Team2890/YAGSL
4
0
Fork 0
mirror of https://github.com/BroncBotz3481/YAGSL synced 2026-06-19 06:21:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update to swervelib 2024.5.0.0

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

46
swervelib/parser/json/modules/DriveConversionFactorsJson.java Normal file
View File

@@ -0,0 +1,46 @@
package swervelib.parser.json.modules;
import edu.wpi.first.math.util.Units;
import swervelib.math.SwerveMath;
import swervelib.telemetry.Alert;
import swervelib.telemetry.Alert.AlertType;
/**
* Drive motor composite JSON parse class.
*/
public class DriveConversionFactorsJson
{
/**
* Gear ratio for the drive motor rotations to turn the wheel 1 complete rotation.
*/
public double gearRatio = 0;
/**
* Diameter of the wheel in inches.
*/
public double diameter = 0;
/**
* Calculated conversion factor.
*/
public double factor = 0;
/**
* Calculate the drive conversion factor.
*
* @return Drive conversion factor, if factor isn't set.
*/
public double calculate()
{
if (factor != 0 && (diameter != 0 || gearRatio != 0))
{
new Alert("Configuration",
"The given drive conversion factor takes precedence over the composite conversion factor, please remove 'factor' if you want to use the composite factor instead.",
AlertType.WARNING).set(true);
}
if (factor == 0)
{
factor = SwerveMath.calculateMetersPerRotation(Units.inchesToMeters(this.diameter), this.gearRatio);
}
return factor;
}
}