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Code Issues Packages Projects Releases Wiki Activity

Removed redundant lock function

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thenetworkgrinch
2023-02-14 22:49:55 -06:00
parent 11cd39b78f
commit 88cf3f8da3
89 changed files with 116 additions and 147 deletions
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<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
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<title>Constant Field Values</title>
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@@ -84,10 +84,6 @@ loadScripts(document, 'script');</script>
</dd>
<dt><a href="../swervelib/parser/json/modules/LocationJson.html#%3Cinit%3E()" class="member-name-link">LocationJson()</a> - Constructor for class swervelib.parser.json.modules.<a href="../swervelib/parser/json/modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/SwerveDrive.html#lock()" class="member-name-link">lock()</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Lock the swerve drive to prevent it from moving.</div>
</dd>
</dl>
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SwerveController</title>
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SwerveDrive</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -237,54 +237,49 @@ loadScripts(document, 'script');</script>
<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#lock()" class="member-name-link">lock</a>()</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Lock the swerve drive to prevent it from moving.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Setup the swerve module feedforward.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Resets odometry to the given pose.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set field-relative chassis speeds with closed-loop velocity control.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDriveBrake()" class="member-name-link">setDriveBrake</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDriveBrake()" class="member-name-link">setDriveBrake</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
boolean&nbsp;isOpenLoop)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the module states (azimuth and velocity) directly.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;brake)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;brake)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Sets the drive motors to brake/coast mode.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#synchronizeModuleEncoders()" class="member-name-link">synchronizeModuleEncoders</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#synchronizeModuleEncoders()" class="member-name-link">synchronizeModuleEncoders</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Synchronize angle motor integrated encoders with data from absolute encoders.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateOdometry()" class="member-name-link">updateOdometry</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateOdometry()" class="member-name-link">updateOdometry</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Update odometry should be run every loop.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#zeroGyro()" class="member-name-link">zeroGyro</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#zeroGyro()" class="member-name-link">zeroGyro</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.</div>
</div>
</div>
@@ -432,13 +427,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="lock()">
<h3>lock</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">lock</span>()</div>
<div class="block">Lock the swerve drive to prevent it from moving.</div>
</section>
</li>
<li>
<section class="detail" id="setModuleStates(swervelib.math.SwerveModuleState2[],boolean)">
<h3>setModuleStates</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setModuleStates</span><wbr><span class="parameters">(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SwerveModule</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>CANCoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SparkMaxEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SwerveAbsoluteEncoder</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.encoders</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.encoders Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>NavXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>Pigeon2Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>PigeonSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SwerveIMU</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.imu</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.imu Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SwerveKinematics2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SwerveMath</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SwerveModuleState2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.math</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.math Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SparkMaxSwerve.SparkMAX_slotIdx</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SparkMaxSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SwerveMotor</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>TalonFXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>TalonSRXSwerve.CTRE_pidIdx</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>TalonSRXSwerve.CTRE_remoteSensor</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>TalonSRXSwerve.CTRE_slotIdx</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>TalonSRXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.motors</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.motors Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
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<title>PIDFConfig</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
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<title>SwerveControllerConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
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<title>SwerveDriveConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
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<title>SwerveModuleConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
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<title>SwerveModulePhysicalCharacteristics</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
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<title>SwerveParser</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>PIDFRange</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.parser.deserializer</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
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<title>swervelib.parser.deserializer Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>ControllerPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>DeviceJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/ModuleJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>ModuleJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/MotorConfigDouble.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>MotorConfigDouble</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/MotorConfigInt.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>MotorConfigInt</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/PIDFPropertiesJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>PIDFPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/PhysicalPropertiesJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>PhysicalPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/SwerveDriveJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>SwerveDriveJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/modules/BoolMotorJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>BoolMotorJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/modules/LocationJson.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>LocationJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/modules/package-summary.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.parser.json.modules</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/modules/package-tree.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.parser.json.modules Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/package-summary.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.parser.json</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/json/package-tree.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.parser.json Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/package-summary.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.parser</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

2
docs/swervelib/parser/package-tree.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:37:00 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:49:37 CST 2023 -->
<title>swervelib.parser Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

21
swervelib/SwerveDrive.java
View File

@@ -145,21 +145,6 @@ public class SwerveDrive
setModuleStates(swerveModuleStates, isOpenLoop);
}
/**
* Lock the swerve drive to prevent it from moving.
*/
public void lock()
{
double[] angles = new double[]{45, -45, -45, 45};
SwerveModuleState2[] moduleState2s = new SwerveModuleState2[swerveModules.length];
for (int i = 0; i < moduleState2s.length; i++)
{
swerveModules[i].lastAngle = angles[i % 4]; // Override jittering to ensure module is set to angle.
moduleState2s[i] = new SwerveModuleState2(0, Rotation2d.fromDegrees(angles[i % 4]), 0);
}
setModuleStates(moduleState2s, false);
}
/**
* Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.
*
@@ -337,7 +322,7 @@ public class SwerveDrive
{
double[] ypr = new double[3];
imu.getYawPitchRoll(ypr);
return Rotation2d.fromDegrees(swerveDriveConfiguration.invertedIMU ? 360 - ypr[1] : ypr[1]);
return Rotation2d.fromDegrees(swerveDriveConfiguration.invertedIMU ? 360 - ypr[2] : ypr[2]);
} else
{
return new Rotation2d();
@@ -357,9 +342,9 @@ public class SwerveDrive
double[] ypr = new double[3];
imu.getYawPitchRoll(ypr);
return new Rotation3d(
Math.toRadians(swerveDriveConfiguration.invertedIMU ? 360 - ypr[0] : ypr[0]),
Math.toRadians(swerveDriveConfiguration.invertedIMU ? 360 - ypr[2] : ypr[2]),
Math.toRadians(swerveDriveConfiguration.invertedIMU ? 360 - ypr[1] : ypr[1]),
Math.toRadians(swerveDriveConfiguration.invertedIMU ? 360 - ypr[2] : ypr[2]));
Math.toRadians(swerveDriveConfiguration.invertedIMU ? 360 - ypr[0] : ypr[0]));
} else
{
return new Rotation3d(angle, 0, 0);