loadScripts(document, 'script');
Modifier and Type
Constant Field
Value
-
private final boolean
-
factoryDefaultOccurred
+
private final boolean
+
absoluteEncoder
false
+
private final boolean
+
factoryDefaultOccurred
+
false
diff --git a/docs/help-doc.html b/docs/help-doc.html index 9aa66f4..2764136 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,7 +1,7 @@ - + API Help diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index 6b0b72d..ba9516d 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,7 +1,7 @@ - + A-Index @@ -234,10 +234,6 @@ loadScripts(document, 'script');
Algebraically apply a deadband using a piece wise function.
-
AUXILIARY_PID - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
-
Secondary PID for talons.
-
A B C D E F G H I K L M N O P R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index cb9936c..6a8be0f 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,7 +1,7 @@ - + K-Index diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index 332d9eb..bec4adb 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,7 +1,7 @@ - + L-Index diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index 0145d08..8428893 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,7 +1,7 @@ - + M-Index @@ -147,10 +147,6 @@ loadScripts(document, 'script');
Counter to synchronize the modules relative encoder with absolute encoder when not moving.
-
MotionProfile - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
-
Slot 3, meant for motion profiles.
-
motor - Variable in class swervelib.motors.SparkMaxSwerve
SparkMAX Instance.
diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index a616440..78cf224 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,7 +1,7 @@ - + N-Index diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index e48f94f..af6e508 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,7 +1,7 @@ - + O-Index diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index 28f2621..1a43af4 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,7 +1,7 @@ - + P-Index @@ -149,6 +149,10 @@ loadScripts(document, 'script');
Put an angle within the the 360 deg scope of a reference.
+
placeInAppropriate0To360Scope(double, double) - Method in class swervelib.motors.TalonSRXSwerve
+
+
Put an angle within the the 360 deg scope of a reference.
+
Position - Enum constant in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
Slot 1, used for position PID's.
@@ -165,10 +169,6 @@ loadScripts(document, 'script');
Post the trajectory to the field
-
PRIMARY_PID - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
-
Primary PID for talons.
-
A B C D E F G H I K L M N O P R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 9bdc227..5fd6671 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,7 +1,7 @@ - + R-Index @@ -61,14 +61,6 @@ loadScripts(document, 'script');
 
random(double, double) - Static method in class swervelib.simulation.ctre.PhysicsSim
 
-
REMOTE_SENSOR_0 - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
-
-
Remote sensor 0.
-
-
REMOTE_SENSOR_1 - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
-
-
Remote sensor 1.
-
replaceSwerveModuleFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveDrive
Setup the swerve module feedforward.
diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index 7c52391..e7e48e6 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,7 +1,7 @@ - + S-Index diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index 3e2469d..61b9dc3 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,7 +1,7 @@ - + T-Index @@ -97,26 +97,10 @@ loadScripts(document, 'script');
Constructor for TalonSRX swerve motor.
-
TalonSRXSwerve.CTRE_pidIdx - Enum Class in swervelib.motors
-
-
The Talon PID to use onboard.
-
-
TalonSRXSwerve.CTRE_remoteSensor - Enum Class in swervelib.motors
-
-
The remote sensor.
-
-
TalonSRXSwerve.CTRE_slotIdx - Enum Class in swervelib.motors
-
-
The Talon SRX Slot profile used to configure the motor to use for the PID.
-
thetaController - Variable in class swervelib.SwerveController
PID Controller for the robot heading.
-
THIRD_PID - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
-
Third PID slot for talons.
-
timer - Variable in class swervelib.simulation.SwerveIMUSimulation
Main timer to control movement estimations.
@@ -141,10 +125,6 @@ loadScripts(document, 'script');
Performs forward kinematics to return the resulting chassis state from the given module states.
-
Turning - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
-
Slot 1, meant for turning PID's.
-
type - Variable in class swervelib.parser.json.DeviceJson
The device type, e.g.
diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index c677a43..6825166 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,7 +1,7 @@ - + U-Index diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index d98fa65..4cc81e3 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,7 +1,7 @@ - + B-Index diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index 4443cba..3e7b7be 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,7 +1,7 @@ - + V-Index @@ -57,46 +57,15 @@ loadScripts(document, 'script');
Returns the enum constant of this class with the specified name.
-
valueOf(String) - Static method in enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
-
Returns the enum constant of this class with the specified name.
-
-
valueOf(String) - Static method in enum class swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
-
-
Returns the enum constant of this class with the specified name.
-
-
valueOf(String) - Static method in enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
-
Returns the enum constant of this class with the specified name.
-
values() - Static method in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
Returns an array containing the constants of this enum class, in the order they are declared.
-
values() - Static method in enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
-
Returns an array containing the constants of this enum class, in -the order they are declared.
-
-
values() - Static method in enum class swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
-
-
Returns an array containing the constants of this enum class, in -the order they are declared.
-
-
values() - Static method in enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
-
Returns an array containing the constants of this enum class, in -the order they are declared.
-
Velocity - Enum constant in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
Slot 2, used for velocity PID's.
-
Velocity - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
-
Slot 2, meant for velocity PID's.
-
velocityPIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
PIDF configuration options for the drive motor closed-loop PID controller.
diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index fcc31ea..fd1bbfc 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,7 +1,7 @@ - + W-Index diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index 1e8986f..d2f8f34 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,7 +1,7 @@ - + X-Index diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index faeb60e..39ea980 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,7 +1,7 @@ - + Y-Index diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index 9fa7666..09a1d43 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,7 +1,7 @@ - + Z-Index diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index b834bd2..e09eaf4 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,7 +1,7 @@ - + _-Index diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index 62fbcc1..819eeea 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,7 +1,7 @@ - + C-Index @@ -256,6 +256,10 @@ loadScripts(document, 'script');
Convert the setpoint into native sensor units.
+
convertToNativeSensorUnits(double) - Method in class swervelib.motors.TalonSRXSwerve
+
+
Convert the setpoint into native sensor units.
+
createControllerConfiguration(SwerveDriveConfiguration) - Method in class swervelib.parser.json.ControllerPropertiesJson
Create the SwerveControllerConfiguration based on parsed and given data.
@@ -300,12 +304,6 @@ loadScripts(document, 'script');
Create SwerveDrive from JSON configuration directory.
-
CTRE_pidIdx() - Constructor for enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
 
-
CTRE_remoteSensor() - Constructor for enum class swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
-
 
-
CTRE_slotIdx() - Constructor for enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
 
currentLimit - Variable in class swervelib.parser.json.PhysicalPropertiesJson
The current limit in AMPs to apply to the motors.
diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index 26ad7c5..f8c7a4c 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,7 +1,7 @@ - + D-Index @@ -72,10 +72,6 @@ loadScripts(document, 'script');
DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson
 
-
Distance - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
-
Slot 0, meant for distances PID's.
-
drive - Variable in class swervelib.parser.json.ModuleJson
Drive motor device configuration.
diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index 4774b7b..b37cd98 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,7 +1,7 @@ - + E-Index diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index d596fc2..054101a 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,7 +1,7 @@ - + F-Index @@ -145,10 +145,6 @@ loadScripts(document, 'script');
Field object.
-
FOURTH_PID - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
-
Fourth PID slot for talons.
-
A B C D E F G H I K L M N O P R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index 37e9955..3e6ec1a 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,7 +1,7 @@ - + G-Index @@ -205,6 +205,10 @@ loadScripts(document, 'script');
Get the raw position.
+
getRawPosition() - Method in class swervelib.motors.TalonSRXSwerve
+
+
Get the raw position.
+
getRelativePosition() - Method in class swervelib.SwerveModule
Get the relative angle in degrees.
diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index cbc3649..6793ec3 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,7 +1,7 @@ - + H-Index diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index d3cf6ba..1b01de7 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,7 +1,7 @@ - + I-Index diff --git a/docs/index.html b/docs/index.html index e5fe83c..8171e10 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,7 +1,7 @@ - + Overview diff --git a/docs/member-search-index.js b/docs/member-search-index.js index 96a418b..d966819 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = 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boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX,boolean)"},{"p":"swervelib","c":"SwerveController","l":"thetaController"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"timer"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"timer"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toChassisSpeeds(SwerveModuleState2...)","u":"toChassisSpeeds(swervelib.math.SwerveModuleState2...)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toSwerveModuleStates(ChassisSpeeds)","u":"toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toSwerveModuleStates(ChassisSpeeds, Translation2d)","u":"toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toTwist2d(SwerveModulePosition...)","u":"toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"type"},{"p":"swervelib","c":"SwerveDrive","l":"updateOdometry()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"updateOdometry(SwerveKinematics2, SwerveModuleState2[], Pose2d[], Field2d)","u":"updateOdometry(swervelib.math.SwerveKinematics2,swervelib.math.SwerveModuleState2[],edu.wpi.first.math.geometry.Pose2d[],edu.wpi.first.wpilibj.smartdashboard.Field2d)"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"updateStateAndPosition(SwerveModuleState2)","u":"updateStateAndPosition(swervelib.math.SwerveModuleState2)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"velocityPIDF"},{"p":"swervelib.simulation.ctre","c":"VictorSPXSimProfile","l":"VictorSPXSimProfile(VictorSPX)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.VictorSPX)"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelDiameter"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelDiameter"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib","c":"SwerveController","l":"withinHypotDeadband(double, double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"yawOffset"},{"p":"swervelib.imu","c":"NavXSwerve","l":"yawOffset"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/overview-summary.html b/docs/overview-summary.html index 89390fc..12fa337 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -1,7 +1,7 @@ - + Generated Documentation (Untitled) diff --git a/docs/overview-tree.html b/docs/overview-tree.html index 1361084..25c6ce1 100644 --- a/docs/overview-tree.html +++ b/docs/overview-tree.html @@ -1,7 +1,7 @@ - + Class Hierarchy @@ -146,9 +146,6 @@ loadScripts(document, 'script');
  • java.lang.Enum<E> (implements java.lang.Comparable<T>, java.lang.constant.Constable, java.io.Serializable)
    • diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html index a457335..e53e38e 100644 --- a/docs/swervelib/SwerveController.html +++ b/docs/swervelib/SwerveController.html @@ -1,7 +1,7 @@ - + SwerveController diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index 6e2f919..7cfaa57 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,7 +1,7 @@ - + SwerveDrive diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index 4c08fa1..e55bdd6 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,7 +1,7 @@ - + SwerveModule diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index ea4799a..9edae34 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,7 +1,7 @@ - + CANCoderSwerve diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index ba4f6fc..9b8abbf 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,7 +1,7 @@ - + SparkMaxEncoderSwerve diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index f8c14d1..6efab52 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,7 +1,7 @@ - + SwerveAbsoluteEncoder diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index df869c6..a2f7552 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.encoders diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index 5304d9b..286f301 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.encoders Class Hierarchy diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html index 5e3ad15..e45fc8e 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,7 +1,7 @@ - + ADIS16448Swerve diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html index 6099093..843d62d 100644 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ b/docs/swervelib/imu/ADIS16470Swerve.html @@ -1,7 +1,7 @@ - + ADIS16470Swerve diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html index 84bda81..29e3896 100644 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ b/docs/swervelib/imu/ADXRS450Swerve.html @@ -1,7 +1,7 @@ - + ADXRS450Swerve diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html index 9da22db..d434229 100644 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ b/docs/swervelib/imu/AnalogGyroSwerve.html @@ -1,7 +1,7 @@ - + AnalogGyroSwerve diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index 6a5fae5..3c3b599 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,7 +1,7 @@ - + NavXSwerve diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index 85c88ff..3080535 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,7 +1,7 @@ - + Pigeon2Swerve diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index 2c25b7c..7c67db1 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,7 +1,7 @@ - + PigeonSwerve diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index 481ba89..1573998 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,7 +1,7 @@ - + SwerveIMU diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index cef4a0d..2594783 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.imu diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index 4118c74..89ae631 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.imu Class Hierarchy diff --git a/docs/swervelib/math/SwerveKinematics2.html b/docs/swervelib/math/SwerveKinematics2.html index 18bd41e..96760d7 100644 --- a/docs/swervelib/math/SwerveKinematics2.html +++ b/docs/swervelib/math/SwerveKinematics2.html @@ -1,7 +1,7 @@ - + SwerveKinematics2 diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index c63a8cc..028fbe3 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,7 +1,7 @@ - + SwerveMath diff --git a/docs/swervelib/math/SwerveModuleState2.html b/docs/swervelib/math/SwerveModuleState2.html index 47cfb3a..a5df587 100644 --- a/docs/swervelib/math/SwerveModuleState2.html +++ b/docs/swervelib/math/SwerveModuleState2.html @@ -1,7 +1,7 @@ - + SwerveModuleState2 diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index 685a33d..a170b5d 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.math diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index 41e3284..6491064 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.math Class Hierarchy diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html index 7abd113..52bcc08 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html @@ -1,7 +1,7 @@ - + SparkMaxSwerve.SparkMAX_slotIdx diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index a218925..e637ad8 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,7 +1,7 @@ - + SparkMaxSwerve diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index 21f50b6..e5440bf 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,7 +1,7 @@ - + SwerveMotor diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index 83dc5c5..aec09f6 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,7 +1,7 @@ - + TalonFXSwerve diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index a464b0f..059f59b 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,7 +1,7 @@ - + TalonSRXSwerve @@ -44,7 +44,7 @@ loadScripts(document, 'script');
    • Summary: 
      • -
    • Nested | 
      • +
    • Nested | 
    • Field | 
    • Constr | 
    • Method
      • @@ -84,33 +84,6 @@ loadScripts(document, 'script');
        - -
      • -
        -

        Nested Class Summary

        -
        Nested Classes
        -
        -
        Modifier and Type
        -
        Class
        -
        Description
        -
        (package private) static enum 
        -
        TalonSRXSwerve.CTRE_pidIdx
        -
        -
        The Talon PID to use onboard.
        -
        -
        (package private) static enum 
        -
        TalonSRXSwerve.CTRE_remoteSensor
        -
        -
        The remote sensor.
        -
        -
        (package private) static enum 
        -
        TalonSRXSwerve.CTRE_slotIdx
        -
        -
        The Talon SRX Slot profile used to configure the motor to use for the PID.
        -
        -
        -
        -
      • @@ -120,7 +93,7 @@ loadScripts(document, 'script');
        Modifier and Type
        Field
        Description
        -
        private boolean
        +
        private final boolean
        absoluteEncoder
        Whether the absolute encoder is integrated.
        @@ -204,21 +177,31 @@ loadScripts(document, 'script');
        Configure the PID wrapping for the position closed loop controller.
        -
        void
        -
        factoryDefaults()
        +
        double
        +
        convertToNativeSensorUnits(double setpoint)
        +
        Convert the setpoint into native sensor units.
        +
        +
        void
        +
        factoryDefaults()
        +
        Configure the factory defaults.
        -
        Object
        -
        getMotor()
        -
        +
        Object
        +
        getMotor()
        +
        Get the motor object from the module.
        -
        double
        -
        getPosition()
        -
        +
        double
        +
        getPosition()
        +
        Get the position of the integrated encoder.
        +
        double
        +
        getRawPosition()
        +
        +
        Get the raw position.
        +
        double
        getVelocity()
        @@ -229,51 +212,57 @@ loadScripts(document, 'script');
        Queries whether the absolute encoder is directly attached to the motor controller.
        -
        void
        -
        set(double percentOutput)
        +
        private double
        +
        placeInAppropriate0To360Scope(double scopeReference, + double newAngle)
        +
        Put an angle within the the 360 deg scope of a reference.
        +
        +
        void
        +
        set(double percentOutput)
        +
        Set the percentage output.
        -
        SwerveMotor
        -
        setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
        -
        +
        SwerveMotor
        +
        setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
        +
        Set the absolute encoder to be a compatible absolute encoder.
        -
        void
        -
        setCurrentLimit(int currentLimit)
        -
        +
        void
        +
        setCurrentLimit(int currentLimit)
        +
        Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
        -
        void
        -
        setInverted(boolean inverted)
        -
        +
        void
        +
        setInverted(boolean inverted)
        +
        Set the motor to be inverted.
        -
        void
        -
        setLoopRampRate(double rampRate)
        -
        +
        void
        +
        setLoopRampRate(double rampRate)
        +
        Set the maximum rate the open/closed loop output can change by.
        -
        void
        -
        setMotorBrake(boolean isBrakeMode)
        -
        +
        void
        +
        setMotorBrake(boolean isBrakeMode)
        +
        Set the idle mode.
        -
        void
        -
        setPosition(double position)
        -
        +
        void
        +
        setPosition(double position)
        +
        Set the integrated encoder position.
        -
        void
        -
        setReference(double setpoint, +
        void
        +
        setReference(double setpoint, double feedforward)
        -
        +
        Set the closed loop PID controller reference point.
        -
        void
        -
        setVoltageCompensation(double nominalVoltage)
        -
        +
        void
        +
        setVoltageCompensation(double nominalVoltage)
        +
        Set the voltage compensation for the swerve module motor.
        @@ -318,8 +307,16 @@ loadScripts(document, 'script');

      • absoluteEncoder

        -
        private boolean absoluteEncoder
        +
        private final boolean absoluteEncoder
        Whether the absolute encoder is integrated.
        +
        +
        See Also:
        +
        + +
        +
      • @@ -528,6 +525,17 @@ loadScripts(document, 'script');
      • +
        +

        getRawPosition

        +
        public double getRawPosition()
        +
        Get the raw position.
        +
        +
        Returns:
        +
        Position in meters or degrees.
        +
        +
        +
        • +

      • getPosition

        public double getPosition()
        @@ -536,7 +544,7 @@ loadScripts(document, 'script');
        Specified by:
        getPosition in class SwerveMotor
        Returns:
        -
        Position
        +
        Position in Meters or Degrees.
        • @@ -549,7 +557,7 @@ loadScripts(document, 'script');
        Specified by:
        setPosition in class SwerveMotor
        Parameters:
        -
        position - Integrated encoder position. Should be angle in degrees or meters per second.
        +
        position - Integrated encoder position. Should be angle in degrees or meters.
      @@ -619,6 +627,35 @@ loadScripts(document, 'script'); +
    • +
      +

      placeInAppropriate0To360Scope

      +
      private double placeInAppropriate0To360Scope(double scopeReference, + double newAngle)
      +
      Put an angle within the the 360 deg scope of a reference. For example, given a scope reference of 756 degrees, + assumes the full scope is (720-1080), and places an angle of 22 degrees into it, returning 742 deg.
      +
      +
      Parameters:
      +
      scopeReference - Current Angle (deg)
      +
      newAngle - Target Angle (deg)
      +
      Returns:
      +
      Closest angle within scope (deg)
      +
      +
      +
      • +
    • +
      +

      convertToNativeSensorUnits

      +
      public double convertToNativeSensorUnits(double setpoint)
      +
      Convert the setpoint into native sensor units.
      +
      +
      Parameters:
      +
      setpoint - Setpoint to mutate. In meters per second or degrees.
      +
      Returns:
      +
      Setpoint as native sensor units. Encoder ticks per 100ms, or Encoder tick.
      +
      +
      +
    diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index 779e31a..f6f83f6 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.motors @@ -114,18 +114,6 @@ loadScripts(document, 'script');
    WPI_TalonSRX Swerve Motor.
    -
    TalonSRXSwerve.CTRE_pidIdx
    -
    -
    The Talon PID to use onboard.
    -
    -
    TalonSRXSwerve.CTRE_remoteSensor
    -
    -
    The remote sensor.
    -
    -
    TalonSRXSwerve.CTRE_slotIdx
    -
    -
    The Talon SRX Slot profile used to configure the motor to use for the PID.
    -
    diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index ed221eb..d56a3bd 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.motors Class Hierarchy @@ -78,9 +78,6 @@ loadScripts(document, 'script');
  • java.lang.Enum<E> (implements java.lang.Comparable<T>, java.lang.constant.Constable, java.io.Serializable)
    • diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index ad1300d..f325bfe 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,7 +1,7 @@ - + swervelib diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index e5dc0b3..1f0103b 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,7 +1,7 @@ - + swervelib Class Hierarchy diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index 926a252..3f56292 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,7 +1,7 @@ - + PIDFConfig diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index 371715a..20d34c6 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ 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diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index a3b8b62..f8ff2cb 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,7 +1,7 @@ - + PhysicalPropertiesJson diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index 1f461bc..de17179 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,7 +1,7 @@ - + SwerveDriveJson diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index f29d6a0..05367ae 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,7 +1,7 @@ - + BoolMotorJson diff --git a/docs/swervelib/parser/json/modules/LocationJson.html 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b/docs/swervelib/parser/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser Class Hierarchy diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html index e4d218d..054bb9d 100644 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ b/docs/swervelib/simulation/SwerveIMUSimulation.html @@ -1,7 +1,7 @@ - + SwerveIMUSimulation diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html index 63a3d74..df1278e 100644 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ b/docs/swervelib/simulation/SwerveModuleSimulation.html @@ -1,7 +1,7 @@ - + SwerveModuleSimulation diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html index 98dfe2e..36fc4b7 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html @@ -1,7 +1,7 @@ - + PhysicsSim.SimProfile diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.html b/docs/swervelib/simulation/ctre/PhysicsSim.html index 8037a45..d8d43c9 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.html @@ -1,7 +1,7 @@ - + PhysicsSim diff --git a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html index ecf5a43..9d9a23d 100644 --- a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html @@ -1,7 +1,7 @@ - + TalonFXSimProfile diff --git a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html index 504b3b4..1065c77 100644 --- a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html @@ -1,7 +1,7 @@ - + TalonSRXSimProfile diff --git 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\ No newline at end of file diff --git a/swervelib/motors/TalonSRXSwerve.java b/swervelib/motors/TalonSRXSwerve.java index 3e43a8a..0494a38 100644 --- a/swervelib/motors/TalonSRXSwerve.java +++ b/swervelib/motors/TalonSRXSwerve.java @@ -4,10 +4,9 @@ import com.ctre.phoenix.motorcontrol.ControlMode; import com.ctre.phoenix.motorcontrol.DemandType; import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.NeutralMode; -import com.ctre.phoenix.motorcontrol.RemoteFeedbackDevice; import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; -import com.ctre.phoenix.sensors.CANCoder; +import frc.robot.Robot; import swervelib.encoders.SwerveAbsoluteEncoder; import swervelib.parser.PIDFConfig; @@ -28,11 +27,11 @@ public class TalonSRXSwerve extends SwerveMotor /** * Whether the absolute encoder is integrated. */ - private boolean absoluteEncoder = false; + private final boolean absoluteEncoder = false; /** * The position conversion factor. */ - private double positionConversionFactor = 1; + private double positionConversionFactor = 1; /** * Constructor for TalonSRX swerve motor. @@ -70,6 +69,7 @@ public class TalonSRXSwerve extends SwerveMotor if (!factoryDefaultOccurred) { motor.configFactoryDefault(); + motor.setSensorPhase(true); } } @@ -91,13 +91,6 @@ public class TalonSRXSwerve extends SwerveMotor @Override public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) { - if (encoder.getAbsoluteEncoder() instanceof CANCoder) - { - motor.configSelectedFeedbackSensor(RemoteFeedbackDevice.RemoteSensor0); - motor.configRemoteFeedbackFilter((CANCoder) encoder.getAbsoluteEncoder(), - CTRE_remoteSensor.REMOTE_SENSOR_0.ordinal()); - absoluteEncoder = true; - } return this; } @@ -110,7 +103,6 @@ public class TalonSRXSwerve extends SwerveMotor public void configureIntegratedEncoder(double positionConversionFactor) { this.positionConversionFactor = positionConversionFactor; - motor.configSelectedFeedbackCoefficient(positionConversionFactor); } /** @@ -121,7 +113,7 @@ public class TalonSRXSwerve extends SwerveMotor @Override public void configurePIDF(PIDFConfig config) { - int slotIdx = isDriveMotor ? CTRE_slotIdx.Velocity.ordinal() : CTRE_slotIdx.Turning.ordinal(); + int slotIdx = 0; motor.config_kP(slotIdx, config.p); motor.config_kI(slotIdx, config.i); motor.config_kD(slotIdx, config.d); @@ -193,9 +185,13 @@ public class TalonSRXSwerve extends SwerveMotor @Override public void setReference(double setpoint, double feedforward) { - motor.set(isDriveMotor ? ControlMode.Velocity : ControlMode.Position, isDriveMotor ? setpoint * .1 : setpoint, + burnFlash(); + + motor.set(isDriveMotor ? ControlMode.Velocity : ControlMode.Position, + convertToNativeSensorUnits(setpoint), DemandType.ArbitraryFeedForward, - feedforward); + feedforward * -0.3); + // Credit to Team 3181 for the -0.3, I'm not sure why it works, but it does. } /** @@ -206,31 +202,41 @@ public class TalonSRXSwerve extends SwerveMotor @Override public double getVelocity() { - return motor.getSelectedSensorVelocity() * (10 * positionConversionFactor); + return (motor.getSelectedSensorVelocity() * 10) * positionConversionFactor; } /** - * Get the position of the integrated encoder. + * Get the raw position. * - * @return Position + * @return Position in meters or degrees. */ - @Override - public double getPosition() + public double getRawPosition() { return motor.getSelectedSensorPosition() * positionConversionFactor; } + /** + * Get the position of the integrated encoder. + * + * @return Position in Meters or Degrees. + */ + @Override + public double getPosition() + { + return isDriveMotor ? getRawPosition() : getRawPosition() % 360; + } + /** * Set the integrated encoder position. * - * @param position Integrated encoder position. Should be angle in degrees or meters per second. + * @param position Integrated encoder position. Should be angle in degrees or meters. */ @Override public void setPosition(double position) { - if (!absoluteEncoder) + if (!absoluteEncoder && Robot.isReal()) { - motor.setSelectedSensorPosition(position * positionConversionFactor); + motor.setSelectedSensorPosition(convertToNativeSensorUnits(position)); } } @@ -297,63 +303,60 @@ public class TalonSRXSwerve extends SwerveMotor } /** - * The Talon SRX Slot profile used to configure the motor to use for the PID. + * Put an angle within the the 360 deg scope of a reference. For example, given a scope reference of 756 degrees, + * assumes the full scope is (720-1080), and places an angle of 22 degrees into it, returning 742 deg. + * + * @param scopeReference Current Angle (deg) + * @param newAngle Target Angle (deg) + * @return Closest angle within scope (deg) */ - enum CTRE_slotIdx + private double placeInAppropriate0To360Scope(double scopeReference, double newAngle) { - /** - * Slot 0, meant for distances PID's. - */ - Distance, - /** - * Slot 1, meant for turning PID's. - */ - Turning, - /** - * Slot 2, meant for velocity PID's. - */ - Velocity, - /** - * Slot 3, meant for motion profiles. - */ - MotionProfile + double lowerBound; + double upperBound; + double lowerOffset = scopeReference % 360; + + // Create the interval from the reference angle. + if (lowerOffset >= 0) + { + lowerBound = scopeReference - lowerOffset; + upperBound = scopeReference + (360 - lowerOffset); + } else + { + upperBound = scopeReference - lowerOffset; + lowerBound = scopeReference - (360 + lowerOffset); + } + // Put the angle in the interval. + while (newAngle < lowerBound) + { + newAngle += 360; + } + while (newAngle > upperBound) + { + newAngle -= 360; + } + // Smooth the transition between interval boundaries. + if (newAngle - scopeReference > 180) + { + newAngle -= 360; + } else if (newAngle - scopeReference < -180) + { + newAngle += 360; + } + return newAngle; } /** - * The Talon PID to use onboard. + * Convert the setpoint into native sensor units. + * + * @param setpoint Setpoint to mutate. In meters per second or degrees. + * @return Setpoint as native sensor units. Encoder ticks per 100ms, or Encoder tick. */ - enum CTRE_pidIdx + public double convertToNativeSensorUnits(double setpoint) { - /** - * Primary PID for talons. - */ - PRIMARY_PID, - /** - * Secondary PID for talons. - */ - AUXILIARY_PID, - /** - * Third PID slot for talons. - */ - THIRD_PID, - /** - * Fourth PID slot for talons. - */ - FOURTH_PID - } - - /** - * The remote sensor. - */ - enum CTRE_remoteSensor - { - /** - * Remote sensor 0. - */ - REMOTE_SENSOR_0, - /** - * Remote sensor 1. - */ - REMOTE_SENSOR_1 + setpoint = isDriveMotor ? + setpoint * .1 : + placeInAppropriate0To360Scope(getRawPosition(), setpoint); + return setpoint / positionConversionFactor; } }