mirror of
https://github.com/BroncBotz3481/YAGSL
synced 2026-07-04 07:31:39 +00:00
Updating to 2024.6.0.0
This commit is contained in:
thenetworkgrinch
@@ -1,11 +1,11 @@
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||||
<!DOCTYPE HTML>
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<html lang="en">
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<head>
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<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
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<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
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<title>SwerveDrive</title>
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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<meta name="dc.created" content="2024-09-03">
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<meta name="dc.created" content="2024-10-14">
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||||
<meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
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<meta name="generator" content="javadoc/ClassWriterImpl">
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<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
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||||
@@ -91,6 +91,16 @@ loadScripts(document, 'script');</script>
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Field</div>
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||||
<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color"><code>double</code></div>
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||||
<div class="col-second even-row-color"><code><a href="#angularVelocityCoefficient" class="member-name-link">angularVelocityCoefficient</a></code></div>
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||||
<div class="col-last even-row-color">
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<div class="block">Angular Velocity Correction Coefficent (expected values between -0.15 and 0.15).</div>
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</div>
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<div class="col-first odd-row-color"><code>boolean</code></div>
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||||
<div class="col-second odd-row-color"><code><a href="#angularVelocityCorrection" class="member-name-link">angularVelocityCorrection</a></code></div>
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<div class="col-last odd-row-color">
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||||
<div class="block">Correct for skew that scales with angular velocity in <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(Translation2d, double, boolean, boolean)</code></a></div>
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</div>
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<div class="col-first even-row-color"><code>private double</code></div>
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<div class="col-second even-row-color"><code><a href="#attainableMaxRotationalVelocityRadiansPerSecond" class="member-name-link">attainableMaxRotationalVelocityRadiansPerSecond</a></code></div>
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<div class="col-last even-row-color">
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||||
@@ -102,6 +112,18 @@ loadScripts(document, 'script');</script>
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<div class="block">The absolute max speed that your robot can reach while translating in meters per second.</div>
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</div>
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<div class="col-first even-row-color"><code>boolean</code></div>
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<div class="col-second even-row-color"><code><a href="#autonomousAngularVelocityCorrection" class="member-name-link">autonomousAngularVelocityCorrection</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Correct for skew that scales with angular velocity in <a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)"><code>setChassisSpeeds(ChassisSpeeds chassisSpeeds)</code></a>
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during auto.</div>
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</div>
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<div class="col-first odd-row-color"><code>boolean</code></div>
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<div class="col-second odd-row-color"><code><a href="#autonomousChassisVelocityCorrection" class="member-name-link">autonomousChassisVelocityCorrection</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Correct chassis velocity in <a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)"><code>setChassisSpeeds(ChassisSpeeds chassisSpeeds)</code></a> (auto) using 254's
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correction during auto.</div>
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</div>
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<div class="col-first even-row-color"><code>boolean</code></div>
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<div class="col-second even-row-color"><code><a href="#chassisVelocityCorrection" class="member-name-link">chassisVelocityCorrection</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Correct chassis velocity in <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(Translation2d, double, boolean, boolean)</code></a> using 254's
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@@ -137,64 +159,69 @@ loadScripts(document, 'script');</script>
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<div class="col-last even-row-color">
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<div class="block">IMU reading cache for robot readings.</div>
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</div>
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<div class="col-first odd-row-color"><code>final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
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<div class="col-second odd-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
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<div class="col-first odd-row-color"><code>private <a href="imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#imuVelocity" class="member-name-link">imuVelocity</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Class that calculates robot's yaw velocity using IMU measurements.</div>
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</div>
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<div class="col-first even-row-color"><code>final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
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<div class="col-second even-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Swerve Kinematics object.</div>
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</div>
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<div class="col-first even-row-color"><code>private double</code></div>
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<div class="col-second even-row-color"><code><a href="#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>private double</code></div>
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<div class="col-second odd-row-color"><code><a href="#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">The last heading set in radians.</div>
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</div>
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<div class="col-first odd-row-color"><code>private double</code></div>
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<div class="col-second odd-row-color"><code><a href="#maxSpeedMPS" class="member-name-link">maxSpeedMPS</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>private double</code></div>
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<div class="col-second even-row-color"><code><a href="#maxSpeedMPS" class="member-name-link">maxSpeedMPS</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Maximum speed of the robot in meters per second.</div>
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</div>
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<div class="col-first even-row-color"><code>private int</code></div>
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<div class="col-second even-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>private int</code></div>
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<div class="col-second odd-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Counter to synchronize the modules relative encoder with absolute encoder when not moving.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/concurrent/locks/Lock.html" title="class or interface in java.util.concurrent.locks" class="external-link">Lock</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#odometryLock" class="member-name-link">odometryLock</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/concurrent/locks/Lock.html" title="class or interface in java.util.concurrent.locks" class="external-link">Lock</a></code></div>
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<div class="col-second even-row-color"><code><a href="#odometryLock" class="member-name-link">odometryLock</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Odometry lock to ensure thread safety.</div>
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</div>
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<div class="col-first even-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
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<div class="col-second even-row-color"><code><a href="#odometryThread" class="member-name-link">odometryThread</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
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<div class="col-second odd-row-color"><code><a href="#odometryThread" class="member-name-link">odometryThread</a></code></div>
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||||
<div class="col-last odd-row-color">
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<div class="block">WPILib <code>Notifier</code> to keep odometry up to date.</div>
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</div>
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<div class="col-first odd-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
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<div class="col-second even-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Simulation of the swerve drive.</div>
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</div>
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<div class="col-first even-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
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<div class="col-second even-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Swerve controller for controlling heading of the robot.</div>
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</div>
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<div class="col-first odd-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
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<div class="col-second even-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Swerve drive configuration.</div>
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</div>
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<div class="col-first even-row-color"><code>final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></div>
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<div class="col-second even-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></div>
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<div class="col-second odd-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Swerve odometry.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
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<div class="col-second odd-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
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<div class="col-second even-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Swerve modules.</div>
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</div>
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<div class="col-first even-row-color"><code>private final <a href="telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
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<div class="col-second even-row-color"><code><a href="#tunerXRecommendation" class="member-name-link">tunerXRecommendation</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>private final <a href="telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#tunerXRecommendation" class="member-name-link">tunerXRecommendation</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Alert to recommend Tuner X if the configuration is compatible.</div>
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</div>
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</div>
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@@ -243,163 +270,175 @@ loadScripts(document, 'script');</script>
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<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with
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the given timestamp of the vision measurement.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#checkIfTunerXCompatible()" class="member-name-link">checkIfTunerXCompatible</a>()</code></div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#angularVelocitySkewCorrection(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">angularVelocitySkewCorrection</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Correct for skew that worsens as angular velocity increases</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#checkIfTunerXCompatible()" class="member-name-link">checkIfTunerXCompatible</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Check all components to ensure that Tuner X Swerve Generator is recommended instead.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.geometry.Translation2d translation,
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.geometry.Translation2d translation,
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double rotation,
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boolean fieldRelative,
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boolean isOpenLoop)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">The primary method for controlling the drivebase.</div>
|
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</div>
|
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.geometry.Translation2d translation,
|
||||
<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="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.geometry.Translation2d translation,
|
||||
double rotation,
|
||||
boolean fieldRelative,
|
||||
boolean isOpenLoop,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</code></div>
|
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">The primary method for controlling the drivebase.</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="#drive(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)</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="#drive(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Secondary method for controlling the drivebase.</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="#drive(edu.wpi.first.math.kinematics.ChassisSpeeds,boolean,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
|
||||
<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="#drive(edu.wpi.first.math.kinematics.ChassisSpeeds,boolean,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
|
||||
boolean isOpenLoop,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</code></div>
|
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">The primary method for controlling the drivebase.</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="#drive(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
|
||||
<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="#drive(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</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">Secondary method for controlling the drivebase.</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="#driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">driveFieldOriented</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.</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="#driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">driveFieldOriented</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">driveFieldOriented</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.</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="#driveFieldOrientedandRobotOriented(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">driveFieldOrientedandRobotOriented</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds fieldOrientedVelocity,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds robotOrientedVelocity)</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">driveFieldOriented</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.</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="#driveFieldOrientedandRobotOriented(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">driveFieldOrientedandRobotOriented</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds fieldOrientedVelocity,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds robotOrientedVelocity)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same
|
||||
time.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a><edu.wpi.first.math.geometry.Translation3d></code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</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><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a><edu.wpi.first.math.geometry.Translation3d></code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets current acceleration of the robot in m/s/s.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getFieldVelocity()" class="member-name-link">getFieldVelocity</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>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getFieldVelocity()" class="member-name-link">getFieldVelocity</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyro()" class="member-name-link">getGyro</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><a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyro()" class="member-name-link">getGyro</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Getter for the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a>.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyroRotation3d()" class="member-name-link">getGyroRotation3d</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>edu.wpi.first.math.geometry.Rotation3d</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyroRotation3d()" class="member-name-link">getGyroRotation3d</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current gyro <code>Rotation3d</code> of the robot, as reported by the imu.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumAngularVelocity()" class="member-name-link">getMaximumAngularVelocity</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>double</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumAngularVelocity()" class="member-name-link">getMaximumAngularVelocity</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Get the maximum angular velocity, either <a href="#attainableMaxRotationalVelocityRadiansPerSecond"><code>attainableMaxRotationalVelocityRadiansPerSecond</code></a> or
|
||||
<a href="parser/SwerveControllerConfiguration.html#maxAngularVelocity"><code>SwerveControllerConfiguration.maxAngularVelocity</code></a>.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumVelocity()" class="member-name-link">getMaximumVelocity</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>double</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumVelocity()" class="member-name-link">getMaximumVelocity</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Get the maximum velocity from <a href="#attainableMaxTranslationalSpeedMetersPerSecond"><code>attainableMaxTranslationalSpeedMetersPerSecond</code></a> or
|
||||
<a href="#maxSpeedMPS"><code>maxSpeedMPS</code></a> whichever is higher.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Map.html" title="class or interface in java.util" class="external-link">Map</a><<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>,<wbr><a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>></code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModuleMap()" class="member-name-link">getModuleMap</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><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Map.html" title="class or interface in java.util" class="external-link">Map</a><<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>,<wbr><a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>></code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModuleMap()" class="member-name-link">getModuleMap</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Get the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>'s as a <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/HashMap.html" title="class or interface in java.util" class="external-link"><code>HashMap</code></a> where the key is the swerve module configuration name.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModulePositions()" class="member-name-link">getModulePositions</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>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModulePositions()" class="member-name-link">getModulePositions</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current module positions (azimuth and wheel position (meters)).</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModules()" class="member-name-link">getModules</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><a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModules()" class="member-name-link">getModules</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Get the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>s associated with the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a>.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getOdometryHeading()" class="member-name-link">getOdometryHeading</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>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getOdometryHeading()" class="member-name-link">getOdometryHeading</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Fetch the latest odometry heading, should be trusted over <a href="#getYaw()"><code>getYaw()</code></a>.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</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>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current pitch 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>edu.wpi.first.math.geometry.Pose2d</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPose()" class="member-name-link">getPose</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>edu.wpi.first.math.geometry.Pose2d</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPose()" class="member-name-link">getPose</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRobotVelocity()" class="member-name-link">getRobotVelocity</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>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRobotVelocity()" class="member-name-link">getRobotVelocity</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</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>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current roll angle of the robot, as reported by the imu.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState[]</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</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>edu.wpi.first.math.kinematics.SwerveModuleState[]</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</a>()</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current module states (azimuth and velocity)</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveController()" class="member-name-link">getSwerveController</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><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveController()" class="member-name-link">getSwerveController</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Helper function to get the <a href="#swerveController"><code>swerveController</code></a> for the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> which can be used to
|
||||
generate <code>ChassisSpeeds</code> for the robot to orient it correctly given axis or angles, and apply
|
||||
<code>SlewRateLimiter</code> to given inputs.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d[]</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses</a><wbr>(edu.wpi.first.math.geometry.Pose2d robotPose)</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>edu.wpi.first.math.geometry.Pose2d[]</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses</a><wbr>(edu.wpi.first.math.geometry.Pose2d robotPose)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Get the swerve module poses and on the field relative to the robot.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</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>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</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="#lockPose()" class="member-name-link">lockPose</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="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
|
||||
<div class="col-last even-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>private edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#movementOptimizations(edu.wpi.first.math.kinematics.ChassisSpeeds,boolean,boolean)" class="member-name-link">movementOptimizations</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
|
||||
boolean uesChassisDiscretize,
|
||||
boolean useAngularVelocitySkewCorrection)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Enable desired drive corrections</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="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory trajectory)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
@@ -437,15 +476,30 @@ loadScripts(document, 'script');</script>
|
||||
<div class="block">Set the conversion factor for the angle/azimuth motor controller.</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="#setAutoCenteringModules(boolean)" class="member-name-link">setAutoCenteringModules</a><wbr>(boolean enabled)</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAngularVelocityCompensation(boolean,boolean,double)" class="member-name-link">setAngularVelocityCompensation</a><wbr>(boolean useInTeleop,
|
||||
boolean useInAuto,
|
||||
double angularVelocityCoeff)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Enables angular velocity skew correction in teleop and/or autonomous
|
||||
and sets the angular velocity coefficient for both modes</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="#setAutoCenteringModules(boolean)" class="member-name-link">setAutoCenteringModules</a><wbr>(boolean enabled)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Enable auto-centering module wheels.</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="#setChassisDiscretization(boolean,boolean,double)" class="member-name-link">setChassisDiscretization</a><wbr>(boolean useInTeleop,
|
||||
boolean useInAuto,
|
||||
double dtSeconds)</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 Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop and/or auto</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="#setChassisDiscretization(boolean,double)" class="member-name-link">setChassisDiscretization</a><wbr>(boolean enable,
|
||||
double dtSeconds)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction</div>
|
||||
<div class="block">Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop</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 chassisSpeeds)</code></div>
|
||||
@@ -488,7 +542,7 @@ loadScripts(document, 'script');</script>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeed(double)" class="member-name-link">setMaximumSpeed</a><wbr>(double maximumSpeed)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the maximum speed of the drive motors, modified <a href="#maxSpeedMPS"><code>maxSpeedMPS</code></a> which is used for the
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,boolean)"><code>setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean)</code></a> function and
|
||||
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
@@ -497,7 +551,7 @@ loadScripts(document, 'script');</script>
|
||||
double optimalVoltage)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the maximum speed of the drive motors, modified <a href="#maxSpeedMPS"><code>maxSpeedMPS</code></a> which is used for the
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,boolean)"><code>setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean)</code></a> function and
|
||||
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
||||
@@ -508,57 +562,64 @@ loadScripts(document, 'script');</script>
|
||||
<div class="block">Set the maximum speeds for desaturation.</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(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
|
||||
boolean isOpenLoop)</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleEncoderAutoSynchronize(boolean,double)" class="member-name-link">setModuleEncoderAutoSynchronize</a><wbr>(boolean enabled,
|
||||
double deadband)</code></div>
|
||||
<div class="col-last odd-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 class="block">Enable auto synchronization for encoders during a match.</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="#setMotorIdleMode(boolean)" class="member-name-link">setMotorIdleMode</a><wbr>(boolean brake)</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
|
||||
boolean isOpenLoop)</code></div>
|
||||
<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 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="#setMotorIdleMode(boolean)" class="member-name-link">setMotorIdleMode</a><wbr>(boolean 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="#setOdometryPeriod(double)" class="member-name-link">setOdometryPeriod</a><wbr>(double period)</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="#setOdometryPeriod(double)" class="member-name-link">setOdometryPeriod</a><wbr>(double period)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Set the odometry update period in seconds.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setRawModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,boolean)" class="member-name-link">setRawModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds desiredChassisSpeed,
|
||||
boolean isOpenLoop)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-last odd-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 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="#setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix)" class="member-name-link">setVisionMeasurementStdDevs</a><wbr>(edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)</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="#setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix)" class="member-name-link">setVisionMeasurementStdDevs</a><wbr>(edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Sets the pose estimator's trust of global measurements.</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="#stopOdometryThread()" class="member-name-link">stopOdometryThread</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="#stopOdometryThread()" class="member-name-link">stopOdometryThread</a>()</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Stop the odometry thread in favor of manually updating odometry.</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="#updateCacheValidityPeriods(long,long,long)" class="member-name-link">updateCacheValidityPeriods</a><wbr>(long imu,
|
||||
<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="#updateCacheValidityPeriods(long,long,long)" class="member-name-link">updateCacheValidityPeriods</a><wbr>(long imu,
|
||||
long driveMotor,
|
||||
long absoluteEncoder)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Update the cache validity period for the robot.</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="#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="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="block">Update odometry should be run every loop.</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="#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="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="block">Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.</div>
|
||||
</div>
|
||||
</div>
|
||||
@@ -657,6 +718,36 @@ loadScripts(document, 'script');</script>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="autonomousChassisVelocityCorrection">
|
||||
<h3>autonomousChassisVelocityCorrection</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">boolean</span> <span class="element-name">autonomousChassisVelocityCorrection</span></div>
|
||||
<div class="block">Correct chassis velocity in <a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)"><code>setChassisSpeeds(ChassisSpeeds chassisSpeeds)</code></a> (auto) using 254's
|
||||
correction during auto.</div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="angularVelocityCorrection">
|
||||
<h3>angularVelocityCorrection</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">boolean</span> <span class="element-name">angularVelocityCorrection</span></div>
|
||||
<div class="block">Correct for skew that scales with angular velocity in <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(Translation2d, double, boolean, boolean)</code></a></div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="autonomousAngularVelocityCorrection">
|
||||
<h3>autonomousAngularVelocityCorrection</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">boolean</span> <span class="element-name">autonomousAngularVelocityCorrection</span></div>
|
||||
<div class="block">Correct for skew that scales with angular velocity in <a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)"><code>setChassisSpeeds(ChassisSpeeds chassisSpeeds)</code></a>
|
||||
during auto.</div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="angularVelocityCoefficient">
|
||||
<h3>angularVelocityCoefficient</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">double</span> <span class="element-name">angularVelocityCoefficient</span></div>
|
||||
<div class="block">Angular Velocity Correction Coefficent (expected values between -0.15 and 0.15).</div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="headingCorrection">
|
||||
<h3>headingCorrection</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">boolean</span> <span class="element-name">headingCorrection</span></div>
|
||||
@@ -685,6 +776,14 @@ loadScripts(document, 'script');</script>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="imuVelocity">
|
||||
<h3>imuVelocity</h3>
|
||||
<div class="member-signature"><span class="modifiers">private</span> <span class="return-type"><a href="imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></span> <span class="element-name">imuVelocity</span></div>
|
||||
<div class="block">Class that calculates robot's yaw velocity using IMU measurements. Used for angularVelocityCorrection in
|
||||
<a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(Translation2d, double, boolean, boolean)</code></a>.</div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="simIMU">
|
||||
<h3>simIMU</h3>
|
||||
<div class="member-signature"><span class="modifiers">private</span> <span class="return-type"><a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></span> <span class="element-name">simIMU</span></div>
|
||||
@@ -741,9 +840,9 @@ loadScripts(document, 'script');</script>
|
||||
<a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a> controllerConfig,
|
||||
double maxSpeedMPS)</span></div>
|
||||
<div class="block">Creates a new swerve drivebase subsystem. Robot is controlled via the <a href="#drive(edu.wpi.first.math.kinematics.ChassisSpeeds)"><code>drive(edu.wpi.first.math.kinematics.ChassisSpeeds)</code></a> method, or via the
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[], boolean)</code></a> method. The <a href="#drive(edu.wpi.first.math.kinematics.ChassisSpeeds)"><code>drive(edu.wpi.first.math.kinematics.ChassisSpeeds)</code></a> method incorporates kinematics-- it
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,boolean)"><code>setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[], edu.wpi.first.math.kinematics.ChassisSpeeds, boolean)</code></a> method. The <a href="#drive(edu.wpi.first.math.kinematics.ChassisSpeeds)"><code>drive(edu.wpi.first.math.kinematics.ChassisSpeeds)</code></a> method incorporates kinematics-- it
|
||||
takes a translation and rotation, as well as parameters for field-centric and closed-loop velocity control.
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[], boolean)</code></a> takes a list of SwerveModuleStates and directly passes them to the modules.
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,boolean)"><code>setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[], edu.wpi.first.math.kinematics.ChassisSpeeds, boolean)</code></a> takes a list of SwerveModuleStates and directly passes them to the modules.
|
||||
This subsystem also handles odometry.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
@@ -1036,14 +1135,16 @@ loadScripts(document, 'script');</script>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[],boolean)">
|
||||
<section class="detail" id="setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[],edu.wpi.first.math.kinematics.ChassisSpeeds,boolean)">
|
||||
<h3>setRawModuleStates</h3>
|
||||
<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">void</span> <span class="element-name">setRawModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds desiredChassisSpeed,
|
||||
boolean isOpenLoop)</span></div>
|
||||
<div class="block">Set the module states (azimuth and velocity) directly.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>desiredStates</code> - A list of SwerveModuleStates to send to the modules.</dd>
|
||||
<dd><code>desiredChassisSpeed</code> - The desired chassis speeds to set the robot to achieve.</dd>
|
||||
<dd><code>isOpenLoop</code> - Whether to use closed-loop velocity control. Set to true to disable closed-loop.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
@@ -1053,7 +1154,10 @@ loadScripts(document, 'script');</script>
|
||||
<h3>setModuleStates</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
|
||||
boolean isOpenLoop)</span></div>
|
||||
<div class="block">Set the module states (azimuth and velocity) directly. Used primarily for auto paths.</div>
|
||||
<div class="block">Set the module states (azimuth and velocity) directly. Used primarily for auto paths.
|
||||
Does not allow for usage of desaturateWheelSpeeds(SwerveModuleState[] moduleStates,
|
||||
ChassisSpeeds desiredChassisSpeed, double attainableMaxModuleSpeedMetersPerSecond,
|
||||
double attainableMaxTranslationalSpeedMetersPerSecond, double attainableMaxRotationalVelocityRadiansPerSecond)</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>desiredStates</code> - A list of SwerveModuleStates to send to the modules.</dd>
|
||||
@@ -1248,13 +1352,26 @@ loadScripts(document, 'script');</script>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="setModuleEncoderAutoSynchronize(boolean,double)">
|
||||
<h3>setModuleEncoderAutoSynchronize</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setModuleEncoderAutoSynchronize</span><wbr><span class="parameters">(boolean enabled,
|
||||
double deadband)</span></div>
|
||||
<div class="block">Enable auto synchronization for encoders during a match. This will only occur when the modules are not moving for a few seconds.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>enabled</code> - Enable state</dd>
|
||||
<dd><code>deadband</code> - Deadband in degrees, default is 3 degrees.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="setMaximumSpeed(double,boolean,double)">
|
||||
<h3>setMaximumSpeed</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setMaximumSpeed</span><wbr><span class="parameters">(double maximumSpeed,
|
||||
boolean updateModuleFeedforward,
|
||||
double optimalVoltage)</span></div>
|
||||
<div class="block">Set the maximum speed of the drive motors, modified <a href="#maxSpeedMPS"><code>maxSpeedMPS</code></a> which is used for the
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,boolean)"><code>setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean)</code></a> function and
|
||||
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions. This function overrides
|
||||
what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates.</div>
|
||||
<dl class="notes">
|
||||
@@ -1272,7 +1389,7 @@ loadScripts(document, 'script');</script>
|
||||
<h3>setMaximumSpeed</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setMaximumSpeed</span><wbr><span class="parameters">(double maximumSpeed)</span></div>
|
||||
<div class="block">Set the maximum speed of the drive motors, modified <a href="#maxSpeedMPS"><code>maxSpeedMPS</code></a> which is used for the
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
|
||||
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,boolean)"><code>setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean)</code></a> function and
|
||||
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions. This function overrides
|
||||
what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates. Overwrites the
|
||||
<a href="SwerveModule.html#setFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)"><code>SwerveModule.setFeedforward(SimpleMotorFeedforward)</code></a>.</div>
|
||||
@@ -1485,7 +1602,7 @@ loadScripts(document, 'script');</script>
|
||||
<h3>setChassisDiscretization</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setChassisDiscretization</span><wbr><span class="parameters">(boolean enable,
|
||||
double dtSeconds)</span></div>
|
||||
<div class="block">Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction</div>
|
||||
<div class="block">Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>enable</code> - Enable chassis velocity correction, which will use
|
||||
@@ -1494,6 +1611,75 @@ loadScripts(document, 'script');</script>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="setChassisDiscretization(boolean,boolean,double)">
|
||||
<h3>setChassisDiscretization</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setChassisDiscretization</span><wbr><span class="parameters">(boolean useInTeleop,
|
||||
boolean useInAuto,
|
||||
double dtSeconds)</span></div>
|
||||
<div class="block">Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop and/or auto</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>useInTeleop</code> - Enable chassis velocity correction, which will use
|
||||
<code>ChassisSpeeds.discretize(ChassisSpeeds, double)</code> with the following in teleop.</dd>
|
||||
<dd><code>useInAuto</code> - Enable chassis velocity correction, which will use
|
||||
<code>ChassisSpeeds.discretize(ChassisSpeeds, double)</code> with the following in auto.</dd>
|
||||
<dd><code>dtSeconds</code> - The duration of the timestep the speeds should be applied for.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="setAngularVelocityCompensation(boolean,boolean,double)">
|
||||
<h3>setAngularVelocityCompensation</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setAngularVelocityCompensation</span><wbr><span class="parameters">(boolean useInTeleop,
|
||||
boolean useInAuto,
|
||||
double angularVelocityCoeff)</span></div>
|
||||
<div class="block">Enables angular velocity skew correction in teleop and/or autonomous
|
||||
and sets the angular velocity coefficient for both modes</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>useInTeleop</code> - Enables angular velocity correction in teleop.</dd>
|
||||
<dd><code>useInAuto</code> - Enables angular velocity correction in autonomous.</dd>
|
||||
<dd><code>angularVelocityCoeff</code> - The angular velocity coefficient. Expected values between -0.15 to 0.15.
|
||||
Start with a value of 0.1, test in teleop.
|
||||
When enabling for the first time if the skew is significantly worse try inverting the value.
|
||||
Tune by moving in a straight line while rotating. Testing is best done with angular velocity controls on the right stick.
|
||||
Change the value until you are visually happy with the skew.
|
||||
Ensure your tune works with different translational and rotational magnitudes.
|
||||
If this reduces skew in teleop, it may improve auto.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="angularVelocitySkewCorrection(edu.wpi.first.math.kinematics.ChassisSpeeds)">
|
||||
<h3>angularVelocitySkewCorrection</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span> <span class="element-name">angularVelocitySkewCorrection</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)</span></div>
|
||||
<div class="block">Correct for skew that worsens as angular velocity increases</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>velocity</code> - The chassis speeds to set the robot to achieve.</dd>
|
||||
<dt>Returns:</dt>
|
||||
<dd><code>ChassisSpeeds</code> of the robot after angular velocity skew correction.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="movementOptimizations(edu.wpi.first.math.kinematics.ChassisSpeeds,boolean,boolean)">
|
||||
<h3>movementOptimizations</h3>
|
||||
<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span> <span class="element-name">movementOptimizations</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds velocity,
|
||||
boolean uesChassisDiscretize,
|
||||
boolean useAngularVelocitySkewCorrection)</span></div>
|
||||
<div class="block">Enable desired drive corrections</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>velocity</code> - The chassis speeds to set the robot to achieve.</dd>
|
||||
<dd><code>uesChassisDiscretize</code> - Correct chassis velocity using 254's correction.</dd>
|
||||
<dd><code>useAngularVelocitySkewCorrection</code> - Use the robot's angular velocity to correct for skew.</dd>
|
||||
<dt>Returns:</dt>
|
||||
<dd>The chassis speeds after optimizations.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
|
||||
Reference in New Issue
Block a user