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Update to swervelib 2024.5.0.0

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This commit is contained in:
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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44
swervelib/parser/json/ModuleJson.java
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@@ -9,6 +9,7 @@ import swervelib.parser.PIDFConfig;
import swervelib.parser.SwerveModuleConfiguration;
import swervelib.parser.SwerveModulePhysicalCharacteristics;
import swervelib.parser.json.modules.BoolMotorJson;
import swervelib.parser.json.modules.ConversionFactorsJson;
import swervelib.parser.json.modules.LocationJson;
/**
@@ -20,11 +21,11 @@ public class ModuleJson
/**
* Drive motor device configuration.
*/
public DeviceJson drive;
public DeviceJson drive;
/**
* Angle motor device configuration.
*/
public DeviceJson angle;
public DeviceJson angle;
/**
* Conversion factor for the module, if different from the one in swervedrive.json
* <p>
@@ -32,31 +33,35 @@ public class ModuleJson
* {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} for angle motors or
* {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} for drive motors.
*/
public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0);
public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0);
/**
* Conversion Factors composition. Auto-calculates the conversion factors.
*/
public ConversionFactorsJson conversionFactors = new ConversionFactorsJson();
/**
* Absolute encoder device configuration.
*/
public DeviceJson encoder;
public DeviceJson encoder;
/**
* Defines which motors are inverted.
*/
public BoolMotorJson inverted;
public BoolMotorJson inverted;
/**
* Absolute encoder offset from 0 in degrees.
*/
public double absoluteEncoderOffset;
public double absoluteEncoderOffset;
/**
* Absolute encoder inversion state.
*/
public boolean absoluteEncoderInverted = false;
public boolean absoluteEncoderInverted = false;
/**
* The location of the swerve module from the center of the robot in inches.
*/
public LocationJson location;
public LocationJson location;
/**
* Should do cosine compensation when not pointing correct direction;.
*/
public boolean useCosineCompensator = true;
public boolean useCosineCompensator = true;
/**
* Create the swerve module configuration based off of parsed data.
@@ -85,6 +90,27 @@ public class ModuleJson
}
}
// Setup deprecation notice.
// if (this.conversionFactor.drive != 0 && this.conversionFactor.angle != 0)
// {
// new Alert("Configuration",
// "\n'conversionFactor': {'drive': " + conversionFactor.drive + ", 'angle': " + conversionFactor.angle +
// "} \nis deprecated, please use\n" +
// "'conversionFactors': {'drive': {'factor': " + conversionFactor.drive + "}, 'angle': {'factor': " +
// conversionFactor.angle + "} }",
// AlertType.WARNING).set(true);
// }
// Override with composite conversion factor.
if (!conversionFactors.isAngleEmpty())
{
conversionFactor.angle = conversionFactors.angle.calculate();
}
if (!conversionFactors.isDriveEmpty())
{
conversionFactor.drive = conversionFactors.drive.calculate();
}
// Set the conversion factors to null if they are both 0.
if (this.conversionFactor != null)
{