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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
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<h2 title="Class SwerveDrive.SwerveModuleConfig" class="title">Class SwerveDrive.SwerveModuleConfig<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder></h2>
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<li>frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig<DriveMotorType,​SteeringMotorType,​AbsoluteEncoder></li>
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<dl>
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<dt><span class="paramLabel">Type Parameters:</span></dt>
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<dd><code>DriveMotorType</code> - The motor type for the drive motor on the swerve moduule.</dd>
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<dd><code>SteeringMotorType</code> - The motor type for the steering motor on the module.</dd>
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<dd><code>AbsoluteEncoder</code> - The absolute encoder type.</dd>
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</dl>
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<dl>
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<dt>Enclosing class:</dt>
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<dd><a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dd>
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<pre>public static class <span class="typeNameLabel">SwerveDrive.SwerveModuleConfig<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder></span>
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extends java.lang.Object</pre>
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<div class="block">Helper class for easier swerve module creation</div>
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Field</th>
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<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleOffset">angleOffset</a></span></code></th>
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<td class="colLast"> </td>
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<td class="colFirst"><code><a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
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<td class="colLast"> </td>
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<td class="colFirst"><code><a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoder">encoder</a></span></code></th>
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<td class="colLast"> </td>
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<td class="colFirst"><code><a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#loc">loc</a></span></code></th>
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<td class="colLast"> </td>
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<td class="colFirst"><code><a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#steering">steering</a></span></code></th>
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<td class="colLast"> </td>
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
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<th class="colLast" scope="col">Description</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(DriveMotorType,SteeringMotorType,AbsoluteEncoder,double,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">SwerveModuleConfig</a></span>​(<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a> driveMotor,
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||||
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a> steerMotor,
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||||
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a> encoderSteering,
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||||
double offset,
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||||
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> location)</code></th>
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<td class="colLast">
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<div class="block">Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.</div>
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</td>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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<td class="colFirst"><code><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>,​<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>,​<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createModule(double,double,double,double,double,double,double,double,boolean,boolean)">createModule</a></span>​(double driveGearRatio,
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double steerGearRatio,
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||||
double wheelDiameterMeters,
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double wheelBaseMeters,
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||||
double driveTrainWidthMeters,
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||||
double steeringMotorFreeSpeedRPM,
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double maxSpeedMPS,
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||||
double maxDriveAcceleration,
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||||
boolean steeringInverted,
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||||
boolean drivingInverted)</code></th>
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<td class="colLast">
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<div class="block">Create the swerve module from the configuration.</div>
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<h3>Methods inherited from class java.lang.Object</h3>
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<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h3>Field Detail</h3>
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<a id="drive">
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<h4>drive</h4>
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<pre>public <a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController drive</pre>
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</li>
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</ul>
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<a id="steering">
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<h4>steering</h4>
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<pre>public <a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController steering</pre>
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</li>
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</ul>
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<a id="encoder">
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<h4>encoder</h4>
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<pre>public <a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a> extends com.ctre.phoenix.sensors.CANCoder encoder</pre>
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</li>
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</ul>
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<a id="angleOffset">
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<h4>angleOffset</h4>
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<pre>public double angleOffset</pre>
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<h4>loc</h4>
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<pre>public <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> loc</pre>
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<h3>Constructor Detail</h3>
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<a id="<init>(edu.wpi.first.wpilibj.motorcontrol.MotorController,edu.wpi.first.wpilibj.motorcontrol.MotorController,com.ctre.phoenix.sensors.CANCoder,double,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">
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</a><a id="<init>(DriveMotorType,SteeringMotorType,AbsoluteEncoder,double,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">
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<h4>SwerveModuleConfig</h4>
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<pre>public SwerveModuleConfig​(<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a> driveMotor,
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<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a> steerMotor,
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<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a> encoderSteering,
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double offset,
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<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> location)</pre>
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<div class="block">Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>driveMotor</code> - Drive motor for the swerve module.</dd>
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<dd><code>steerMotor</code> - Steer motor for the swerve module.</dd>
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<dd><code>encoderSteering</code> - CANCoder for the steering motor on the swerve module.</dd>
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<dd><code>offset</code> - Absolute encoder offset.</dd>
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<dd><code>location</code> - Swerve Moduule location on the chassis.</dd>
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</dl>
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<h3>Method Detail</h3>
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<a id="createModule(double,double,double,double,double,double,double,double,boolean,boolean)">
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<h4>createModule</h4>
|
||||
<pre class="methodSignature">public <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>,​<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>,​<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>> createModule​(double driveGearRatio,
|
||||
double steerGearRatio,
|
||||
double wheelDiameterMeters,
|
||||
double wheelBaseMeters,
|
||||
double driveTrainWidthMeters,
|
||||
double steeringMotorFreeSpeedRPM,
|
||||
double maxSpeedMPS,
|
||||
double maxDriveAcceleration,
|
||||
boolean steeringInverted,
|
||||
boolean drivingInverted)</pre>
|
||||
<div class="block">Create the swerve module from the configuration.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>driveGearRatio</code> - Drive gear ratio in form of (rotation:1 AKA rotations/1) to get the encoder
|
||||
ticks per rotation.</dd>
|
||||
<dd><code>steerGearRatio</code> - Steering motor gear ratio (usually 12.8:1 for MK4 in form of rotations:1 or
|
||||
rotations/1), only applied if using Neo's.</dd>
|
||||
<dd><code>wheelDiameterMeters</code> - The wheel diameter of the swerve drive module in meters.</dd>
|
||||
<dd><code>wheelBaseMeters</code> - The Distance between front and back wheels of the robot in meters.</dd>
|
||||
<dd><code>driveTrainWidthMeters</code> - The Distance between centers of right and left wheels in meters.</dd>
|
||||
<dd><code>steeringMotorFreeSpeedRPM</code> - The RPM free speed of the steering motor.</dd>
|
||||
<dd><code>maxSpeedMPS</code> - The maximum drive speed in meters per second.</dd>
|
||||
<dd><code>maxDriveAcceleration</code> - The maximum drive acceleration in meters^2 per second.</dd>
|
||||
<dd><code>steeringInverted</code> - The steering motor is inverted.</dd>
|
||||
<dd><code>drivingInverted</code> - The driving motor is inverted.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The Swerve Module.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
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|
||||
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|
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|
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1378
docs/frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html
Normal file
1378
docs/frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html
Normal file
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Normal file
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
|
||||
<h2 title="Class SwerveEncoder" class="title">Class SwerveEncoder<AbsoluteEncoderType></h2>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<ul class="inheritance">
|
||||
<li>java.lang.Object</li>
|
||||
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|
||||
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|
||||
<li>frc.robot.subsystems.swervedrive.swerve.SwerveEncoder<AbsoluteEncoderType></li>
|
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|
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|
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|
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|
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|
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|
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<dl>
|
||||
<dt>Direct Known Subclasses:</dt>
|
||||
<dd><code><a href="encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></code>, <code><a href="encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></code>, <code><a href="encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></code>, <code><a href="encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></code></dd>
|
||||
</dl>
|
||||
<hr>
|
||||
<pre>public abstract class <span class="typeNameLabel">SwerveEncoder<AbsoluteEncoderType></span>
|
||||
extends java.lang.Object</pre>
|
||||
<div class="block">Swerve Encoder class definition for common interfaces.</div>
|
||||
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|
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|
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|
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|
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|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
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|
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<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code><a href="SwerveEncoder.html" title="type parameter in SwerveEncoder">AbsoluteEncoderType</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_encoder">m_encoder</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The encoder can be directly referenced for configuration purposes of onboard PIDs.</div>
|
||||
</td>
|
||||
</tr>
|
||||
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|
||||
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveEncoder</a></span>()</code></th>
|
||||
<td class="colLast"> </td>
|
||||
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|
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|
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|
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|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
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|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
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|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure()">configure</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the absolute encoder if possible.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Reset encoder to factory default settings, if possible.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>static <AbsoluteEncoderType><br><a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><?></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fromEncoder(AbsoluteEncoderType)">fromEncoder</a></span>​(AbsoluteEncoderType encoder)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the SwerveEncoder class from the given encoder types</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>abstract double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the absolute position in degrees.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>abstract com.ctre.phoenix.sensors.MagnetFieldStrength</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMagnetFieldStrength()">getMagnetFieldStrength</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the magnetic field strength, if available.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>abstract double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>abstract boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Is the encoder reachable?</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>​(boolean isInverted)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the sensor direction</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i8" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOffset(double)">setOffset</a></span>​(double offset)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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||||
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|
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
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|
||||
<dt><span class="paramLabel">Type Parameters:</span></dt>
|
||||
<dd><code>AbsoluteEncoderType</code> - One of DutyCycleEncoder, AnalogEncoder, AbsoluteEncoder, and CANCoder</dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>encoder</code> - Encoder</dd>
|
||||
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|
||||
<dd>SwerveEncoder subclass</dd>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
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|
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
<dl>
|
||||
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|
||||
<dd>Velocity in degrees per second.</dd>
|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
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<h2 title="Enum SwerveModule.SwerveModuleLocation" class="title">Enum SwerveModule.SwerveModuleLocation</h2>
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||||
<dd><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><<a href="SwerveModule.html" title="type parameter in SwerveModule">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​<a href="SwerveModule.html" title="type parameter in SwerveModule">AngleMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​<a href="SwerveModule.html" title="type parameter in SwerveModule">AbsoluteEncoderType</a>></dd>
|
||||
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|
||||
<hr>
|
||||
<pre>public static enum <span class="typeNameLabel">SwerveModule.SwerveModuleLocation</span>
|
||||
extends java.lang.Enum<<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>></pre>
|
||||
<div class="block">Swerve Module location on the robot.</div>
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<td class="colFirst"><code>static <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></code></td>
|
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<td class="colFirst"><code>static <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>[]</code></td>
|
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<pre>public static final <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> FrontLeft</pre>
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<pre>public static final <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> BackLeft</pre>
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<pre>public static final <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> FrontRight</pre>
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<pre>public static final <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> BackRight</pre>
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<pre>private SwerveModuleLocation()</pre>
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|
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<pre class="methodSignature">public static <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>[] values()</pre>
|
||||
<div class="block">Returns an array containing the constants of this enum type, in
|
||||
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|
||||
over the constants as follows:
|
||||
<pre>
|
||||
for (SwerveModule.SwerveModuleLocation c : SwerveModule.SwerveModuleLocation.values())
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
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<h2 title="Enum SwerveModule.Verbosity" class="title">Enum SwerveModule.Verbosity</h2>
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|
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<dt>Enclosing class:</dt>
|
||||
<dd><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><<a href="SwerveModule.html" title="type parameter in SwerveModule">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​<a href="SwerveModule.html" title="type parameter in SwerveModule">AngleMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​<a href="SwerveModule.html" title="type parameter in SwerveModule">AbsoluteEncoderType</a>></dd>
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<hr>
|
||||
<pre>public static enum <span class="typeNameLabel">SwerveModule.Verbosity</span>
|
||||
extends java.lang.Enum<<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a>></pre>
|
||||
<div class="block">Verbosity levels for data publishing,</div>
|
||||
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|
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|
||||
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|
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<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#HIGH">HIGH</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Extensively use the CAN bus to fetch data and report back.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#LOW">LOW</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The bare minimum and not utilize the CAN bus when reporting data.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#NORMAL">NORMAL</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Utilize the CAN bus minimally.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#SETUP">SETUP</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Creates every field for the module.</div>
|
||||
</td>
|
||||
</tr>
|
||||
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|
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|
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|
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|
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||||
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|
||||
<td class="colFirst"><code>private </code></td>
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">Verbosity</a></span>()</code></th>
|
||||
<td class="colLast"> </td>
|
||||
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|
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<tr>
|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
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<th class="colSecond" scope="col">Method</th>
|
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<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
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<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>static <a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>​(java.lang.String name)</code></th>
|
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|
||||
<div class="block">Returns the enum constant of this type with the specified name.</div>
|
||||
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|
||||
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|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>static <a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Returns an array containing the constants of this enum type, in
|
||||
the order they are declared.</div>
|
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|
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|
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|
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<code>getClass, notify, notifyAll, wait, wait, wait</code></li>
|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>LOW</h4>
|
||||
<pre>public static final <a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> LOW</pre>
|
||||
<div class="block">The bare minimum and not utilize the CAN bus when reporting data. Only posts data from attributes.</div>
|
||||
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|
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|
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|
||||
<div class="block">Utilize the CAN bus minimally.</div>
|
||||
</li>
|
||||
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|
||||
<a id="HIGH">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>HIGH</h4>
|
||||
<pre>public static final <a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> HIGH</pre>
|
||||
<div class="block">Extensively use the CAN bus to fetch data and report back.</div>
|
||||
</li>
|
||||
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|
||||
<a id="SETUP">
|
||||
<!-- -->
|
||||
</a>
|
||||
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|
||||
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|
||||
<h4>SETUP</h4>
|
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<pre>public static final <a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> SETUP</pre>
|
||||
<div class="block">Creates every field for the module.</div>
|
||||
</li>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
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|
||||
<h4>Verbosity</h4>
|
||||
<pre>private Verbosity()</pre>
|
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</li>
|
||||
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|
||||
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|
||||
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|
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|
||||
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||||
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|
||||
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||||
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|
||||
<h4>values</h4>
|
||||
<pre class="methodSignature">public static <a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a>[] values()</pre>
|
||||
<div class="block">Returns an array containing the constants of this enum type, in
|
||||
the order they are declared. This method may be used to iterate
|
||||
over the constants as follows:
|
||||
<pre>
|
||||
for (SwerveModule.Verbosity c : SwerveModule.Verbosity.values())
|
||||
System.out.println(c);
|
||||
</pre></div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
|
||||
</dl>
|
||||
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|
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|
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<h4>valueOf</h4>
|
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<pre class="methodSignature">public static <a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> valueOf​(java.lang.String name)</pre>
|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
<dt><span class="throwsLabel">Throws:</span></dt>
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||||
<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
|
||||
<h2 title="Enum SwerveMotor.ModuleMotorType" class="title">Enum SwerveMotor.ModuleMotorType</h2>
|
||||
</div>
|
||||
<div class="contentContainer">
|
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<ul class="inheritance">
|
||||
<li>java.lang.Object</li>
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<li>
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<ul class="inheritance">
|
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<li>java.lang.Enum<<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType</li>
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||||
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|
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<dd><code>java.io.Serializable</code>, <code>java.lang.Comparable<<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>></code></dd>
|
||||
</dl>
|
||||
<dl>
|
||||
<dt>Enclosing class:</dt>
|
||||
<dd><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dd>
|
||||
</dl>
|
||||
<hr>
|
||||
<pre>public static enum <span class="typeNameLabel">SwerveMotor.ModuleMotorType</span>
|
||||
extends java.lang.Enum<<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>></pre>
|
||||
<div class="block">Motor type for the swerve drive module</div>
|
||||
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|
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|
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|
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|
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|
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|
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<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVE">DRIVE</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#TURNING">TURNING</a></span></code></th>
|
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<td class="colLast"> </td>
|
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|
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|
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|
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</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private </code></td>
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">ModuleMotorType</a></span>()</code></th>
|
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<td class="colLast"> </td>
|
||||
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|
||||
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|
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|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
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<th class="colSecond" scope="col">Method</th>
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<th class="colLast" scope="col">Description</th>
|
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</tr>
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<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>static <a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>​(java.lang.String name)</code></th>
|
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<td class="colLast">
|
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<div class="block">Returns the enum constant of this type with the specified name.</div>
|
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|
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|
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<tr id="i1" class="rowColor">
|
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<td class="colFirst"><code>static <a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
|
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|
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|
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<h4>DRIVE</h4>
|
||||
<pre>public static final <a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> DRIVE</pre>
|
||||
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<pre>public static final <a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> TURNING</pre>
|
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||||
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|
||||
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|
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||||
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|
||||
<h4>ModuleMotorType</h4>
|
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<pre>private ModuleMotorType()</pre>
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|
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|
||||
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|
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||||
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|
||||
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<h4>values</h4>
|
||||
<pre class="methodSignature">public static <a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>[] values()</pre>
|
||||
<div class="block">Returns an array containing the constants of this enum type, in
|
||||
the order they are declared. This method may be used to iterate
|
||||
over the constants as follows:
|
||||
<pre>
|
||||
for (SwerveMotor.ModuleMotorType c : SwerveMotor.ModuleMotorType.values())
|
||||
System.out.println(c);
|
||||
</pre></div>
|
||||
<dl>
|
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<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
|
||||
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||||
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|
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<h4>valueOf</h4>
|
||||
<pre class="methodSignature">public static <a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> valueOf​(java.lang.String name)</pre>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
<dt><span class="throwsLabel">Throws:</span></dt>
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||||
<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
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<div>JavaScript is disabled on your browser.</div>
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<li>Summary: </li>
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<li><a href="#nested.class.summary">Nested</a> | </li>
|
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<li><a href="#field.summary">Field</a> | </li>
|
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<li><a href="#constructor.summary">Constr</a> | </li>
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<ul class="subNavList">
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<li>Detail: </li>
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<!-- ======== START OF CLASS DATA ======== -->
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<main role="main">
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<div class="header">
|
||||
<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
|
||||
<h2 title="Class SwerveMotor" class="title">Class SwerveMotor</h2>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<ul class="inheritance">
|
||||
<li>java.lang.Object</li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive.swerve.SwerveMotor</li>
|
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</ul>
|
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</li>
|
||||
</ul>
|
||||
<div class="description">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<dl>
|
||||
<dt>Direct Known Subclasses:</dt>
|
||||
<dd><code><a href="motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></code>, <code><a href="motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></code></dd>
|
||||
</dl>
|
||||
<hr>
|
||||
<pre>public abstract class <span class="typeNameLabel">SwerveMotor</span>
|
||||
extends java.lang.Object</pre>
|
||||
</li>
|
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</ul>
|
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|
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<h3>Nested Class Summary</h3>
|
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<table class="memberSummary">
|
||||
<caption><span>Nested Classes</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Class</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>static class </code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Motor type for the swerve drive module</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
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</section>
|
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<!-- =========== FIELD SUMMARY =========== -->
|
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<section role="region">
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<ul class="blockList">
|
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<li class="blockList"><a id="field.summary">
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</a>
|
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<h3>Field Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kD">kD</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">PIDF Values.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kF">kF</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">PIDF Values.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kI">kI</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">PIDF Values.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kIZ">kIZ</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">PIDF Values.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kP">kP</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">PIDF Values.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code><a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_motorType">m_motorType</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Module motor type.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#target">target</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Target value for PID.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||||
<section role="region">
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.summary">
|
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|
||||
</a>
|
||||
<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveMotor</a></span>()</code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
||||
<section role="region">
|
||||
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|
||||
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|
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|
||||
</a>
|
||||
<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>static <MotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController><br><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">fromMotor</a></span>​(MotorType motor,
|
||||
<a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><?> absoluteEncoder,
|
||||
<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> type,
|
||||
double gearRatio,
|
||||
double wheelDiameter,
|
||||
double freeSpeedRPM,
|
||||
double powerLimit)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructor for Swerve Motor, expecting CANSparkMax or TalonFX.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>abstract double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#get()">get</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>abstract double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAmps()">getAmps</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the current output.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>abstract double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the current value of the encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimizeCANFrames()">optimizeCANFrames</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>abstract boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>abstract boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#remoteIntegratedEncoder()">remoteIntegratedEncoder</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#saveConfig()">saveConfig</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i8" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(double)">set</a></span>​(double speed)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i9" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setConversionFactor(double)">setConversionFactor</a></span>​(double conversionFactor)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configures the conversion factor based upon which motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i10" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentLimit(int)">setCurrentLimit</a></span>​(int currentLimit)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
|
||||
voltage compensation.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i11" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setEncoder(double)">setEncoder</a></span>​(double value)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the encoder value.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i12" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>​(boolean inverted)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Invert the motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i13" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDF(double,double,double,double,double)">setPIDF</a></span>​(double P,
|
||||
double I,
|
||||
double D,
|
||||
double F,
|
||||
double integralZone)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i14" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDOutputRange(double,double)">setPIDOutputRange</a></span>​(double min,
|
||||
double max)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the maximum power (-1 to 1) the PID can output.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i15" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setTarget(double,double)">setTarget</a></span>​(double target,
|
||||
double feedforward)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the target for the PID loop.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i16" class="altColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>​(double nominalVoltage)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the voltage compensation for the swerve module motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i17" class="rowColor">
|
||||
<td class="colFirst"><code>abstract void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stop()">stop</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Stop the motor by sending 0 volts to it.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Methods inherited from class java.lang.Object</h3>
|
||||
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section role="region">
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
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|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="m_motorType">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>m_motorType</h4>
|
||||
<pre>public <a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> m_motorType</pre>
|
||||
<div class="block">Module motor type.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="kP">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>kP</h4>
|
||||
<pre>public double kP</pre>
|
||||
<div class="block">PIDF Values.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="kI">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>kI</h4>
|
||||
<pre>public double kI</pre>
|
||||
<div class="block">PIDF Values.</div>
|
||||
</li>
|
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|
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<h4>kD</h4>
|
||||
<pre>public double kD</pre>
|
||||
<div class="block">PIDF Values.</div>
|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
<pre>public double kF</pre>
|
||||
<div class="block">PIDF Values.</div>
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
<pre>public double kIZ</pre>
|
||||
<div class="block">PIDF Values.</div>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>target</h4>
|
||||
<pre>public double target</pre>
|
||||
<div class="block">Target value for PID.</div>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
<h4>SwerveMotor</h4>
|
||||
<pre>public SwerveMotor()</pre>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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<h3>Method Detail</h3>
|
||||
<a id="fromMotor(edu.wpi.first.wpilibj.motorcontrol.MotorController,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">
|
||||
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|
||||
</a><a id="fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">
|
||||
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|
||||
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|
||||
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|
||||
<h4>fromMotor</h4>
|
||||
<pre class="methodSignature">public static <MotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController> <a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a> fromMotor​(MotorType motor,
|
||||
<a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><?> absoluteEncoder,
|
||||
<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> type,
|
||||
double gearRatio,
|
||||
double wheelDiameter,
|
||||
double freeSpeedRPM,
|
||||
double powerLimit)</pre>
|
||||
<div class="block">Constructor for Swerve Motor, expecting CANSparkMax or TalonFX. Clears sticky faults and restores factory
|
||||
defaults.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Type Parameters:</span></dt>
|
||||
<dd><code>MotorType</code> - Motor type to use.</dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>motor</code> - Motor controller.</dd>
|
||||
<dd><code>absoluteEncoder</code> - The absolute encoder used for the module, if the motor is a turning motor and the encoder is
|
||||
compatible it will set the encoder as the remote integrated encoder and does not need
|
||||
periodic synchronization.</dd>
|
||||
<dd><code>type</code> - Swerve module motor type.</dd>
|
||||
<dd><code>gearRatio</code> - Gear ratio.</dd>
|
||||
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
|
||||
<dd><code>freeSpeedRPM</code> - Free speed RPM of the motor.</dd>
|
||||
<dd><code>powerLimit</code> - Power limit for the motor.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setPIDOutputRange(double,double)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setPIDOutputRange</h4>
|
||||
<pre class="methodSignature">public abstract void setPIDOutputRange​(double min,
|
||||
double max)</pre>
|
||||
<div class="block">Configure the maximum power (-1 to 1) the PID can output. This helps manage voltage pull for the drive base.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>min</code> - Minimum output.</dd>
|
||||
<dd><code>max</code> - Maximum output.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setPIDF(double,double,double,double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setPIDF</h4>
|
||||
<pre class="methodSignature">public abstract void setPIDF​(double P,
|
||||
double I,
|
||||
double D,
|
||||
double F,
|
||||
double integralZone)</pre>
|
||||
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>P</code> - Proportional gain for closed loop. This is multiplied by closed loop error in sensor units.
|
||||
Default is 1.0</dd>
|
||||
<dd><code>I</code> - Integral gain for closed loop. This is multiplied by closed loop error in sensor units every
|
||||
PID Loop.</dd>
|
||||
<dd><code>D</code> - Derivative gain for closed loop. This is multiplied by derivative error (sensor units per PID
|
||||
loop). Default is 0.1</dd>
|
||||
<dd><code>F</code> - Feed Fwd gain for Closed loop.</dd>
|
||||
<dd><code>integralZone</code> - Integral Zone can be used to auto clear the integral accumulator if the sensor pos is too far
|
||||
from the target. This prevents unstable oscillation if the kI is too large. Value is in sensor
|
||||
units.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setConversionFactor(double)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>setConversionFactor</h4>
|
||||
<pre class="methodSignature">public abstract void setConversionFactor​(double conversionFactor)</pre>
|
||||
<div class="block">Configures the conversion factor based upon which motor.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>conversionFactor</code> - Conversion from RPM to MPS for drive motor, and rotations to degrees for the turning
|
||||
motor.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setTarget(double,double)">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>setTarget</h4>
|
||||
<pre class="methodSignature">public abstract void setTarget​(double target,
|
||||
double feedforward)</pre>
|
||||
<div class="block">Set the target for the PID loop.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>target</code> - The PID target to aim for.</dd>
|
||||
<dd><code>feedforward</code> - The feedforward for this target.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="stop()">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>stop</h4>
|
||||
<pre class="methodSignature">public abstract void stop()</pre>
|
||||
<div class="block">Stop the motor by sending 0 volts to it.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="set(double)">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>set</h4>
|
||||
<pre class="methodSignature">public abstract void set​(double speed)</pre>
|
||||
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>speed</code> - Speed from -1 to 1.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="get()">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>get</h4>
|
||||
<pre class="methodSignature">public abstract double get()</pre>
|
||||
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Current value of the encoder either in velocity or position..</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getAmps()">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getAmps</h4>
|
||||
<pre class="methodSignature">public abstract double getAmps()</pre>
|
||||
<div class="block">Get the current output.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Output amps.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getPosition()">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>getPosition</h4>
|
||||
<pre class="methodSignature">public abstract double getPosition()</pre>
|
||||
<div class="block">Get the current value of the encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Current value of the encoder.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setVoltageCompensation(double)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setVoltageCompensation</h4>
|
||||
<pre class="methodSignature">public abstract void setVoltageCompensation​(double nominalVoltage)</pre>
|
||||
<div class="block">Set the voltage compensation for the swerve module motor.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>nominalVoltage</code> - Nominal voltage for operation to output to.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setCurrentLimit(int)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>setCurrentLimit</h4>
|
||||
<pre class="methodSignature">public abstract void setCurrentLimit​(int currentLimit)</pre>
|
||||
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
|
||||
voltage compensation. This is useful to protect the motor from current spikes.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>currentLimit</code> - Current limit in AMPS at free speed.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setEncoder(double)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>setEncoder</h4>
|
||||
<pre class="methodSignature">public abstract void setEncoder​(double value)</pre>
|
||||
<div class="block">Set the encoder value.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>value</code> - Value to set the encoder to.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="reachable()">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>reachable</h4>
|
||||
<pre class="methodSignature">public abstract boolean reachable()</pre>
|
||||
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>true on all devices are accessible over CAN.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="remoteIntegratedEncoder()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>remoteIntegratedEncoder</h4>
|
||||
<pre class="methodSignature">public abstract boolean remoteIntegratedEncoder()</pre>
|
||||
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>true, if the absolute encoder is being used as the integrated controller.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="optimizeCANFrames()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>optimizeCANFrames</h4>
|
||||
<pre class="methodSignature">public abstract void optimizeCANFrames()</pre>
|
||||
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="saveConfig()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>saveConfig</h4>
|
||||
<pre class="methodSignature">public abstract void saveConfig()</pre>
|
||||
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setInverted(boolean)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>setInverted</h4>
|
||||
<pre class="methodSignature">public abstract void setInverted​(boolean inverted)</pre>
|
||||
<div class="block">Invert the motor.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>inverted</code> - Set the motor as inverted.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
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|
||||
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522
docs/frc/robot/subsystems/swervedrive/swerve/SwerveParser.html
Normal file
522
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Normal file
@@ -0,0 +1,522 @@
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
|
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<h2 title="Class SwerveParser" class="title">Class SwerveParser</h2>
|
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|
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<div class="contentContainer">
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<ul class="inheritance">
|
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|
||||
<pre>public class <span class="typeNameLabel">SwerveParser</span>
|
||||
extends java.lang.Object</pre>
|
||||
<div class="block">Swerve Drive JSON parser.</div>
|
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|
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|
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|
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveParser</a></span>()</code></th>
|
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<td class="colLast"> </td>
|
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|
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<table class="memberSummary">
|
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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|
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|
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<th class="colLast" scope="col">Description</th>
|
||||
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|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>private static void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkDirectory(java.io.File)">checkDirectory</a></span>​(java.io.File directory)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Check directory structure.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>private static void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkMain(com.fasterxml.jackson.databind.JsonNode)">checkMain</a></span>​(com.fasterxml.jackson.databind.JsonNode mainJson)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Check the main json for correct attributes.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>private static void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkModule(com.fasterxml.jackson.databind.JsonNode)">checkModule</a></span>​(com.fasterxml.jackson.databind.JsonNode moduleJson)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Check module JSON config for existing values.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>private static java.lang.Object</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createEncoder(com.fasterxml.jackson.databind.JsonNode)">createEncoder</a></span>​(com.fasterxml.jackson.databind.JsonNode encoderConfig)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create SwerveEncoder from JSON config.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>private static com.ctre.phoenix.sensors.WPI_Pigeon2</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createGyro(com.fasterxml.jackson.databind.JsonNode)">createGyro</a></span>​(com.fasterxml.jackson.databind.JsonNode gyroConfig)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create the gyro object based off the configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>private static <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createModule(com.fasterxml.jackson.databind.JsonNode,java.io.File,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">createModule</a></span>​(com.fasterxml.jackson.databind.JsonNode mainJson,
|
||||
java.io.File moduleFile,
|
||||
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> moduleLocation)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create SwerveModule from JSON configuration file.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>private static edu.wpi.first.wpilibj.motorcontrol.MotorController</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createMotor(com.fasterxml.jackson.databind.JsonNode)">createMotor</a></span>​(com.fasterxml.jackson.databind.JsonNode motorConfig)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create the motor controller based off the config.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>static <a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fromJSONDirectory(java.io.File)">fromJSONDirectory</a></span>​(java.io.File directory)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create SwerveDrive from JSON configuration directory.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i8" class="altColor">
|
||||
<td class="colFirst"><code>private static com.fasterxml.jackson.databind.JsonNode</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#openJson(java.io.File)">openJson</a></span>​(java.io.File file)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Open JSON file.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i9" class="rowColor">
|
||||
<td class="colFirst"><code>private static void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setModulePIDF(frc.robot.subsystems.swervedrive.swerve.SwerveMotor,com.fasterxml.jackson.databind.JsonNode)">setModulePIDF</a></span>​(<a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a> motor,
|
||||
com.fasterxml.jackson.databind.JsonNode jsonPIDF)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the PIDF for the module if the given JSON has the paramters.</div>
|
||||
</td>
|
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|
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|
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|
||||
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
|
||||
</ul>
|
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|
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</section>
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|
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|
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||||
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|
||||
<h4>SwerveParser</h4>
|
||||
<pre>public SwerveParser()</pre>
|
||||
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||||
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|
||||
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|
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|
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|
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<pre class="methodSignature">private static com.fasterxml.jackson.databind.JsonNode openJson​(java.io.File file)</pre>
|
||||
<div class="block">Open JSON file.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>file</code> - JSON File to open.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>JsonNode of file.</dd>
|
||||
</dl>
|
||||
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|
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<h4>checkDirectory</h4>
|
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<pre class="methodSignature">private static void checkDirectory​(java.io.File directory)</pre>
|
||||
<div class="block">Check directory structure.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>directory</code> - JSON Configuration Directory</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
||||
<a id="createMotor(com.fasterxml.jackson.databind.JsonNode)">
|
||||
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|
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|
||||
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|
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<h4>createMotor</h4>
|
||||
<pre class="methodSignature">private static edu.wpi.first.wpilibj.motorcontrol.MotorController createMotor​(com.fasterxml.jackson.databind.JsonNode motorConfig)</pre>
|
||||
<div class="block">Create the motor controller based off the config.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>motorConfig</code> - JSON Motor config object.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Motor Controller</dd>
|
||||
</dl>
|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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<h4>createEncoder</h4>
|
||||
<pre class="methodSignature">private static java.lang.Object createEncoder​(com.fasterxml.jackson.databind.JsonNode encoderConfig)</pre>
|
||||
<div class="block">Create SwerveEncoder from JSON config.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>encoderConfig</code> - Swerve Encoder JSON config.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>SwerveEncoder</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="createGyro(com.fasterxml.jackson.databind.JsonNode)">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>createGyro</h4>
|
||||
<pre class="methodSignature">private static com.ctre.phoenix.sensors.WPI_Pigeon2 createGyro​(com.fasterxml.jackson.databind.JsonNode gyroConfig)</pre>
|
||||
<div class="block">Create the gyro object based off the configuration.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>gyroConfig</code> - Gyro configuration.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Gyro object.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="checkModule(com.fasterxml.jackson.databind.JsonNode)">
|
||||
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|
||||
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|
||||
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|
||||
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|
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<h4>checkModule</h4>
|
||||
<pre class="methodSignature">private static void checkModule​(com.fasterxml.jackson.databind.JsonNode moduleJson)</pre>
|
||||
<div class="block">Check module JSON config for existing values.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>moduleJson</code> - Module JSON object.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="checkMain(com.fasterxml.jackson.databind.JsonNode)">
|
||||
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|
||||
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|
||||
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|
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|
||||
<h4>checkMain</h4>
|
||||
<pre class="methodSignature">private static void checkMain​(com.fasterxml.jackson.databind.JsonNode mainJson)</pre>
|
||||
<div class="block">Check the main json for correct attributes.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>mainJson</code> - Main JSON.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="createModule(com.fasterxml.jackson.databind.JsonNode,java.io.File,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">
|
||||
<!-- -->
|
||||
</a>
|
||||
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|
||||
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|
||||
<h4>createModule</h4>
|
||||
<pre class="methodSignature">private static <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><?,​?,​?> createModule​(com.fasterxml.jackson.databind.JsonNode mainJson,
|
||||
java.io.File moduleFile,
|
||||
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> moduleLocation)</pre>
|
||||
<div class="block">Create SwerveModule from JSON configuration file.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>mainJson</code> - Main JSON to pull from.</dd>
|
||||
<dd><code>moduleFile</code> - Module specific JSON data to pull from.</dd>
|
||||
<dd><code>moduleLocation</code> - Swerve module location that is being created.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>SwerveModule</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setModulePIDF(frc.robot.subsystems.swervedrive.swerve.SwerveMotor,com.fasterxml.jackson.databind.JsonNode)">
|
||||
<!-- -->
|
||||
</a>
|
||||
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|
||||
<li class="blockList">
|
||||
<h4>setModulePIDF</h4>
|
||||
<pre class="methodSignature">private static void setModulePIDF​(<a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a> motor,
|
||||
com.fasterxml.jackson.databind.JsonNode jsonPIDF)</pre>
|
||||
<div class="block">Set the PIDF for the module if the given JSON has the paramters.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>motor</code> - Motor to configure.</dd>
|
||||
<dd><code>jsonPIDF</code> - JSON ndoe with values.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
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<a id="fromJSONDirectory(java.io.File)">
|
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|
||||
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|
||||
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|
||||
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|
||||
<h4>fromJSONDirectory</h4>
|
||||
<pre class="methodSignature">public static <a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a> fromJSONDirectory​(java.io.File directory)</pre>
|
||||
<div class="block">Create SwerveDrive from JSON configuration directory.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>directory</code> - JSON Configuration directory.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>SwerveDrive</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
||||
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|
||||
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></div>
|
||||
<h2 title="Class CTRECANCoder" class="title">Class CTRECANCoder</h2>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<ul class="inheritance">
|
||||
<li>java.lang.Object</li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve.SwerveEncoder</a><com.ctre.phoenix.sensors.CANCoder></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive.swerve.encoders.CTRECANCoder</li>
|
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</ul>
|
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</li>
|
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|
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|
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|
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<hr>
|
||||
<pre>public class <span class="typeNameLabel">CTRECANCoder</span>
|
||||
extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.ctre.phoenix.sensors.CANCoder></pre>
|
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</li>
|
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|
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<div class="summary">
|
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|
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|
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|
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<h3>Fields inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
|
||||
<code><a href="../SwerveEncoder.html#m_encoder">m_encoder</a></code></li>
|
||||
</ul>
|
||||
</li>
|
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|
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|
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|
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|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.ctre.phoenix.sensors.CANCoder)">CTRECANCoder</a></span>​(com.ctre.phoenix.sensors.CANCoder encoder)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Create SwerveEncoder based off CANCoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
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|
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<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
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|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure()">configure</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the absolute encoder if possible.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Reset encoder to factory default settings, if possible.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the absolute position in degrees.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>com.ctre.phoenix.sensors.MagnetFieldStrength</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMagnetFieldStrength()">getMagnetFieldStrength</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the magnetic field strength, if available.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Is the encoder reachable?</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>​(boolean isInverted)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the sensor direction</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOffset(double)">setOffset</a></span>​(double offset)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="methods.inherited.from.class.frc.robot.subsystems.swervedrive.swerve.SwerveEncoder">
|
||||
<!-- -->
|
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</a>
|
||||
<h3>Methods inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
|
||||
<code><a href="../SwerveEncoder.html#fromEncoder(AbsoluteEncoderType)">fromEncoder</a></code></li>
|
||||
</ul>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Methods inherited from class java.lang.Object</h3>
|
||||
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
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</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
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<li class="blockList">
|
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
<!-- -->
|
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</a>
|
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<h3>Constructor Detail</h3>
|
||||
<a id="<init>(com.ctre.phoenix.sensors.CANCoder)">
|
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<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>CTRECANCoder</h4>
|
||||
<pre>public CTRECANCoder​(com.ctre.phoenix.sensors.CANCoder encoder)</pre>
|
||||
<div class="block">Create SwerveEncoder based off CANCoder.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>encoder</code> - CANCoder to use.</dd>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>configure</h4>
|
||||
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|
||||
<div class="block">Configure the absolute encoder if possible.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#configure()">configure</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.ctre.phoenix.sensors.CANCoder></code></dd>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<div class="block">Get the magnetic field strength, if available.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.ctre.phoenix.sensors.CANCoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>CTRE MagneticFieldStrength Enum.</dd>
|
||||
</dl>
|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
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|
||||
<div class="block">Get the absolute position in degrees.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.ctre.phoenix.sensors.CANCoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Absolute position (0, 360]</dd>
|
||||
</dl>
|
||||
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|
||||
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|
||||
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|
||||
<!-- -->
|
||||
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|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getVelocity</h4>
|
||||
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|
||||
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#getVelocity()">getVelocity</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.ctre.phoenix.sensors.CANCoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Velocity in degrees per second.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
||||
<a id="setOffset(double)">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>setOffset</h4>
|
||||
<pre class="methodSignature">public void setOffset​(double offset)</pre>
|
||||
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#setOffset(double)">setOffset</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.ctre.phoenix.sensors.CANCoder></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>offset</code> - Offset in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
||||
<a id="reachable()">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>reachable</h4>
|
||||
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|
||||
<div class="block">Is the encoder reachable?</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#reachable()">reachable</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.ctre.phoenix.sensors.CANCoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>True if reachable, false otherwise.</dd>
|
||||
</dl>
|
||||
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|
||||
</ul>
|
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|
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<!-- -->
|
||||
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|
||||
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|
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|
||||
<h4>setInverted</h4>
|
||||
<pre class="methodSignature">public void setInverted​(boolean isInverted)</pre>
|
||||
<div class="block">Configure the sensor direction</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#setInverted(boolean)">setInverted</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.ctre.phoenix.sensors.CANCoder></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
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|
||||
</dl>
|
||||
</li>
|
||||
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|
||||
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|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>factoryDefault</h4>
|
||||
<pre class="methodSignature">public void factoryDefault()</pre>
|
||||
<div class="block">Reset encoder to factory default settings, if possible.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#factoryDefault()">factoryDefault</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.ctre.phoenix.sensors.CANCoder></code></dd>
|
||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
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|
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<head>
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<script type="text/javascript"><!--
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|
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|
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catch(err) {
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></div>
|
||||
<h2 title="Class PWMAnalogEncoder" class="title">Class PWMAnalogEncoder</h2>
|
||||
</div>
|
||||
<div class="contentContainer">
|
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<ul class="inheritance">
|
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<li>java.lang.Object</li>
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|
||||
<li><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve.SwerveEncoder</a><edu.wpi.first.wpilibj.AnalogEncoder></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive.swerve.encoders.PWMAnalogEncoder</li>
|
||||
</ul>
|
||||
</li>
|
||||
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|
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||||
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|
||||
<hr>
|
||||
<pre>public class <span class="typeNameLabel">PWMAnalogEncoder</span>
|
||||
extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.AnalogEncoder></pre>
|
||||
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|
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<!-- -->
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|
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<h3>Field Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_inverted">m_inverted</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_lastAngle">m_lastAngle</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_lastTime">m_lastTime</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private edu.wpi.first.wpilibj.Timer</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_timer">m_timer</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_velocity">m_velocity</a></span></code></th>
|
||||
<td class="colLast"> </td>
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|
||||
<h3>Fields inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
|
||||
<code><a href="../SwerveEncoder.html#m_encoder">m_encoder</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
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|
||||
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|
||||
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|
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|
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|
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||||
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|
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<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
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|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.wpilibj.AnalogEncoder)">PWMAnalogEncoder</a></span>​(edu.wpi.first.wpilibj.AnalogEncoder encoder)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructor for analog encoder Swerve Encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
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|
||||
</li>
|
||||
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|
||||
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|
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|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure()">configure</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the absolute encoder if possible.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Reset encoder to factory default settings, if possible.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the absolute position in degrees.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>com.ctre.phoenix.sensors.MagnetFieldStrength</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMagnetFieldStrength()">getMagnetFieldStrength</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the magnetic field strength, if available.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Is the encoder reachable?</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>​(boolean isInverted)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the sensor direction</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOffset(double)">setOffset</a></span>​(double offset)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i8" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#updateVelocity()">updateVelocity</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Updates the velocity every second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="methods.inherited.from.class.frc.robot.subsystems.swervedrive.swerve.SwerveEncoder">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Methods inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
|
||||
<code><a href="../SwerveEncoder.html#fromEncoder(AbsoluteEncoderType)">fromEncoder</a></code></li>
|
||||
</ul>
|
||||
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|
||||
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
||||
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|
||||
</a>
|
||||
<h3>Methods inherited from class java.lang.Object</h3>
|
||||
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
<h3>Field Detail</h3>
|
||||
<a id="m_timer">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>m_timer</h4>
|
||||
<pre>private final edu.wpi.first.wpilibj.Timer m_timer</pre>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>m_inverted</h4>
|
||||
<pre>private boolean m_inverted</pre>
|
||||
</li>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>m_lastAngle</h4>
|
||||
<pre>private double m_lastAngle</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_velocity">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_velocity</h4>
|
||||
<pre>private double m_velocity</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_lastTime">
|
||||
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|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>m_lastTime</h4>
|
||||
<pre>private double m_lastTime</pre>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section role="region">
|
||||
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|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
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|
||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(edu.wpi.first.wpilibj.AnalogEncoder)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
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|
||||
<h4>PWMAnalogEncoder</h4>
|
||||
<pre>public PWMAnalogEncoder​(edu.wpi.first.wpilibj.AnalogEncoder encoder)</pre>
|
||||
<div class="block">Constructor for analog encoder Swerve Encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>encoder</code> - AnalogEncoder.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
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|
||||
<section role="region">
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||||
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|
||||
<li class="blockList"><a id="method.detail">
|
||||
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|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="updateVelocity()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>updateVelocity</h4>
|
||||
<pre class="methodSignature">public void updateVelocity()</pre>
|
||||
<div class="block">Updates the velocity every second.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="configure()">
|
||||
<!-- -->
|
||||
</a>
|
||||
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|
||||
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|
||||
<h4>configure</h4>
|
||||
<pre class="methodSignature">public void configure()</pre>
|
||||
<div class="block">Configure the absolute encoder if possible.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#configure()">configure</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.AnalogEncoder></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="factoryDefault()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>factoryDefault</h4>
|
||||
<pre class="methodSignature">public void factoryDefault()</pre>
|
||||
<div class="block">Reset encoder to factory default settings, if possible.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#factoryDefault()">factoryDefault</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.AnalogEncoder></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getMagnetFieldStrength()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getMagnetFieldStrength</h4>
|
||||
<pre class="methodSignature">public com.ctre.phoenix.sensors.MagnetFieldStrength getMagnetFieldStrength()</pre>
|
||||
<div class="block">Get the magnetic field strength, if available.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.AnalogEncoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>CTRE MagneticFieldStrength Enum.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getAbsolutePosition()">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>getAbsolutePosition</h4>
|
||||
<pre class="methodSignature">public double getAbsolutePosition()</pre>
|
||||
<div class="block">Get the absolute position in degrees.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.AnalogEncoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Absolute position (0, 360]</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getVelocity()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getVelocity</h4>
|
||||
<pre class="methodSignature">public double getVelocity()</pre>
|
||||
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#getVelocity()">getVelocity</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.AnalogEncoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Velocity in degrees per second.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setOffset(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setOffset</h4>
|
||||
<pre class="methodSignature">public void setOffset​(double offset)</pre>
|
||||
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#setOffset(double)">setOffset</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.AnalogEncoder></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>offset</code> - Offset in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="reachable()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>reachable</h4>
|
||||
<pre class="methodSignature">public boolean reachable()</pre>
|
||||
<div class="block">Is the encoder reachable?</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#reachable()">reachable</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.AnalogEncoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>True if reachable, false otherwise.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setInverted(boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>setInverted</h4>
|
||||
<pre class="methodSignature">public void setInverted​(boolean isInverted)</pre>
|
||||
<div class="block">Configure the sensor direction</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#setInverted(boolean)">setInverted</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.AnalogEncoder></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>isInverted</code> - Inverted or not.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
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|
||||
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|
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||||
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></div>
|
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<h2 title="Class PWMDutyCycleEncoder" class="title">Class PWMDutyCycleEncoder</h2>
|
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<li><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve.SwerveEncoder</a><edu.wpi.first.wpilibj.DutyCycleEncoder></li>
|
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<li>
|
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<ul class="inheritance">
|
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<li>frc.robot.subsystems.swervedrive.swerve.encoders.PWMDutyCycleEncoder</li>
|
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<pre>public class <span class="typeNameLabel">PWMDutyCycleEncoder</span>
|
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extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.DutyCycleEncoder></pre>
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|
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Field</th>
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<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
|
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<td class="colFirst"><code>private boolean</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_inverted">m_inverted</a></span></code></th>
|
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<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_lastAngle">m_lastAngle</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
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</tr>
|
||||
<tr class="altColor">
|
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<td class="colFirst"><code>private double</code></td>
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_lastTime">m_lastTime</a></span></code></th>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_velocity">m_velocity</a></span></code></th>
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<h3>Fields inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
|
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<code><a href="../SwerveEncoder.html#m_encoder">m_encoder</a></code></li>
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||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.wpilibj.DutyCycleEncoder)">PWMDutyCycleEncoder</a></span>​(edu.wpi.first.wpilibj.DutyCycleEncoder encoder)</code></th>
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|
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|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure()">configure</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the absolute encoder if possible.</div>
|
||||
</td>
|
||||
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|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
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|
||||
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|
||||
<div class="block">Reset encoder to factory default settings, if possible.</div>
|
||||
</td>
|
||||
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|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
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|
||||
<td class="colLast">
|
||||
<div class="block">Get the absolute position in degrees.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>com.ctre.phoenix.sensors.MagnetFieldStrength</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMagnetFieldStrength()">getMagnetFieldStrength</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the magnetic field strength, if available.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
|
||||
</td>
|
||||
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|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Is the encoder reachable?</div>
|
||||
</td>
|
||||
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|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
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|
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|
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|
||||
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|
||||
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|
||||
<tr id="i7" class="rowColor">
|
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<td class="colFirst"><code>void</code></td>
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOffset(double)">setOffset</a></span>​(double offset)</code></th>
|
||||
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|
||||
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
|
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</td>
|
||||
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|
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<tr id="i8" class="altColor">
|
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<td class="colFirst"><code>void</code></td>
|
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|
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<td class="colLast">
|
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<h3>Methods inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
|
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|
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<h3>Constructor Detail</h3>
|
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<a id="<init>(edu.wpi.first.wpilibj.DutyCycleEncoder)">
|
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|
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|
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<h4>PWMDutyCycleEncoder</h4>
|
||||
<pre>public PWMDutyCycleEncoder​(edu.wpi.first.wpilibj.DutyCycleEncoder encoder)</pre>
|
||||
<div class="block">Construct PWM DutyCycleEncoder class.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>encoder</code> - Encoder class.</dd>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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<!-- -->
|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>updateVelocity</h4>
|
||||
<pre class="methodSignature">public void updateVelocity()</pre>
|
||||
<div class="block">Updates the velocity every second.</div>
|
||||
</li>
|
||||
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|
||||
<a id="configure()">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>configure</h4>
|
||||
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|
||||
<div class="block">Configure the absolute encoder if possible.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#configure()">configure</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.DutyCycleEncoder></code></dd>
|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<div class="block">Reset encoder to factory default settings, if possible.</div>
|
||||
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|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#factoryDefault()">factoryDefault</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.DutyCycleEncoder></code></dd>
|
||||
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<div class="block">Get the magnetic field strength, if available.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.DutyCycleEncoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>CTRE MagneticFieldStrength Enum.</dd>
|
||||
</dl>
|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
<h4>getAbsolutePosition</h4>
|
||||
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|
||||
<div class="block">Get the absolute position in degrees.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.DutyCycleEncoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Absolute position (0, 360]</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getVelocity()">
|
||||
<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>getVelocity</h4>
|
||||
<pre class="methodSignature">public double getVelocity()</pre>
|
||||
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#getVelocity()">getVelocity</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.DutyCycleEncoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Velocity in degrees per second.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#setOffset(double)">setOffset</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.DutyCycleEncoder></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
<h4>reachable</h4>
|
||||
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|
||||
<div class="block">Is the encoder reachable?</div>
|
||||
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|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#reachable()">reachable</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.DutyCycleEncoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
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|
||||
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|
||||
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|
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|
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|
||||
<h4>setInverted</h4>
|
||||
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|
||||
<div class="block">Configure the sensor direction</div>
|
||||
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|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#setInverted(boolean)">setInverted</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><edu.wpi.first.wpilibj.DutyCycleEncoder></code></dd>
|
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|
||||
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|
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|
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|
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|
||||
<h2 title="Class REVAbsoluteEncoder" class="title">Class REVAbsoluteEncoder</h2>
|
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<li><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve.SwerveEncoder</a><com.revrobotics.AbsoluteEncoder></li>
|
||||
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|
||||
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|
||||
<li>frc.robot.subsystems.swervedrive.swerve.encoders.REVAbsoluteEncoder</li>
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|
||||
<pre>public class <span class="typeNameLabel">REVAbsoluteEncoder</span>
|
||||
extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.revrobotics.AbsoluteEncoder></pre>
|
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<h3>Fields inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
|
||||
<code><a href="../SwerveEncoder.html#m_encoder">m_encoder</a></code></li>
|
||||
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|
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|
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|
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<table class="memberSummary">
|
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.revrobotics.AbsoluteEncoder)">REVAbsoluteEncoder</a></span>​(com.revrobotics.AbsoluteEncoder encoder)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructor for AbsoluteEncoder class.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
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<li class="blockList"><a id="method.summary">
|
||||
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|
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</a>
|
||||
<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure()">configure</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the absolute encoder if possible.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Reset encoder to factory default settings, if possible.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the absolute position in degrees.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>com.ctre.phoenix.sensors.MagnetFieldStrength</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMagnetFieldStrength()">getMagnetFieldStrength</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the magnetic field strength, if available.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Is the encoder reachable?</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>​(boolean isInverted)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the sensor direction.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOffset(double)">setOffset</a></span>​(double offset)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
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|
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||||
<!-- -->
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|
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<h3>Methods inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
|
||||
<code><a href="../SwerveEncoder.html#fromEncoder(AbsoluteEncoderType)">fromEncoder</a></code></li>
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||||
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
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<h3>Methods inherited from class java.lang.Object</h3>
|
||||
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
|
||||
</ul>
|
||||
</li>
|
||||
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|
||||
</section>
|
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</div>
|
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<div class="details">
|
||||
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||||
<li class="blockList">
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||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
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|
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<h3>Constructor Detail</h3>
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|
||||
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|
||||
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|
||||
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||||
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|
||||
<h4>REVAbsoluteEncoder</h4>
|
||||
<pre>public REVAbsoluteEncoder​(com.revrobotics.AbsoluteEncoder encoder)</pre>
|
||||
<div class="block">Constructor for AbsoluteEncoder class.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>encoder</code> - Encoder to wrap around.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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|
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<!-- -->
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<a id="configure()">
|
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<!-- -->
|
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</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>configure</h4>
|
||||
<pre class="methodSignature">public void configure()</pre>
|
||||
<div class="block">Configure the absolute encoder if possible.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#configure()">configure</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.revrobotics.AbsoluteEncoder></code></dd>
|
||||
</dl>
|
||||
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||||
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|
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<a id="factoryDefault()">
|
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<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>factoryDefault</h4>
|
||||
<pre class="methodSignature">public void factoryDefault()</pre>
|
||||
<div class="block">Reset encoder to factory default settings, if possible.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#factoryDefault()">factoryDefault</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.revrobotics.AbsoluteEncoder></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getMagnetFieldStrength()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getMagnetFieldStrength</h4>
|
||||
<pre class="methodSignature">public com.ctre.phoenix.sensors.MagnetFieldStrength getMagnetFieldStrength()</pre>
|
||||
<div class="block">Get the magnetic field strength, if available.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.revrobotics.AbsoluteEncoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>CTRE MagneticFieldStrength Enum.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getAbsolutePosition()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getAbsolutePosition</h4>
|
||||
<pre class="methodSignature">public double getAbsolutePosition()</pre>
|
||||
<div class="block">Get the absolute position in degrees.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.revrobotics.AbsoluteEncoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Absolute position (0, 360]</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getVelocity()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getVelocity</h4>
|
||||
<pre class="methodSignature">public double getVelocity()</pre>
|
||||
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#getVelocity()">getVelocity</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.revrobotics.AbsoluteEncoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Velocity in degrees per second.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setOffset(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setOffset</h4>
|
||||
<pre class="methodSignature">public void setOffset​(double offset)</pre>
|
||||
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#setOffset(double)">setOffset</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.revrobotics.AbsoluteEncoder></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>offset</code> - Offset in degrees.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="reachable()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>reachable</h4>
|
||||
<pre class="methodSignature">public boolean reachable()</pre>
|
||||
<div class="block">Is the encoder reachable?</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#reachable()">reachable</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.revrobotics.AbsoluteEncoder></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>True if reachable, false otherwise.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setInverted(boolean)">
|
||||
<!-- -->
|
||||
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|
||||
<ul class="blockListLast">
|
||||
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|
||||
<h4>setInverted</h4>
|
||||
<pre class="methodSignature">public void setInverted​(boolean isInverted)</pre>
|
||||
<div class="block">Configure the sensor direction.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveEncoder.html#setInverted(boolean)">setInverted</a></code> in class <code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><com.revrobotics.AbsoluteEncoder></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>isInverted</code> - Inverted or not.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a></div>
|
||||
<h2 title="Class SwerveDriveKinematics2" class="title">Class SwerveDriveKinematics2</h2>
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</div>
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|
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|
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|
||||
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||||
<pre>public class <span class="typeNameLabel">SwerveDriveKinematics2</span>
|
||||
extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
|
||||
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
|
||||
speed.
|
||||
<p>Taken from https://github.com/FRC2539/javabot-2023/tree/main/src/main/java/frc/lib/swerve</p>
|
||||
<p>https://github.com/first95/FRC2022/tree/feature/secondOrderKinematics/SwervyBot/src/main/java/frc/lib</p>
|
||||
Makes use of <a href="SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics"><code>SwerveDriveKinematics2</code></a> to add the angular velocity that is required of the module as an output.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="summary">
|
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|
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|
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|
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|
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|
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|
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|
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<h3>Field Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#bigInverseKinematics">bigInverseKinematics</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_forwardKinematics">m_forwardKinematics</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_inverseKinematics">m_inverseKinematics</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_modules">m_modules</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_moduleStates">m_moduleStates</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_numModules">m_numModules</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_prevCoR">m_prevCoR</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)">SwerveDriveKinematics2</a></span>​(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructs a swerve drive kinematics object.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
||||
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|
||||
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|
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|
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|
||||
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|
||||
<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>static void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D,double)">desaturateWheelSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] moduleStates,
|
||||
double attainableMaxSpeedMetersPerSecond)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>static void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">desaturateWheelSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] moduleStates,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
|
||||
double attainableMaxModuleSpeedMetersPerSecond,
|
||||
double attainableMaxTranslationalSpeedMetersPerSecond,
|
||||
double attainableMaxRotationalVelocityRadiansPerSecond)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
|
||||
joystick saturation at edges of joystick.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toChassisSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2...)">toChassisSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>... wheelStates)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">toSwerveModuleStates</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Performs inverse kinematics.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">toSwerveModuleStates</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.geometry.Twist2d</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">toTwist2d</a></span>​(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
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|
||||
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|
||||
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|
||||
</a>
|
||||
<h3>Methods inherited from class edu.wpi.first.math.kinematics.SwerveDriveKinematics</h3>
|
||||
<code>desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds</code></li>
|
||||
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||||
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|
||||
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||||
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||||
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|
||||
<h3>Methods inherited from class java.lang.Object</h3>
|
||||
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
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|
||||
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<h3>Field Detail</h3>
|
||||
<a id="m_inverseKinematics">
|
||||
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|
||||
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|
||||
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|
||||
<h4>m_inverseKinematics</h4>
|
||||
<pre>private final org.ejml.simple.SimpleMatrix m_inverseKinematics</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_forwardKinematics">
|
||||
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|
||||
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|
||||
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||||
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|
||||
<h4>m_forwardKinematics</h4>
|
||||
<pre>private final org.ejml.simple.SimpleMatrix m_forwardKinematics</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="bigInverseKinematics">
|
||||
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||||
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|
||||
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||||
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|
||||
<h4>bigInverseKinematics</h4>
|
||||
<pre>private final org.ejml.simple.SimpleMatrix bigInverseKinematics</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_numModules">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>m_numModules</h4>
|
||||
<pre>private final int m_numModules</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_modules">
|
||||
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|
||||
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|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>m_modules</h4>
|
||||
<pre>private final edu.wpi.first.math.geometry.Translation2d[] m_modules</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_moduleStates">
|
||||
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|
||||
</a>
|
||||
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|
||||
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|
||||
<h4>m_moduleStates</h4>
|
||||
<pre>private final <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] m_moduleStates</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_prevCoR">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>m_prevCoR</h4>
|
||||
<pre>private edu.wpi.first.math.geometry.Translation2d m_prevCoR</pre>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section role="region">
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
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|
||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(edu.wpi.first.math.geometry.Translation2d...)">
|
||||
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|
||||
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|
||||
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|
||||
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||||
<h4>SwerveDriveKinematics2</h4>
|
||||
<pre>public SwerveDriveKinematics2​(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)</pre>
|
||||
<div class="block">Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations as
|
||||
<code>Translation2d</code>s. The order in which you pass in the wheel locations is the same order that you will receive
|
||||
the module states when performing inverse kinematics. It is also expected that you pass in the module states in the
|
||||
same order when calling the forward kinematics methods.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>wheelsMeters</code> - The locations of the wheels relative to the physical center of the robot.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2[],double)">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>desaturateWheelSpeeds</h4>
|
||||
<pre class="methodSignature">public static void desaturateWheelSpeeds​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] moduleStates,
|
||||
double attainableMaxSpeedMetersPerSecond)</pre>
|
||||
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.
|
||||
|
||||
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
|
||||
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
|
||||
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
|
||||
maintaining the ratio of speeds between modules.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>moduleStates</code> - Reference to array of module states. The array will be mutated with the
|
||||
normalized speeds!</dd>
|
||||
<dd><code>attainableMaxSpeedMetersPerSecond</code> - The absolute max speed that a module can reach.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2[],edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">
|
||||
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|
||||
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|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>desaturateWheelSpeeds</h4>
|
||||
<pre class="methodSignature">public static void desaturateWheelSpeeds​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] moduleStates,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
|
||||
double attainableMaxModuleSpeedMetersPerSecond,
|
||||
double attainableMaxTranslationalSpeedMetersPerSecond,
|
||||
double attainableMaxRotationalVelocityRadiansPerSecond)</pre>
|
||||
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
|
||||
joystick saturation at edges of joystick.
|
||||
|
||||
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
|
||||
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
|
||||
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
|
||||
maintaining the ratio of speeds between modules.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>moduleStates</code> - Reference to array of module states. The array will be
|
||||
mutated with the normalized speeds!</dd>
|
||||
<dd><code>currentChassisSpeed</code> - The current speed of the robot</dd>
|
||||
<dd><code>attainableMaxModuleSpeedMetersPerSecond</code> - The absolute max speed that a module can reach</dd>
|
||||
<dd><code>attainableMaxTranslationalSpeedMetersPerSecond</code> - The absolute max speed that your robot can reach while
|
||||
translating</dd>
|
||||
<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can reach while rotating</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>toSwerveModuleStates</h4>
|
||||
<pre class="methodSignature">public <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</pre>
|
||||
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity. This method is often used
|
||||
to convert joystick values into module speeds and angles.
|
||||
|
||||
<p>This function also supports variable centers of rotation. During normal operations, the
|
||||
center of rotation is usually the same as the physical center of the robot; therefore, the argument is defaulted to
|
||||
that use case. However, if you wish to change the center of rotation for evasive maneuvers, vision alignment, or
|
||||
for any other use case, you can do so.
|
||||
|
||||
<p>In the case that the desired chassis speeds are zero (i.e. the robot will be stationary),
|
||||
the previously calculated module angle will be maintained.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
||||
<dd><code>toSwerveModuleStates</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
|
||||
<dd><code>centerOfRotationMeters</code> - The center of rotation. For example, if you set the center of rotation at one corner
|
||||
of the robot and provide a chassis speed that only has a dtheta component, the robot
|
||||
will rotate around that corner.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>An array containing the module states. Use caution because these module states are not normalized.
|
||||
Sometimes, a user input may cause one of the module speeds to go above the attainable max velocity. Use the
|
||||
<a href="#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D,double)"><code>DesaturateWheelSpeeds</code></a> function to rectify this issue.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>toSwerveModuleStates</h4>
|
||||
<pre class="methodSignature">public <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</pre>
|
||||
<div class="block">Performs inverse kinematics. See <a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"><code>toSwerveModuleStates(ChassisSpeeds, Translation2d)</code></a> toSwerveModuleStates
|
||||
for more information.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
||||
<dd><code>toSwerveModuleStates</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>An array containing the module states.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toChassisSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2...)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>toChassisSpeeds</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.kinematics.ChassisSpeeds toChassisSpeeds​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>... wheelStates)</pre>
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
|
||||
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
|
||||
angle of each module on the robot.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>wheelStates</code> - The state of the modules (as a SwerveModuleState type) as measured from respective encoders and
|
||||
gyros. The order of the swerve module states should be same as passed into the constructor of
|
||||
this class.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The resulting chassis speed.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>toTwist2d</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.geometry.Twist2d toTwist2d​(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)</pre>
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
|
||||
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
|
||||
angle of each module on the robot.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
||||
<dd><code>toTwist2d</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>wheelDeltas</code> - The latest change in position of the modules (as a SwerveModulePosition type) as measured from
|
||||
respective encoders and gyros. The order of the swerve module states should be same as passed
|
||||
into the constructor of this class.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The resulting Twist2d.</dd>
|
||||
</dl>
|
||||
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|
||||
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|
||||
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|
||||
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a></div>
|
||||
<h2 title="Class SwerveModuleState2" class="title">Class SwerveModuleState2</h2>
|
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|
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<div class="contentContainer">
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<li>java.lang.Object</li>
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<li>edu.wpi.first.math.kinematics.SwerveModuleState</li>
|
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|
||||
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|
||||
<li>frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2</li>
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<dt>All Implemented Interfaces:</dt>
|
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<dd><code>java.lang.Comparable<edu.wpi.first.math.kinematics.SwerveModuleState></code></dd>
|
||||
</dl>
|
||||
<hr>
|
||||
<pre>public class <span class="typeNameLabel">SwerveModuleState2</span>
|
||||
extends edu.wpi.first.math.kinematics.SwerveModuleState</pre>
|
||||
</li>
|
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|
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|
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|
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|
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<th class="colFirst" scope="col">Modifier and Type</th>
|
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<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angularVelocityRadPerSecond">angularVelocityRadPerSecond</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Angular velocity in radians per second.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
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|
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|
||||
</a>
|
||||
<h3>Fields inherited from class edu.wpi.first.math.kinematics.SwerveModuleState</h3>
|
||||
<code>angle, speedMetersPerSecond</code></li>
|
||||
</ul>
|
||||
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|
||||
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|
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|
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|
||||
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|
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<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
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|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveModuleState2</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d)">SwerveModuleState2</a></span>​(double speedMetersPerSecond,
|
||||
edu.wpi.first.math.geometry.Rotation2d angle)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructs a SwerveModuleState.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)">SwerveModuleState2</a></span>​(double speedMetersPerSecond,
|
||||
edu.wpi.first.math.geometry.Rotation2d angle,
|
||||
double angularVelocityRadPerSecond)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructs a SwerveModuleState.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveModuleState)">SwerveModuleState2</a></span>​(edu.wpi.first.math.kinematics.SwerveModuleState self)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
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|
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|
||||
<td class="colFirst"><code>static <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimize(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d)">optimize</a></span>​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> desiredState,
|
||||
edu.wpi.first.math.geometry.Rotation2d currentAngle)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
|
||||
the wheel spins.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#placeInAppropriate0To360Scope(double,double)">placeInAppropriate0To360Scope</a></span>​(double scopeReference,
|
||||
double newAngle)</code></th>
|
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<td class="colLast"> </td>
|
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|
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|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Methods inherited from class edu.wpi.first.math.kinematics.SwerveModuleState</h3>
|
||||
<code>compareTo, equals, hashCode, optimize, toString</code></li>
|
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</ul>
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|
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|
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<h3>Methods inherited from class java.lang.Object</h3>
|
||||
<code>clone, finalize, getClass, notify, notifyAll, wait, wait, wait</code></li>
|
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|
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</a>
|
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<h3>Field Detail</h3>
|
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<a id="angularVelocityRadPerSecond">
|
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<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
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<li class="blockList">
|
||||
<h4>angularVelocityRadPerSecond</h4>
|
||||
<pre>public double angularVelocityRadPerSecond</pre>
|
||||
<div class="block">Angular velocity in radians per second. Angular Velocity = omega.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
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|
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|
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|
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|
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|
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|
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</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>SwerveModuleState2</h4>
|
||||
<pre>public SwerveModuleState2()</pre>
|
||||
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="<init>(edu.wpi.first.math.kinematics.SwerveModuleState)">
|
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|
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|
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<ul class="blockList">
|
||||
<li class="blockList">
|
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<h4>SwerveModuleState2</h4>
|
||||
<pre>public SwerveModuleState2​(edu.wpi.first.math.kinematics.SwerveModuleState self)</pre>
|
||||
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="<init>(double,edu.wpi.first.math.geometry.Rotation2d)">
|
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<!-- -->
|
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</a>
|
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<ul class="blockList">
|
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<li class="blockList">
|
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<h4>SwerveModuleState2</h4>
|
||||
<pre>public SwerveModuleState2​(double speedMetersPerSecond,
|
||||
edu.wpi.first.math.geometry.Rotation2d angle)</pre>
|
||||
<div class="block">Constructs a SwerveModuleState.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>speedMetersPerSecond</code> - The speed of the wheel of the module.</dd>
|
||||
<dd><code>angle</code> - The angle of the module.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="<init>(double,edu.wpi.first.math.geometry.Rotation2d,double)">
|
||||
<!-- -->
|
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</a>
|
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<ul class="blockListLast">
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||||
<li class="blockList">
|
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<h4>SwerveModuleState2</h4>
|
||||
<pre>public SwerveModuleState2​(double speedMetersPerSecond,
|
||||
edu.wpi.first.math.geometry.Rotation2d angle,
|
||||
double angularVelocityRadPerSecond)</pre>
|
||||
<div class="block">Constructs a SwerveModuleState.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>speedMetersPerSecond</code> - The speed of the wheel of the module.</dd>
|
||||
<dd><code>angle</code> - The angle of the module.</dd>
|
||||
<dd><code>angularVelocityRadPerSecond</code> - The angular velocity of the module.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
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|
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|
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|
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|
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|
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|
||||
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|
||||
<h3>Method Detail</h3>
|
||||
<a id="optimize(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>optimize</h4>
|
||||
<pre class="methodSignature">public static <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> optimize​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> desiredState,
|
||||
edu.wpi.first.math.geometry.Rotation2d currentAngle)</pre>
|
||||
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
|
||||
the wheel spins. Customized from WPILib's version to include placing in appropriate scope for CTRE and REV onboard
|
||||
control as both controllers as of writing don't have support for continuous input.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>desiredState</code> - The desired state.</dd>
|
||||
<dd><code>currentAngle</code> - The current module angle.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="placeInAppropriate0To360Scope(double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>placeInAppropriate0To360Scope</h4>
|
||||
<pre class="methodSignature">public static double placeInAppropriate0To360Scope​(double scopeReference,
|
||||
double newAngle)</pre>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>scopeReference</code> - Current Angle</dd>
|
||||
<dd><code>newAngle</code> - Target Angle</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Closest angle within scope</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
</ul>
|
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|
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|
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<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></div>
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||||
<h2 title="Enum CTRESwerveMotor.CTRE_pidIdx" class="title">Enum CTRESwerveMotor.CTRE_pidIdx</h2>
|
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<li>java.lang.Enum<<a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a>></li>
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|
||||
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|
||||
<dt>Enclosing class:</dt>
|
||||
<dd><a href="CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dd>
|
||||
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|
||||
<hr>
|
||||
<pre>static enum <span class="typeNameLabel">CTRESwerveMotor.CTRE_pidIdx</span>
|
||||
extends java.lang.Enum<<a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a>></pre>
|
||||
<div class="block">The TalonSRX PID to use onboard.</div>
|
||||
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|
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|
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|
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<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#AUXILIARY_PID">AUXILIARY_PID</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#FOURTH_PID">FOURTH_PID</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#PRIMARY_PID">PRIMARY_PID</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#THIRD_PID">THIRD_PID</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
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|
||||
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|
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|
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|
||||
<td class="colFirst"><code>private </code></td>
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">CTRE_pidIdx</a></span>()</code></th>
|
||||
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|
||||
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|
||||
<td class="colFirst"><code>static <a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></code></td>
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>​(java.lang.String name)</code></th>
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|
||||
<div class="block">Returns the enum constant of this type with the specified name.</div>
|
||||
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|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>static <a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Returns an array containing the constants of this enum type, in
|
||||
the order they are declared.</div>
|
||||
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<pre>public static final <a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a> PRIMARY_PID</pre>
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<pre>public static final <a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a> AUXILIARY_PID</pre>
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<h4>THIRD_PID</h4>
|
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<pre>public static final <a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a> THIRD_PID</pre>
|
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<h4>FOURTH_PID</h4>
|
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<pre>public static final <a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a> FOURTH_PID</pre>
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<h4>CTRE_pidIdx</h4>
|
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<pre>private CTRE_pidIdx()</pre>
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<h4>values</h4>
|
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<pre class="methodSignature">public static <a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a>[] values()</pre>
|
||||
<div class="block">Returns an array containing the constants of this enum type, in
|
||||
the order they are declared. This method may be used to iterate
|
||||
over the constants as follows:
|
||||
<pre>
|
||||
for (CTRESwerveMotor.CTRE_pidIdx c : CTRESwerveMotor.CTRE_pidIdx.values())
|
||||
System.out.println(c);
|
||||
</pre></div>
|
||||
<dl>
|
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<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
|
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<h4>valueOf</h4>
|
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<pre class="methodSignature">public static <a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a> valueOf​(java.lang.String name)</pre>
|
||||
<div class="block">Returns the enum constant of this type with the specified name.
|
||||
The string must match <i>exactly</i> an identifier used to declare an
|
||||
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|
||||
not permitted.)</div>
|
||||
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<dt><span class="paramLabel">Parameters:</span></dt>
|
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<dd><code>name</code> - the name of the enum constant to be returned.</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>the enum constant with the specified name</dd>
|
||||
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|
||||
<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
|
||||
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<h2 title="Enum CTRESwerveMotor.CTRE_remoteSensor" class="title">Enum CTRESwerveMotor.CTRE_remoteSensor</h2>
|
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<li>java.lang.Enum<<a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a>></li>
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<dt>Enclosing class:</dt>
|
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<dd><a href="CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dd>
|
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|
||||
<hr>
|
||||
<pre>static enum <span class="typeNameLabel">CTRESwerveMotor.CTRE_remoteSensor</span>
|
||||
extends java.lang.Enum<<a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a>></pre>
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|
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<th class="colLast" scope="col">Description</th>
|
||||
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|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#REMOTE_SENSOR_0">REMOTE_SENSOR_0</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#REMOTE_SENSOR_1">REMOTE_SENSOR_1</a></span></code></th>
|
||||
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|
||||
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||||
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<td class="colFirst"><code>private </code></td>
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">CTRE_remoteSensor</a></span>()</code></th>
|
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<td class="colFirst"><code>static <a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></code></td>
|
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|
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<td class="colFirst"><code>static <a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a>[]</code></td>
|
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<a id="REMOTE_SENSOR_0">
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<pre>public static final <a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a> REMOTE_SENSOR_0</pre>
|
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<h4>REMOTE_SENSOR_1</h4>
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<pre>public static final <a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a> REMOTE_SENSOR_1</pre>
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<h4>CTRE_remoteSensor</h4>
|
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|
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|
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<h4>values</h4>
|
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<pre class="methodSignature">public static <a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a>[] values()</pre>
|
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<div class="block">Returns an array containing the constants of this enum type, in
|
||||
the order they are declared. This method may be used to iterate
|
||||
over the constants as follows:
|
||||
<pre>
|
||||
for (CTRESwerveMotor.CTRE_remoteSensor c : CTRESwerveMotor.CTRE_remoteSensor.values())
|
||||
System.out.println(c);
|
||||
</pre></div>
|
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<dl>
|
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<dt><span class="returnLabel">Returns:</span></dt>
|
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<dd>an array containing the constants of this enum type, in the order they are declared</dd>
|
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<pre class="methodSignature">public static <a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a> valueOf​(java.lang.String name)</pre>
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|
||||
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|
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<h2 title="Enum CTRESwerveMotor.CTRE_slotIdx" class="title">Enum CTRESwerveMotor.CTRE_slotIdx</h2>
|
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<li>java.lang.Enum<<a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a>></li>
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|
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<dd><a href="CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dd>
|
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|
||||
<hr>
|
||||
<pre>static enum <span class="typeNameLabel">CTRESwerveMotor.CTRE_slotIdx</span>
|
||||
extends java.lang.Enum<<a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a>></pre>
|
||||
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
|
||||
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<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#Distance">Distance</a></span></code></th>
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|
||||
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|
||||
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|
||||
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MotionProfile">MotionProfile</a></span></code></th>
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|
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|
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|
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|
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|
||||
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|
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<th class="colLast" scope="col">Description</th>
|
||||
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|
||||
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|
||||
<td class="colFirst"><code>private </code></td>
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">CTRE_slotIdx</a></span>()</code></th>
|
||||
<td class="colLast"> </td>
|
||||
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|
||||
</table>
|
||||
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|
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|
||||
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|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
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|
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<th class="colLast" scope="col">Description</th>
|
||||
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|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>static <a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>​(java.lang.String name)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Returns the enum constant of this type with the specified name.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>static <a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a>[]</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Returns an array containing the constants of this enum type, in
|
||||
the order they are declared.</div>
|
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|
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|
||||
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|
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<code>getClass, notify, notifyAll, wait, wait, wait</code></li>
|
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|
||||
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|
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<h4>Distance</h4>
|
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<pre>public static final <a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a> Distance</pre>
|
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|
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|
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|
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|
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|
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<h4>Turning</h4>
|
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<pre>public static final <a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a> Turning</pre>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>Velocity</h4>
|
||||
<pre>public static final <a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a> Velocity</pre>
|
||||
</li>
|
||||
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|
||||
<a id="MotionProfile">
|
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<!-- -->
|
||||
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|
||||
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|
||||
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|
||||
<h4>MotionProfile</h4>
|
||||
<pre>public static final <a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a> MotionProfile</pre>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<!-- -->
|
||||
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|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>CTRE_slotIdx</h4>
|
||||
<pre>private CTRE_slotIdx()</pre>
|
||||
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|
||||
</ul>
|
||||
</li>
|
||||
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|
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|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>values</h4>
|
||||
<pre class="methodSignature">public static <a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a>[] values()</pre>
|
||||
<div class="block">Returns an array containing the constants of this enum type, in
|
||||
the order they are declared. This method may be used to iterate
|
||||
over the constants as follows:
|
||||
<pre>
|
||||
for (CTRESwerveMotor.CTRE_slotIdx c : CTRESwerveMotor.CTRE_slotIdx.values())
|
||||
System.out.println(c);
|
||||
</pre></div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
|
||||
</dl>
|
||||
</li>
|
||||
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<a id="valueOf(java.lang.String)">
|
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<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
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|
||||
<h4>valueOf</h4>
|
||||
<pre class="methodSignature">public static <a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a> valueOf​(java.lang.String name)</pre>
|
||||
<div class="block">Returns the enum constant of this type with the specified name.
|
||||
The string must match <i>exactly</i> an identifier used to declare an
|
||||
enum constant in this type. (Extraneous whitespace characters are
|
||||
not permitted.)</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>the enum constant with the specified name</dd>
|
||||
<dt><span class="throwsLabel">Throws:</span></dt>
|
||||
<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
|
||||
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|
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|
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|
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|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></div>
|
||||
<h2 title="Class CTRESwerveMotor" class="title">Class CTRESwerveMotor</h2>
|
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</div>
|
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<div class="contentContainer">
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<ul class="inheritance">
|
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|
||||
<li><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve.SwerveMotor</a></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor</li>
|
||||
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|
||||
<pre>public class <span class="typeNameLabel">CTRESwerveMotor</span>
|
||||
extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></pre>
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|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Class</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>(package private) static class </code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The TalonSRX PID to use onboard.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>(package private) static class </code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>(package private) static class </code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="nested.classes.inherited.from.class.frc.robot.subsystems.swervedrive.swerve.SwerveMotor">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Nested classes/interfaces inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></h3>
|
||||
<code><a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- =========== FIELD SUMMARY =========== -->
|
||||
<section role="region">
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.summary">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_allowableClosedLoopError">m_allowableClosedLoopError</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_angleEncoder">m_angleEncoder</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private com.ctre.phoenix.motorcontrol.ControlMode</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_controlMode">m_controlMode</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private java.util.function.Supplier<java.lang.Double></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_encoderRet">m_encoderRet</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_integratedAbsEncoder">m_integratedAbsEncoder</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_mainPidId">m_mainPidId</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_mainPIDSlotId">m_mainPIDSlotId</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_moduleRadkV">m_moduleRadkV</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">kV feed forward for PID</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private com.ctre.phoenix.motorcontrol.can.TalonFX</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_motor">m_motor</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="fields.inherited.from.class.frc.robot.subsystems.swervedrive.swerve.SwerveMotor">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Fields inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></h3>
|
||||
<code><a href="../SwerveMotor.html#kD">kD</a>, <a href="../SwerveMotor.html#kF">kF</a>, <a href="../SwerveMotor.html#kI">kI</a>, <a href="../SwerveMotor.html#kIZ">kIZ</a>, <a href="../SwerveMotor.html#kP">kP</a>, <a href="../SwerveMotor.html#m_motorType">m_motorType</a>, <a href="../SwerveMotor.html#target">target</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||||
<section role="region">
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.summary">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">CTRESwerveMotor</a></span>​(com.ctre.phoenix.motorcontrol.can.TalonFX motor,
|
||||
<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><?> encoder,
|
||||
<a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> type,
|
||||
double gearRatio,
|
||||
double wheelDiameter,
|
||||
double freeSpeedRPM,
|
||||
double powerLimit)</code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
||||
<section role="region">
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.summary">
|
||||
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|
||||
</a>
|
||||
<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#get()">get</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAmps()">getAmps</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the current output.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the current value of the encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimizeCANFrames()">optimizeCANFrames</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#remoteIntegratedEncoder()">remoteIntegratedEncoder</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#saveConfig()">saveConfig</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(double)">set</a></span>​(double speed)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i8" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setConversionFactor(double)">setConversionFactor</a></span>​(double conversionFactor)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configures the conversion factor based upon which motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i9" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentLimit(int)">setCurrentLimit</a></span>​(int currentLimit)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
|
||||
voltage compensation.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i10" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setEncoder(double)">setEncoder</a></span>​(double value)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the encoder value.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i11" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>​(boolean inverted)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Invert the motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i12" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDF(double,double,double,double,double)">setPIDF</a></span>​(double P,
|
||||
double I,
|
||||
double D,
|
||||
double F,
|
||||
double integralZone)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i13" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDOutputRange(double,double)">setPIDOutputRange</a></span>​(double min,
|
||||
double max)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the maximum power (-1 to 1) the PID can output.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i14" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setTarget(double,double)">setTarget</a></span>​(double target,
|
||||
double feedforward)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the target for the PID loop.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i15" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>​(double nominalVoltage)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the voltage compensation for the swerve module motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i16" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stop()">stop</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Stop the motor by sending 0 volts to it.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="methods.inherited.from.class.frc.robot.subsystems.swervedrive.swerve.SwerveMotor">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Methods inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></h3>
|
||||
<code><a href="../SwerveMotor.html#fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">fromMotor</a></code></li>
|
||||
</ul>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
||||
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|
||||
</a>
|
||||
<h3>Methods inherited from class java.lang.Object</h3>
|
||||
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section role="region">
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="m_angleEncoder">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_angleEncoder</h4>
|
||||
<pre>private final <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a> m_angleEncoder</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_integratedAbsEncoder">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_integratedAbsEncoder</h4>
|
||||
<pre>private final boolean m_integratedAbsEncoder</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_allowableClosedLoopError">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_allowableClosedLoopError</h4>
|
||||
<pre>private final double m_allowableClosedLoopError</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_controlMode">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_controlMode</h4>
|
||||
<pre>private final com.ctre.phoenix.motorcontrol.ControlMode m_controlMode</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_mainPIDSlotId">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_mainPIDSlotId</h4>
|
||||
<pre>private final int m_mainPIDSlotId</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_mainPidId">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_mainPidId</h4>
|
||||
<pre>private final int m_mainPidId</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_encoderRet">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_encoderRet</h4>
|
||||
<pre>private final java.util.function.Supplier<java.lang.Double> m_encoderRet</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_motor">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>m_motor</h4>
|
||||
<pre>private final com.ctre.phoenix.motorcontrol.can.TalonFX m_motor</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_moduleRadkV">
|
||||
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|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>m_moduleRadkV</h4>
|
||||
<pre>private final double m_moduleRadkV</pre>
|
||||
<div class="block">kV feed forward for PID</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section role="region">
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(com.ctre.phoenix.motorcontrol.can.TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>CTRESwerveMotor</h4>
|
||||
<pre>public CTRESwerveMotor​(com.ctre.phoenix.motorcontrol.can.TalonFX motor,
|
||||
<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><?> encoder,
|
||||
<a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> type,
|
||||
double gearRatio,
|
||||
double wheelDiameter,
|
||||
double freeSpeedRPM,
|
||||
double powerLimit)</pre>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
||||
<section role="region">
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="setPIDOutputRange(double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setPIDOutputRange</h4>
|
||||
<pre class="methodSignature">public void setPIDOutputRange​(double min,
|
||||
double max)</pre>
|
||||
<div class="block">Configure the maximum power (-1 to 1) the PID can output. This helps manage voltage pull for the drive base.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setPIDOutputRange(double,double)">setPIDOutputRange</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>min</code> - Minimum output.</dd>
|
||||
<dd><code>max</code> - Maximum output.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setPIDF(double,double,double,double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setPIDF</h4>
|
||||
<pre class="methodSignature">public void setPIDF​(double P,
|
||||
double I,
|
||||
double D,
|
||||
double F,
|
||||
double integralZone)</pre>
|
||||
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setPIDF(double,double,double,double,double)">setPIDF</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>P</code> - Proportional gain for closed loop. This is multiplied by closed loop error in sensor units.
|
||||
Default is 1.0</dd>
|
||||
<dd><code>I</code> - Integral gain for closed loop. This is multiplied by closed loop error in sensor units every
|
||||
PID Loop.</dd>
|
||||
<dd><code>D</code> - Derivative gain for closed loop. This is multiplied by derivative error (sensor units per PID
|
||||
loop). Default is 0.1</dd>
|
||||
<dd><code>F</code> - Feed Fwd gain for Closed loop.</dd>
|
||||
<dd><code>integralZone</code> - Integral Zone can be used to auto clear the integral accumulator if the sensor pos is too far
|
||||
from the target. This prevents unstable oscillation if the kI is too large. Value is in sensor
|
||||
units.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setConversionFactor(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setConversionFactor</h4>
|
||||
<pre class="methodSignature">public void setConversionFactor​(double conversionFactor)</pre>
|
||||
<div class="block">Configures the conversion factor based upon which motor.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setConversionFactor(double)">setConversionFactor</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>conversionFactor</code> - Conversion from RPM to MPS for drive motor, and rotations to degrees for the turning
|
||||
motor.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setTarget(double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setTarget</h4>
|
||||
<pre class="methodSignature">public void setTarget​(double target,
|
||||
double feedforward)</pre>
|
||||
<div class="block">Set the target for the PID loop.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setTarget(double,double)">setTarget</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>target</code> - The PID target to aim for.</dd>
|
||||
<dd><code>feedforward</code> - The feedforward for this target.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="stop()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>stop</h4>
|
||||
<pre class="methodSignature">public void stop()</pre>
|
||||
<div class="block">Stop the motor by sending 0 volts to it.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#stop()">stop</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="set(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>set</h4>
|
||||
<pre class="methodSignature">public void set​(double speed)</pre>
|
||||
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#set(double)">set</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>speed</code> - Speed from -1 to 1.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="get()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>get</h4>
|
||||
<pre class="methodSignature">public double get()</pre>
|
||||
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#get()">get</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Current value of the encoder.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getPosition()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getPosition</h4>
|
||||
<pre class="methodSignature">public double getPosition()</pre>
|
||||
<div class="block">Get the current value of the encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#getPosition()">getPosition</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Current value of the encoder.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setVoltageCompensation(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setVoltageCompensation</h4>
|
||||
<pre class="methodSignature">public void setVoltageCompensation​(double nominalVoltage)</pre>
|
||||
<div class="block">Set the voltage compensation for the swerve module motor.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setVoltageCompensation(double)">setVoltageCompensation</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>nominalVoltage</code> - Nominal voltage for operation to output to.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setCurrentLimit(int)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setCurrentLimit</h4>
|
||||
<pre class="methodSignature">public void setCurrentLimit​(int currentLimit)</pre>
|
||||
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
|
||||
voltage compensation. This is useful to protect the motor from current spikes.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setCurrentLimit(int)">setCurrentLimit</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>currentLimit</code> - Current limit in AMPS at free speed.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setEncoder(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setEncoder</h4>
|
||||
<pre class="methodSignature">public void setEncoder​(double value)</pre>
|
||||
<div class="block">Set the encoder value.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setEncoder(double)">setEncoder</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>value</code> - Value to set the encoder to.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="reachable()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>reachable</h4>
|
||||
<pre class="methodSignature">public boolean reachable()</pre>
|
||||
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#reachable()">reachable</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>true on all devices are accessible over CAN.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="remoteIntegratedEncoder()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>remoteIntegratedEncoder</h4>
|
||||
<pre class="methodSignature">public boolean remoteIntegratedEncoder()</pre>
|
||||
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#remoteIntegratedEncoder()">remoteIntegratedEncoder</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>true, if the absolute encoder is being used as the integrated controller.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="optimizeCANFrames()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>optimizeCANFrames</h4>
|
||||
<pre class="methodSignature">public void optimizeCANFrames()</pre>
|
||||
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#optimizeCANFrames()">optimizeCANFrames</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="saveConfig()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>saveConfig</h4>
|
||||
<pre class="methodSignature">public void saveConfig()</pre>
|
||||
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#saveConfig()">saveConfig</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setInverted(boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setInverted</h4>
|
||||
<pre class="methodSignature">public void setInverted​(boolean inverted)</pre>
|
||||
<div class="block">Invert the motor.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setInverted(boolean)">setInverted</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>inverted</code> - Set the motor as inverted.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getAmps()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>getAmps</h4>
|
||||
<pre class="methodSignature">public double getAmps()</pre>
|
||||
<div class="block"><span class="descfrmTypeLabel">Description copied from class: <code><a href="../SwerveMotor.html#getAmps()">SwerveMotor</a></code></span></div>
|
||||
<div class="block">Get the current output.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#getAmps()">getAmps</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Output amps.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</main>
|
||||
<!-- ========= END OF CLASS DATA ========= -->
|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
<li><a href="../../../../../../index.html">Overview</a></li>
|
||||
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|
||||
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||||
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||||
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||||
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<h2 title="Enum REVSwerveMotor.REV_slotIdx" class="title">Enum REVSwerveMotor.REV_slotIdx</h2>
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<li>java.lang.Enum<<a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a>></li>
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<dd><a href="REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dd>
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<hr>
|
||||
<pre>static enum <span class="typeNameLabel">REVSwerveMotor.REV_slotIdx</span>
|
||||
extends java.lang.Enum<<a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a>></pre>
|
||||
<div class="block">REV Slots for PID configuration.</div>
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<td class="colFirst"><code>private </code></td>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">REV_slotIdx</a></span>()</code></th>
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<td class="colFirst"><code>static <a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></code></td>
|
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>​(java.lang.String name)</code></th>
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|
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|
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<tr id="i1" class="rowColor">
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||||
<td class="colFirst"><code>static <a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a>[]</code></td>
|
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|
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|
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<pre>public static final <a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a> Position</pre>
|
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<h4>Velocity</h4>
|
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<pre>public static final <a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a> Velocity</pre>
|
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|
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<pre>public static final <a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a> Simulation</pre>
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<h4>REV_slotIdx</h4>
|
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<pre>private REV_slotIdx()</pre>
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|
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<h4>values</h4>
|
||||
<pre class="methodSignature">public static <a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a>[] values()</pre>
|
||||
<div class="block">Returns an array containing the constants of this enum type, in
|
||||
the order they are declared. This method may be used to iterate
|
||||
over the constants as follows:
|
||||
<pre>
|
||||
for (REVSwerveMotor.REV_slotIdx c : REVSwerveMotor.REV_slotIdx.values())
|
||||
System.out.println(c);
|
||||
</pre></div>
|
||||
<dl>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
|
||||
</dl>
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||||
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|
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<h4>valueOf</h4>
|
||||
<pre class="methodSignature">public static <a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a> valueOf​(java.lang.String name)</pre>
|
||||
<div class="block">Returns the enum constant of this type with the specified name.
|
||||
The string must match <i>exactly</i> an identifier used to declare an
|
||||
enum constant in this type. (Extraneous whitespace characters are
|
||||
not permitted.)</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>the enum constant with the specified name</dd>
|
||||
<dt><span class="throwsLabel">Throws:</span></dt>
|
||||
<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
|
||||
<dd><code>java.lang.NullPointerException</code> - if the argument is null</dd>
|
||||
</dl>
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></div>
|
||||
<h2 title="Class REVSwerveMotor" class="title">Class REVSwerveMotor</h2>
|
||||
</div>
|
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<div class="contentContainer">
|
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<ul class="inheritance">
|
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<li>java.lang.Object</li>
|
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<li>
|
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|
||||
<li><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve.SwerveMotor</a></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor</li>
|
||||
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|
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|
||||
<pre>public class <span class="typeNameLabel">REVSwerveMotor</span>
|
||||
extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></pre>
|
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|
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<caption><span>Nested Classes</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Class</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>(package private) static class </code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">REV Slots for PID configuration.</div>
|
||||
</td>
|
||||
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|
||||
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|
||||
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|
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||||
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|
||||
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|
||||
<h3>Nested classes/interfaces inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></h3>
|
||||
<code><a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
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</section>
|
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<!-- =========== FIELD SUMMARY =========== -->
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|
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|
||||
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<h3>Field Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private com.revrobotics.MotorFeedbackSensor</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_encoder">m_encoder</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private java.util.function.Supplier<java.lang.Double></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_encoderPosRet">m_encoderPosRet</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private java.util.function.Supplier<java.lang.Double></code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_encoderRet">m_encoderRet</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private com.revrobotics.SparkMaxPIDController.ArbFFUnits</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_feedforwardUnits">m_feedforwardUnits</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_integratedAbsEncoder">m_integratedAbsEncoder</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_mainPidSlot">m_mainPidSlot</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_moduleRadkV">m_moduleRadkV</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">kV feed forward for PID</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private com.revrobotics.CANSparkMax</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_motor">m_motor</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private com.revrobotics.SparkMaxPIDController</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_pid">m_pid</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>private com.revrobotics.CANSparkMax.ControlType</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_pidControlType">m_pidControlType</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>private int</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_secondaryPidSlot">m_secondaryPidSlot</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="fields.inherited.from.class.frc.robot.subsystems.swervedrive.swerve.SwerveMotor">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Fields inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></h3>
|
||||
<code><a href="../SwerveMotor.html#kD">kD</a>, <a href="../SwerveMotor.html#kF">kF</a>, <a href="../SwerveMotor.html#kI">kI</a>, <a href="../SwerveMotor.html#kIZ">kIZ</a>, <a href="../SwerveMotor.html#kP">kP</a>, <a href="../SwerveMotor.html#m_motorType">m_motorType</a>, <a href="../SwerveMotor.html#target">target</a></code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||||
<section role="region">
|
||||
<ul class="blockList">
|
||||
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|
||||
<!-- -->
|
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|
||||
<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.revrobotics.CANSparkMax,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">REVSwerveMotor</a></span>​(com.revrobotics.CANSparkMax motor,
|
||||
<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><?> absoluteEncoder,
|
||||
<a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> type,
|
||||
double gearRatio,
|
||||
double wheelDiameter,
|
||||
double freeSpeedRPM,
|
||||
double powerLimit)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructor for REV Swerve Motor, expecting CANSparkMax.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
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|
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<ul class="blockList">
|
||||
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|
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|
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|
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<h3>Method Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Method</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#get()">get</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAmps()">getAmps</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the current output.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Get the current value of the encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimizeCANFrames()">optimizeCANFrames</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>boolean</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#remoteIntegratedEncoder()">remoteIntegratedEncoder</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#saveConfig()">saveConfig</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(double)">set</a></span>​(double speed)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i8" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCANStatusFrames(int,int,int,int,int)">setCANStatusFrames</a></span>​(int CANStatus0,
|
||||
int CANStatus1,
|
||||
int CANStatus2,
|
||||
int CANStatus3,
|
||||
int CANStatus4)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the CAN status frames.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i9" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setConversionFactor(double)">setConversionFactor</a></span>​(double conversionFactor)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configures the conversion factor based upon which motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i10" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentLimit(int)">setCurrentLimit</a></span>​(int currentLimit)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
|
||||
voltage compensation.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i11" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setEncoder(double)">setEncoder</a></span>​(double value)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the encoder value.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i12" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>​(boolean inverted)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Invert the motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i13" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDF(double,double,double,double,double)">setPIDF</a></span>​(double P,
|
||||
double I,
|
||||
double D,
|
||||
double F,
|
||||
double integralZone)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i14" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDOutputRange(double,double)">setPIDOutputRange</a></span>​(double min,
|
||||
double max)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Configure the maximum power (-1 to 1) the PID can output.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i15" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setTarget(double,double)">setTarget</a></span>​(double target,
|
||||
double feedforward)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the target for the PID loop.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i16" class="altColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>​(double nominalVoltage)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Set the voltage compensation for the swerve module motor.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i17" class="rowColor">
|
||||
<td class="colFirst"><code>void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stop()">stop</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Stop the motor by sending 0 volts to it.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="methods.inherited.from.class.frc.robot.subsystems.swervedrive.swerve.SwerveMotor">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Methods inherited from class frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></h3>
|
||||
<code><a href="../SwerveMotor.html#fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">fromMotor</a></code></li>
|
||||
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|
||||
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|
||||
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
|
||||
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|
||||
</a>
|
||||
<h3>Methods inherited from class java.lang.Object</h3>
|
||||
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="details">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- ============ FIELD DETAIL =========== -->
|
||||
<section role="region">
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||||
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|
||||
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|
||||
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|
||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="m_mainPidSlot">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>m_mainPidSlot</h4>
|
||||
<pre>private final int m_mainPidSlot</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_secondaryPidSlot">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_secondaryPidSlot</h4>
|
||||
<pre>private final int m_secondaryPidSlot</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_pidControlType">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_pidControlType</h4>
|
||||
<pre>private final com.revrobotics.CANSparkMax.ControlType m_pidControlType</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_motor">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>m_motor</h4>
|
||||
<pre>private final com.revrobotics.CANSparkMax m_motor</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_encoder">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_encoder</h4>
|
||||
<pre>private final com.revrobotics.MotorFeedbackSensor m_encoder</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_integratedAbsEncoder">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_integratedAbsEncoder</h4>
|
||||
<pre>private final boolean m_integratedAbsEncoder</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_pid">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_pid</h4>
|
||||
<pre>private final com.revrobotics.SparkMaxPIDController m_pid</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_feedforwardUnits">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_feedforwardUnits</h4>
|
||||
<pre>private final com.revrobotics.SparkMaxPIDController.ArbFFUnits m_feedforwardUnits</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_encoderRet">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_encoderRet</h4>
|
||||
<pre>private final java.util.function.Supplier<java.lang.Double> m_encoderRet</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_encoderPosRet">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_encoderPosRet</h4>
|
||||
<pre>private final java.util.function.Supplier<java.lang.Double> m_encoderPosRet</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_moduleRadkV">
|
||||
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|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>m_moduleRadkV</h4>
|
||||
<pre>private final double m_moduleRadkV</pre>
|
||||
<div class="block">kV feed forward for PID</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section role="region">
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
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|
||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(com.revrobotics.CANSparkMax,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>REVSwerveMotor</h4>
|
||||
<pre>public REVSwerveMotor​(com.revrobotics.CANSparkMax motor,
|
||||
<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><?> absoluteEncoder,
|
||||
<a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> type,
|
||||
double gearRatio,
|
||||
double wheelDiameter,
|
||||
double freeSpeedRPM,
|
||||
double powerLimit)</pre>
|
||||
<div class="block">Constructor for REV Swerve Motor, expecting CANSparkMax. Clears sticky faults and restores factory defaults.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>motor</code> - SparkMAX motor controller.</dd>
|
||||
<dd><code>absoluteEncoder</code> - The absolute encoder used for the module, if the motor is a turning motor and the encoder is
|
||||
compatible it will set the encoder as the remote integrated encoder and does not need
|
||||
periodic synchronization.</dd>
|
||||
<dd><code>type</code> - Swerve module motor type.</dd>
|
||||
<dd><code>gearRatio</code> - Gear ratio.</dd>
|
||||
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
|
||||
<dd><code>freeSpeedRPM</code> - Free speed RPM of the motor.</dd>
|
||||
<dd><code>powerLimit</code> - Power limit for the motor.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
||||
<section role="region">
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="setPIDOutputRange(double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setPIDOutputRange</h4>
|
||||
<pre class="methodSignature">public void setPIDOutputRange​(double min,
|
||||
double max)</pre>
|
||||
<div class="block">Configure the maximum power (-1 to 1) the PID can output. This helps manage voltage pull for the drive base.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setPIDOutputRange(double,double)">setPIDOutputRange</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>min</code> - Minimum output.</dd>
|
||||
<dd><code>max</code> - Maximum output.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setPIDF(double,double,double,double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setPIDF</h4>
|
||||
<pre class="methodSignature">public void setPIDF​(double P,
|
||||
double I,
|
||||
double D,
|
||||
double F,
|
||||
double integralZone)</pre>
|
||||
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setPIDF(double,double,double,double,double)">setPIDF</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>P</code> - Proportional gain for closed loop. This is multiplied by closed loop error in sensor units.
|
||||
Default is 1.0</dd>
|
||||
<dd><code>I</code> - Integral gain for closed loop. This is multiplied by closed loop error in sensor units every
|
||||
PID Loop.</dd>
|
||||
<dd><code>D</code> - Derivative gain for closed loop. This is multiplied by derivative error (sensor units per PID
|
||||
loop). Default is 0.1</dd>
|
||||
<dd><code>F</code> - Feed Fwd gain for Closed loop.</dd>
|
||||
<dd><code>integralZone</code> - Integral Zone can be used to auto clear the integral accumulator if the sensor pos is too far
|
||||
from the target. This prevents unstable oscillation if the kI is too large. Value is in sensor
|
||||
units.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setConversionFactor(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setConversionFactor</h4>
|
||||
<pre class="methodSignature">public void setConversionFactor​(double conversionFactor)</pre>
|
||||
<div class="block">Configures the conversion factor based upon which motor.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setConversionFactor(double)">setConversionFactor</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>conversionFactor</code> - Conversion from RPM to MPS for drive motor, and rotations to degrees for the turning
|
||||
motor.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setTarget(double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setTarget</h4>
|
||||
<pre class="methodSignature">public void setTarget​(double target,
|
||||
double feedforward)</pre>
|
||||
<div class="block">Set the target for the PID loop.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setTarget(double,double)">setTarget</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>target</code> - The PID target to aim for.</dd>
|
||||
<dd><code>feedforward</code> - feedForward value.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="stop()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>stop</h4>
|
||||
<pre class="methodSignature">public void stop()</pre>
|
||||
<div class="block">Stop the motor by sending 0 volts to it.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#stop()">stop</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="set(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>set</h4>
|
||||
<pre class="methodSignature">public void set​(double speed)</pre>
|
||||
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#set(double)">set</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>speed</code> - Speed from -1 to 1.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="get()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>get</h4>
|
||||
<pre class="methodSignature">public double get()</pre>
|
||||
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#get()">get</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Current value of the encoder.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getAmps()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getAmps</h4>
|
||||
<pre class="methodSignature">public double getAmps()</pre>
|
||||
<div class="block">Get the current output.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#getAmps()">getAmps</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Output amps.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="getPosition()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>getPosition</h4>
|
||||
<pre class="methodSignature">public double getPosition()</pre>
|
||||
<div class="block">Get the current value of the encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#getPosition()">getPosition</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Current value of the encoder.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setVoltageCompensation(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setVoltageCompensation</h4>
|
||||
<pre class="methodSignature">public void setVoltageCompensation​(double nominalVoltage)</pre>
|
||||
<div class="block">Set the voltage compensation for the swerve module motor.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setVoltageCompensation(double)">setVoltageCompensation</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>nominalVoltage</code> - Nominal voltage for operation to output to.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setCurrentLimit(int)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setCurrentLimit</h4>
|
||||
<pre class="methodSignature">public void setCurrentLimit​(int currentLimit)</pre>
|
||||
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
|
||||
voltage compensation. This is useful to protect the motor from current spikes.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setCurrentLimit(int)">setCurrentLimit</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>currentLimit</code> - Current limit in AMPS at free speed.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setEncoder(double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setEncoder</h4>
|
||||
<pre class="methodSignature">public void setEncoder​(double value)</pre>
|
||||
<div class="block">Set the encoder value.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setEncoder(double)">setEncoder</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>value</code> - Value to set the encoder to.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setCANStatusFrames(int,int,int,int,int)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>setCANStatusFrames</h4>
|
||||
<pre class="methodSignature">public void setCANStatusFrames​(int CANStatus0,
|
||||
int CANStatus1,
|
||||
int CANStatus2,
|
||||
int CANStatus3,
|
||||
int CANStatus4)</pre>
|
||||
<div class="block">Set the CAN status frames.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>CANStatus0</code> - Applied Output, Faults, Sticky Faults, Is Follower</dd>
|
||||
<dd><code>CANStatus1</code> - Motor Velocity, Motor Temperature, Motor Voltage, Motor Current</dd>
|
||||
<dd><code>CANStatus2</code> - Motor Position</dd>
|
||||
<dd><code>CANStatus3</code> - Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position</dd>
|
||||
<dd><code>CANStatus4</code> - Alternate Encoder Velocity, Alternate Encoder Position</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="reachable()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>reachable</h4>
|
||||
<pre class="methodSignature">public boolean reachable()</pre>
|
||||
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#reachable()">reachable</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>true on all devices are accessible over CAN.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="remoteIntegratedEncoder()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>remoteIntegratedEncoder</h4>
|
||||
<pre class="methodSignature">public boolean remoteIntegratedEncoder()</pre>
|
||||
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#remoteIntegratedEncoder()">remoteIntegratedEncoder</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>true, if the absolute encoder is being used as the integrated controller.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="optimizeCANFrames()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>optimizeCANFrames</h4>
|
||||
<pre class="methodSignature">public void optimizeCANFrames()</pre>
|
||||
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#optimizeCANFrames()">optimizeCANFrames</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="saveConfig()">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>saveConfig</h4>
|
||||
<pre class="methodSignature">public void saveConfig()</pre>
|
||||
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#saveConfig()">saveConfig</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="setInverted(boolean)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>setInverted</h4>
|
||||
<pre class="methodSignature">public void setInverted​(boolean inverted)</pre>
|
||||
<div class="block">Invert the motor.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
|
||||
<dd><code><a href="../SwerveMotor.html#setInverted(boolean)">setInverted</a></code> in class <code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>inverted</code> - Set the motor as inverted.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
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<table class="typeSummary">
|
||||
<caption><span>Class Summary</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Class</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tbody>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</li>
|
||||
<li class="blockList">
|
||||
<table class="typeSummary">
|
||||
<caption><span>Enum Summary</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Enum</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tbody>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The TalonSRX PID to use onboard.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">REV Slots for PID configuration.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
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</div>
|
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|
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<footer role="contentinfo">
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|
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|
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<!-- ======== END OF BOTTOM NAVBAR ======= -->
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</nav>
|
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</footer>
|
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</body>
|
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</html>
|
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@@ -0,0 +1,183 @@
|
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<!DOCTYPE HTML>
|
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<!-- NewPage -->
|
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<html lang="en">
|
||||
<head>
|
||||
<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
|
||||
<title>frc.robot.subsystems.swervedrive.swerve.motors Class Hierarchy</title>
|
||||
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
|
||||
<meta name="dc.created" content="2023-01-29">
|
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<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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|
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<script type="text/javascript"><!--
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|
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if (location.href.indexOf('is-external=true') == -1) {
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parent.document.title="frc.robot.subsystems.swervedrive.swerve.motors Class Hierarchy";
|
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}
|
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}
|
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catch(err) {
|
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}
|
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//-->
|
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|
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<li class="navBarCell1Rev">Tree</li>
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<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
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<li><label for="search">SEARCH:</label>
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<input type="text" id="search" value="search" disabled="disabled">
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<script type="text/javascript"><!--
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allClassesLink = document.getElementById("allclasses_navbar_top");
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else {
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allClassesLink.style.display = "none";
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<div>JavaScript is disabled on your browser.</div>
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</nav>
|
||||
</header>
|
||||
<main role="main">
|
||||
<div class="header">
|
||||
<h1 class="title">Hierarchy For Package frc.robot.subsystems.swervedrive.swerve.motors</h1>
|
||||
<span class="packageHierarchyLabel">Package Hierarchies:</span>
|
||||
<ul class="horizontal">
|
||||
<li><a href="../../../../../../overview-tree.html">All Packages</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<section role="region">
|
||||
<h2 title="Class Hierarchy">Class Hierarchy</h2>
|
||||
<ul>
|
||||
<li class="circle">java.lang.Object
|
||||
<ul>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveMotor</span></a>
|
||||
<ul>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">REVSwerveMotor</span></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section role="region">
|
||||
<h2 title="Enum Hierarchy">Enum Hierarchy</h2>
|
||||
<ul>
|
||||
<li class="circle">java.lang.Object
|
||||
<ul>
|
||||
<li class="circle">java.lang.Enum<E> (implements java.lang.Comparable<T>, java.io.Serializable)
|
||||
<ul>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_pidIdx</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_remoteSensor</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_slotIdx</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">REVSwerveMotor.REV_slotIdx</span></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
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</ul>
|
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</section>
|
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|
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|
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<li class="navBarCell1Rev">Tree</li>
|
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<li><a href="../../../../../../deprecated-list.html">Deprecated</a></li>
|
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<li><a href="../../../../../../index-files/index-1.html">Index</a></li>
|
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</footer>
|
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</body>
|
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</html>
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@@ -0,0 +1,223 @@
|
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<!DOCTYPE HTML>
|
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<!-- NewPage -->
|
||||
<html lang="en">
|
||||
<head>
|
||||
<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
|
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<title>frc.robot.subsystems.swervedrive.swerve</title>
|
||||
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
|
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<meta name="dc.created" content="2023-01-29">
|
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<link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
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<script type="text/javascript"><!--
|
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try {
|
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if (location.href.indexOf('is-external=true') == -1) {
|
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parent.document.title="frc.robot.subsystems.swervedrive.swerve";
|
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}
|
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}
|
||||
catch(err) {
|
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}
|
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//-->
|
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var pathtoroot = "../../../../../";
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|
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loadScripts(document, 'script');</script>
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<main role="main">
|
||||
<div class="header">
|
||||
<h1 title="Package" class="title">Package frc.robot.subsystems.swervedrive.swerve</h1>
|
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</div>
|
||||
<div class="contentContainer">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
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<table class="typeSummary">
|
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<caption><span>Class Summary</span><span class="tabEnd"> </span></caption>
|
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<tr>
|
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<th class="colFirst" scope="col">Class</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tbody>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">SwerveDrive base which is meant to be platform agnostic.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a><DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Helper class for easier swerve module creation</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a><AbsoluteEncoderType></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve Encoder class definition for common interfaces.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a><DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AngleMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoderType></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve module for representing a single swerve module of the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve Drive JSON parser.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</li>
|
||||
<li class="blockList">
|
||||
<table class="typeSummary">
|
||||
<caption><span>Enum Summary</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Enum</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tbody>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Swerve Module location on the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Verbosity levels for data publishing,</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colFirst" scope="row"><a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Motor type for the swerve drive module</div>
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</main>
|
||||
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
</html>
|
||||
190
docs/frc/robot/subsystems/swervedrive/swerve/package-tree.html
Normal file
190
docs/frc/robot/subsystems/swervedrive/swerve/package-tree.html
Normal file
@@ -0,0 +1,190 @@
|
||||
<!DOCTYPE HTML>
|
||||
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|
||||
<html lang="en">
|
||||
<head>
|
||||
<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
|
||||
<title>frc.robot.subsystems.swervedrive.swerve Class Hierarchy</title>
|
||||
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
|
||||
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|
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|
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|
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|
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|
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|
||||
}
|
||||
catch(err) {
|
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}
|
||||
//-->
|
||||
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|
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|
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|
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|
||||
<div class="header">
|
||||
<h1 class="title">Hierarchy For Package frc.robot.subsystems.swervedrive.swerve</h1>
|
||||
<span class="packageHierarchyLabel">Package Hierarchies:</span>
|
||||
<ul class="horizontal">
|
||||
<li><a href="../../../../../overview-tree.html">All Packages</a></li>
|
||||
</ul>
|
||||
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|
||||
<div class="contentContainer">
|
||||
<section role="region">
|
||||
<h2 title="Class Hierarchy">Class Hierarchy</h2>
|
||||
<ul>
|
||||
<li class="circle">java.lang.Object
|
||||
<ul>
|
||||
<li class="circle">edu.wpi.first.wpilibj.MotorSafety
|
||||
<ul>
|
||||
<li class="circle">edu.wpi.first.wpilibj.drive.RobotDriveBase
|
||||
<ul>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveDrive</span></a> (implements java.lang.AutoCloseable, edu.wpi.first.util.sendable.Sendable)</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveDrive.SwerveModuleConfig</span></a><DriveMotorType,​SteeringMotorType,​AbsoluteEncoder></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveEncoder</span></a><AbsoluteEncoderType></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveModule</span></a><DriveMotorType,​AngleMotorType,​AbsoluteEncoderType> (implements java.lang.AutoCloseable, edu.wpi.first.wpilibj.motorcontrol.MotorController, edu.wpi.first.util.sendable.Sendable)</li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveMotor</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveParser</span></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section role="region">
|
||||
<h2 title="Enum Hierarchy">Enum Hierarchy</h2>
|
||||
<ul>
|
||||
<li class="circle">java.lang.Object
|
||||
<ul>
|
||||
<li class="circle">java.lang.Enum<E> (implements java.lang.Comparable<T>, java.io.Serializable)
|
||||
<ul>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveModule.SwerveModuleLocation</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveModule.Verbosity</span></a></li>
|
||||
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveMotor.ModuleMotorType</span></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
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|
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|
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|
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|
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|
||||
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|
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<li><a href="../../../../../deprecated-list.html">Deprecated</a></li>
|
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|
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Reference in New Issue
Block a user