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Update to swervelib 2024.5.0.0

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thenetworkgrinch
2024-07-29 15:14:25 -05:00
parent a64d1d3215
commit 89e4163951
120 changed files with 1420 additions and 439 deletions
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15
swervelib/SwerveDrive.java
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@@ -1159,6 +1159,21 @@ public class SwerveDrive
}
}
/**
* Enable auto-centering module wheels. This has a side effect of causing some jitter to the robot when a PID is not
* tuned perfectly. This function is a wrapper for {@link SwerveModule#setAntiJitter(boolean)} to perform
* auto-centering.
*
* @param enabled Enable auto-centering (disable antiJitter)
*/
public void setAutoCenteringModules(boolean enabled)
{
for (SwerveModule module : swerveModules)
{
module.setAntiJitter(!enabled);
}
}
/**
* Enable or disable the {@link swervelib.parser.SwerveModuleConfiguration#useCosineCompensator} for all
* {@link SwerveModule}'s in the swerve drive. The cosine compensator will slow down or speed up modules that are