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thenetworkgrinch
2024-10-14 13:22:11 -05:00
parent 689634ab69
commit 8afd8526e9
126 changed files with 1841 additions and 460 deletions
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13
docs/allclasses-index.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>All Classes and Interfaces</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="class index">
<meta name="generator" content="javadoc/AllClassesIndexWriter">
<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
@@ -128,6 +128,15 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Drive motor composite JSON parse class.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">A linear filter that does not calculate() each time a value is added to
the DoubleCircularBuffer.</div>
</div>
<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></div>
<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
<div class="block">Generic IMU Velocity filter.</div>
</div>
<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="swervelib/parser/json/modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a></div>
<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
<div class="block">Location JSON parsed class.</div>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>All Packages</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta name="description" content="package index">
<meta name="generator" content="javadoc/AllPackagesIndexWriter">
<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>Constant Field Values</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta name="description" content="summary of constants">
<meta name="generator" content="javadoc/ConstantsSummaryWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>API Help</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta name="description" content="help">
<meta name="generator" content="javadoc/HelpWriter">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>A-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: A">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -117,6 +117,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Add slew rate limiters to all controls.</div>
</dd>
<dt><a href="../swervelib/math/IMULinearMovingAverageFilter.html#addValue(double)" class="member-name-link">addValue(double)</a> - Method in class swervelib.math.<a href="../swervelib/math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></dt>
<dd>
<div class="block">Add a value to the DoubleCircularBuffer</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)" class="member-name-link">addVisionMeasurement(Pose2d, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="../swervelib/imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with
@@ -283,6 +287,18 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">PIDF configuration options for the angle motor closed-loop PID controller.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#angularVelocityCoefficient" class="member-name-link">angularVelocityCoefficient</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Angular Velocity Correction Coefficent (expected values between -0.15 and 0.15).</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#angularVelocityCorrection" class="member-name-link">angularVelocityCorrection</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Correct for skew that scales with angular velocity in <a href="../swervelib/SwerveDrive.html#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>SwerveDrive.drive(Translation2d, double, boolean, boolean)</code></a></div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#angularVelocitySkewCorrection(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">angularVelocitySkewCorrection(ChassisSpeeds)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Correct for skew that worsens as angular velocity increases</div>
</dd>
<dt><a href="../swervelib/math/SwerveMath.html#antiJitter(edu.wpi.first.math.kinematics.SwerveModuleState,edu.wpi.first.math.kinematics.SwerveModuleState,double)" class="member-name-link">antiJitter(SwerveModuleState, SwerveModuleState, double)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
<dd>
<div class="block">Perform anti-jitter within modules if the speed requested is too low.</div>
@@ -303,6 +319,16 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">The absolute max speed that your robot can reach while translating in meters per second.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#autonomousAngularVelocityCorrection" class="member-name-link">autonomousAngularVelocityCorrection</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Correct for skew that scales with angular velocity in <a href="../swervelib/SwerveDrive.html#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)"><code>SwerveDrive.setChassisSpeeds(ChassisSpeeds chassisSpeeds)</code></a>
during auto.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#autonomousChassisVelocityCorrection" class="member-name-link">autonomousChassisVelocityCorrection</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Correct chassis velocity in <a href="../swervelib/SwerveDrive.html#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)"><code>SwerveDrive.setChassisSpeeds(ChassisSpeeds chassisSpeeds)</code></a> (auto) using 254's
correction during auto.</div>
</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a></main>
</div>

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<!DOCTYPE HTML>
<html lang="en">
<head>
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<title>K-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta name="generator" content="javadoc/IndexWriter">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>L-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: L">
<meta name="generator" content="javadoc/IndexWriter">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>M-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: M">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -73,6 +73,14 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Tracks the distance travelled of a position motor</div>
</dd>
<dt><a href="../swervelib/math/IMULinearMovingAverageFilter.html#m_inputGain" class="member-name-link">m_inputGain</a> - Variable in class swervelib.math.<a href="../swervelib/math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></dt>
<dd>
<div class="block">Gain on each reading.</div>
</dd>
<dt><a href="../swervelib/math/IMULinearMovingAverageFilter.html#m_inputs" class="member-name-link">m_inputs</a> - Variable in class swervelib.math.<a href="../swervelib/math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></dt>
<dd>
<div class="block">Circular buffer storing the current IMU readings</div>
</dd>
<dt><a href="../swervelib/SwerveDriveTest.html#m_velocity" class="member-name-link">m_velocity</a> - Static variable in class swervelib.<a href="../swervelib/SwerveDriveTest.html" title="class in swervelib">SwerveDriveTest</a></dt>
<dd>
<div class="block">Tracks the velocity of a positional motor</div>
@@ -239,6 +247,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Default constructor with values.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#movementOptimizations(edu.wpi.first.math.kinematics.ChassisSpeeds,boolean,boolean)" class="member-name-link">movementOptimizations(ChassisSpeeds, boolean, boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Enable desired drive corrections</div>
</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a></main>
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>N-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: N">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -101,6 +101,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Normalize an angle to be within 0 to 360.</div>
</dd>
<dt><a href="../swervelib/imu/IMUVelocity.html#notifier" class="member-name-link">notifier</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
<dd>
<div class="block">WPILib <code>Notifier</code> to keep IMU velocity up to date.</div>
</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a></main>
</div>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>O-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: O">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>P-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta name="description" content="index: P">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -159,6 +159,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Logical inverse of the Pose exponential from 254.</div>
</dd>
<dt><a href="../swervelib/imu/IMUVelocity.html#position" class="member-name-link">position</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
<dd>
<div class="block">Tracks the previous loop's position as a Rotation2d.</div>
</dd>
<dt><a href="../swervelib/math/Matter.html#position" class="member-name-link">position</a> - Variable in class swervelib.math.<a href="../swervelib/math/Matter.html" title="class in swervelib.math">Matter</a></dt>
<dd>
<div class="block">Position in meters from robot center in 3d space.</div>

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<meta name="generator" content="javadoc/IndexWriter">
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<title>R-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>S-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta name="generator" content="javadoc/IndexWriter">
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@@ -169,6 +169,11 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Sets up the SysId runner and logger for the angle motors</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setAngularVelocityCompensation(boolean,boolean,double)" class="member-name-link">setAngularVelocityCompensation(boolean, boolean, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Enables angular velocity skew correction in teleop and/or autonomous
and sets the angular velocity coefficient for both modes</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#setAntiJitter(boolean)" class="member-name-link">setAntiJitter(boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Set the antiJitter functionality, if true the modules will NOT auto center.</div>
@@ -177,9 +182,13 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Enable auto-centering module wheels.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setChassisDiscretization(boolean,boolean,double)" class="member-name-link">setChassisDiscretization(boolean, boolean, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop and/or auto</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setChassisDiscretization(boolean,double)" class="member-name-link">setChassisDiscretization(boolean, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<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>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds(ChassisSpeeds)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
@@ -244,6 +253,14 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Sets up the SysId runner and logger for the drive motors</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#setEncoderAutoSynchronize(boolean)" class="member-name-link">setEncoderAutoSynchronize(boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Enable auto synchronization for encoders during a match.</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#setEncoderAutoSynchronize(boolean,double)" class="member-name-link">setEncoderAutoSynchronize(boolean, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Enable auto synchronization for encoders during a match.</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#setFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">setFeedforward(SimpleMotorFeedforward)</a> - Method in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Set the feedforward attributes to the given parameters.</div>
@@ -351,19 +368,23 @@ loadScripts(document, 'script');</script>
<dt><a href="../swervelib/SwerveDrive.html#setMaximumSpeed(double)" class="member-name-link">setMaximumSpeed(double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the maximum speed of the drive motors, modified <a href="../swervelib/SwerveDrive.html#maxSpeedMPS"><code>SwerveDrive.maxSpeedMPS</code></a> which is used for the
<a href="../swervelib/SwerveDrive.html#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>SwerveDrive.setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
<a href="../swervelib/SwerveDrive.html#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,boolean)"><code>SwerveDrive.setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean)</code></a> function and
<a href="../swervelib/SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setMaximumSpeed(double,boolean,double)" class="member-name-link">setMaximumSpeed(double, boolean, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the maximum speed of the drive motors, modified <a href="../swervelib/SwerveDrive.html#maxSpeedMPS"><code>SwerveDrive.maxSpeedMPS</code></a> which is used for the
<a href="../swervelib/SwerveDrive.html#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>SwerveDrive.setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
<a href="../swervelib/SwerveDrive.html#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,boolean)"><code>SwerveDrive.setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean)</code></a> function and
<a href="../swervelib/SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setMaximumSpeeds(double,double,double)" class="member-name-link">setMaximumSpeeds(double, double, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the maximum speeds for desaturation.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setModuleEncoderAutoSynchronize(boolean,double)" class="member-name-link">setModuleEncoderAutoSynchronize(boolean, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Enable auto synchronization for encoders during a match.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setModuleStates(SwerveModuleState[], boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the module states (azimuth and velocity) directly.</div>
@@ -460,7 +481,7 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Set the integrated encoder position.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setRawModuleStates(SwerveModuleState[], boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dt><a href="../swervelib/SwerveDrive.html#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,boolean)" class="member-name-link">setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the module states (azimuth and velocity) directly.</div>
</dd>
@@ -884,6 +905,14 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Construct a swerve parser.</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#synchronizeEncoderDeadband" class="member-name-link">synchronizeEncoderDeadband</a> - Variable in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Encoder synchronization deadband in degrees.</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#synchronizeEncoderEnabled" class="member-name-link">synchronizeEncoderEnabled</a> - Variable in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Encoder, Absolute encoder synchronization enabled.</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#synchronizeEncoderQueued" class="member-name-link">synchronizeEncoderQueued</a> - Variable in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Encoder synchronization queued.</div>

8
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>T-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: T">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -99,6 +99,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Main timer to simulate the passage of time.</div>
</dd>
<dt><a href="../swervelib/imu/IMUVelocity.html#timestamp" class="member-name-link">timestamp</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
<dd>
<div class="block">Tracks the previous loop's recorded time.</div>
</dd>
<dt><a href="../swervelib/parser/Cache.html#timestamp" class="member-name-link">timestamp</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/Cache.html" title="class in swervelib.parser">Cache</a></dt>
<dd>
<div class="block">Timestamp in microseconds.</div>

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>B-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: B">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

8
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>U-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: U">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -53,6 +53,10 @@ loadScripts(document, 'script');</script>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a>
<h2 class="title" id="I:U">U</h2>
<dl class="index">
<dt><a href="../swervelib/imu/IMUVelocity.html#update()" class="member-name-link">update()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
<dd>
<div class="block">Update the robot's rotational velocity based on the current gyro position.</div>
</dd>
<dt><a href="../swervelib/parser/Cache.html#update()" class="member-name-link">update()</a> - Method in class swervelib.parser.<a href="../swervelib/parser/Cache.html" title="class in swervelib.parser">Cache</a></dt>
<dd>
<div class="block">Update the cache value and timestamp.</div>

13
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>V-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: V">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -97,6 +97,10 @@ the order they are declared.</div>
<div class="block">Returns an array containing the constants of this enum class, in
the order they are declared.</div>
</dd>
<dt><a href="../swervelib/imu/IMUVelocity.html#velocity" class="member-name-link">velocity</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
<dd>
<div class="block">The calculated velocity of the robot based on averaged IMU measurements.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxSwerve.html#velocity" class="member-name-link">velocity</a> - Variable in class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dt>
<dd>
<div class="block">Supplier for the velocity of the motor controller.</div>
@@ -109,6 +113,11 @@ the order they are declared.</div>
<dd>
<div class="block">Slot 2, used for velocity PID's.</div>
</dd>
<dt><a href="../swervelib/imu/IMUVelocity.html#velocityFilter" class="member-name-link">velocityFilter</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
<dd>
<div class="block">Linear filter used to calculate velocity, we use a custom filter class
to prevent unwanted operations.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#velocityPIDF" class="member-name-link">velocityPIDF</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">PIDF configuration options for the drive motor closed-loop PID controller.</div>

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>W-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: W">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>X-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: X">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>Y-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: Y">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>Z-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: Z">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>C-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: C">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -65,6 +65,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot.</div>
</dd>
<dt><a href="../swervelib/math/IMULinearMovingAverageFilter.html#calculate()" class="member-name-link">calculate()</a> - Method in class swervelib.math.<a href="../swervelib/math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></dt>
<dd>
<div class="block">Calculate the average of the samples in the buffer</div>
</dd>
<dt><a href="../swervelib/parser/json/modules/AngleConversionFactorsJson.html#calculate()" class="member-name-link">calculate()</a> - Method in class swervelib.parser.json.modules.<a href="../swervelib/parser/json/modules/AngleConversionFactorsJson.html" title="class in swervelib.parser.json.modules">AngleConversionFactorsJson</a></dt>
<dd>
<div class="block">Calculate the drive conversion factor.</div>
@@ -141,6 +145,14 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Set the modules to center to 0.</div>
</dd>
<dt><a href="../swervelib/imu/Pigeon2Swerve.html#cfg" class="member-name-link">cfg</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></dt>
<dd>
<div class="block">Pigeon2 configurator.</div>
</dd>
<dt><a href="../swervelib/motors/TalonFXSwerve.html#cfg" class="member-name-link">cfg</a> - Variable in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Current TalonFX Configurator.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#chassisVelocityCorrection" class="member-name-link">chassisVelocityCorrection</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Correct chassis velocity in <a href="../swervelib/SwerveDrive.html#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>SwerveDrive.drive(Translation2d, double, boolean, boolean)</code></a> using 254's
@@ -477,6 +489,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Create a <a href="../swervelib/imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> from the given configuration.</div>
</dd>
<dt><a href="../swervelib/imu/IMUVelocity.html#createIMUVelocity(swervelib.imu.SwerveIMU)" class="member-name-link">createIMUVelocity(SwerveIMU)</a> - Static method in class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
<dd>
<div class="block">Static factory for IMU Velocity.</div>
</dd>
<dt><a href="../swervelib/parser/json/ModuleJson.html#createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)" class="member-name-link">createModuleConfiguration(PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String)</a> - Method in class swervelib.parser.json.<a href="../swervelib/parser/json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a></dt>
<dd>
<div class="block">Create the swerve module configuration based off of parsed data.</div>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>D-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: D">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>E-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: E">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>F-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: F">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -205,6 +205,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Find the minimum amount of power required to move the swerve drive motors.</div>
</dd>
<dt><a href="../swervelib/imu/IMUVelocity.html#firstCycle" class="member-name-link">firstCycle</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
<dd>
<div class="block">Prevents calculation when no previous measurement exists.</div>
</dd>
<dt><a href="../swervelib/telemetry/SwerveDriveTelemetry.html#forwardDirection" class="member-name-link">forwardDirection</a> - Static variable in class swervelib.telemetry.<a href="../swervelib/telemetry/SwerveDriveTelemetry.html" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></dt>
<dd>
<div class="block">The direction the robot should be facing when the "Robot Rotation" is zero or blank.</div>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>G-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: G">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -573,6 +573,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Get the velocity in degrees/sec.</div>
</dd>
<dt><a href="../swervelib/imu/IMUVelocity.html#getVelocity()" class="member-name-link">getVelocity()</a> - Method in class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
<dd>
<div class="block">Get the robot's angular velocity based on averaged meaasurements from the IMU.</div>
</dd>
<dt><a href="../swervelib/motors/SparkFlexSwerve.html#getVelocity()" class="member-name-link">getVelocity()</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkFlexSwerve.html" title="class in swervelib.motors">SparkFlexSwerve</a></dt>
<dd>
<div class="block">Get the velocity of the integrated encoder.</div>
@@ -633,6 +637,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Group of the alert.</div>
</dd>
<dt><a href="../swervelib/imu/IMUVelocity.html#gyro" class="member-name-link">gyro</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
<dd>
<div class="block">Swerve IMU.</div>
</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a></main>
</div>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>H-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: H">
<meta name="generator" content="javadoc/IndexWriter">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>I-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index: I">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -105,10 +105,31 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Swerve IMU device for sensing the heading of the robot.</div>
</dd>
<dt><a href="../swervelib/math/IMULinearMovingAverageFilter.html" class="type-name-link" title="class in swervelib.math">IMULinearMovingAverageFilter</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">A linear filter that does not calculate() each time a value is added to
the DoubleCircularBuffer.</div>
</dd>
<dt><a href="../swervelib/math/IMULinearMovingAverageFilter.html#%3Cinit%3E(int)" class="member-name-link">IMULinearMovingAverageFilter(int)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></dt>
<dd>
<div class="block">Construct a linear moving average fitler</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#imuReadingCache" class="member-name-link">imuReadingCache</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">IMU reading cache for robot readings.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#imuVelocity" class="member-name-link">imuVelocity</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Class that calculates robot's yaw velocity using IMU measurements.</div>
</dd>
<dt><a href="../swervelib/imu/IMUVelocity.html" class="type-name-link" title="class in swervelib.imu">IMUVelocity</a> - Class in <a href="../swervelib/imu/package-summary.html">swervelib.imu</a></dt>
<dd>
<div class="block">Generic IMU Velocity filter.</div>
</dd>
<dt><a href="../swervelib/imu/IMUVelocity.html#%3Cinit%3E(swervelib.imu.SwerveIMU,double,int)" class="member-name-link">IMUVelocity(SwerveIMU, double, int)</a> - Constructor for class swervelib.imu.<a href="../swervelib/imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></dt>
<dd>
<div class="block">Constructor for the IMU Velocity.</div>
</dd>
<dt><a href="../swervelib/encoders/AnalogAbsoluteEncoderSwerve.html#inaccurateVelocities" class="member-name-link">inaccurateVelocities</a> - Variable in class swervelib.encoders.<a href="../swervelib/encoders/AnalogAbsoluteEncoderSwerve.html" title="class in swervelib.encoders">AnalogAbsoluteEncoderSwerve</a></dt>
<dd>
<div class="block">An <a href="../swervelib/telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> detailing how the analog absolute encoder may not report accurate velocities.</div>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>Overview</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="package index">
<meta name="generator" content="javadoc/PackageIndexWriter">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>Generated Documentation (Untitled)</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="index redirect">
<meta name="generator" content="javadoc/IndexRedirectWriter">
<link rel="canonical" href="index.html">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="class tree">
<meta name="generator" content="javadoc/TreeWriter">
<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
@@ -78,6 +78,8 @@ loadScripts(document, 'script');</script>
<li class="circle">swervelib.parser.json.modules.<a href="swervelib/parser/json/modules/ConversionFactorsJson.html" class="type-name-link" title="class in swervelib.parser.json.modules">ConversionFactorsJson</a></li>
<li class="circle">swervelib.parser.json.<a href="swervelib/parser/json/DeviceJson.html" class="type-name-link" title="class in swervelib.parser.json">DeviceJson</a></li>
<li class="circle">swervelib.parser.json.modules.<a href="swervelib/parser/json/modules/DriveConversionFactorsJson.html" class="type-name-link" title="class in swervelib.parser.json.modules">DriveConversionFactorsJson</a></li>
<li class="circle">swervelib.math.<a href="swervelib/math/IMULinearMovingAverageFilter.html" class="type-name-link" title="class in swervelib.math">IMULinearMovingAverageFilter</a></li>
<li class="circle">swervelib.imu.<a href="swervelib/imu/IMUVelocity.html" class="type-name-link" title="class in swervelib.imu">IMUVelocity</a></li>
<li class="circle">swervelib.parser.json.modules.<a href="swervelib/parser/json/modules/LocationJson.html" class="type-name-link" title="class in swervelib.parser.json.modules">LocationJson</a></li>
<li class="circle">swervelib.math.<a href="swervelib/math/Matter.html" class="type-name-link" title="class in swervelib.math">Matter</a></li>
<li class="circle">swervelib.parser.json.<a href="swervelib/parser/json/ModuleJson.html" class="type-name-link" title="class in swervelib.parser.json">ModuleJson</a></li>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>SwerveController</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib, class: SwerveController">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>SwerveDrive</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -91,6 +91,16 @@ loadScripts(document, 'script');</script>
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#angularVelocityCoefficient" class="member-name-link">angularVelocityCoefficient</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angular Velocity Correction Coefficent (expected values between -0.15 and 0.15).</div>
</div>
<div class="col-first odd-row-color"><code>boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#angularVelocityCorrection" class="member-name-link">angularVelocityCorrection</a></code></div>
<div class="col-last odd-row-color">
<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>
</div>
<div class="col-first even-row-color"><code>private double</code></div>
<div class="col-second even-row-color"><code><a href="#attainableMaxRotationalVelocityRadiansPerSecond" class="member-name-link">attainableMaxRotationalVelocityRadiansPerSecond</a></code></div>
<div class="col-last even-row-color">
@@ -102,6 +112,18 @@ loadScripts(document, 'script');</script>
<div class="block">The absolute max speed that your robot can reach while translating in meters per second.</div>
</div>
<div class="col-first even-row-color"><code>boolean</code></div>
<div class="col-second even-row-color"><code><a href="#autonomousAngularVelocityCorrection" class="member-name-link">autonomousAngularVelocityCorrection</a></code></div>
<div class="col-last even-row-color">
<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>
</div>
<div class="col-first odd-row-color"><code>boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#autonomousChassisVelocityCorrection" class="member-name-link">autonomousChassisVelocityCorrection</a></code></div>
<div class="col-last odd-row-color">
<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>
</div>
<div class="col-first even-row-color"><code>boolean</code></div>
<div class="col-second even-row-color"><code><a href="#chassisVelocityCorrection" class="member-name-link">chassisVelocityCorrection</a></code></div>
<div class="col-last even-row-color">
<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
@@ -137,64 +159,69 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">IMU reading cache for robot readings.</div>
</div>
<div class="col-first odd-row-color"><code>final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
<div class="col-second odd-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
<div class="col-first odd-row-color"><code>private <a href="imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></code></div>
<div class="col-second odd-row-color"><code><a href="#imuVelocity" class="member-name-link">imuVelocity</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Class that calculates robot's yaw velocity using IMU measurements.</div>
</div>
<div class="col-first even-row-color"><code>final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
<div class="col-second even-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve Kinematics object.</div>
</div>
<div class="col-first even-row-color"><code>private double</code></div>
<div class="col-second even-row-color"><code><a href="#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The last heading set in radians.</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#maxSpeedMPS" class="member-name-link">maxSpeedMPS</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private double</code></div>
<div class="col-second even-row-color"><code><a href="#maxSpeedMPS" class="member-name-link">maxSpeedMPS</a></code></div>
<div class="col-last even-row-color">
<div class="block">Maximum speed of the robot in meters per second.</div>
</div>
<div class="col-first even-row-color"><code>private int</code></div>
<div class="col-second even-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private int</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Counter to synchronize the modules relative encoder with absolute encoder when not moving.</div>
</div>
<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>
<div class="col-second odd-row-color"><code><a href="#odometryLock" class="member-name-link">odometryLock</a></code></div>
<div class="col-last odd-row-color">
<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>
<div class="col-second even-row-color"><code><a href="#odometryLock" class="member-name-link">odometryLock</a></code></div>
<div class="col-last even-row-color">
<div class="block">Odometry lock to ensure thread safety.</div>
</div>
<div class="col-first even-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
<div class="col-second even-row-color"><code><a href="#odometryThread" class="member-name-link">odometryThread</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
<div class="col-second odd-row-color"><code><a href="#odometryThread" class="member-name-link">odometryThread</a></code></div>
<div class="col-last odd-row-color">
<div class="block">WPILib <code>Notifier</code> to keep odometry up to date.</div>
</div>
<div class="col-first odd-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
<div class="col-second odd-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
<div class="col-second even-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
<div class="col-last even-row-color">
<div class="block">Simulation of the swerve drive.</div>
</div>
<div class="col-first even-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
<div class="col-second even-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
<div class="col-second odd-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve controller for controlling heading of the robot.</div>
</div>
<div class="col-first odd-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
<div class="col-second odd-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
<div class="col-second even-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve drive configuration.</div>
</div>
<div class="col-first even-row-color"><code>final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></div>
<div class="col-second even-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></div>
<div class="col-second odd-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve odometry.</div>
</div>
<div class="col-first odd-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second odd-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second even-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve modules.</div>
</div>
<div class="col-first even-row-color"><code>private final <a href="telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
<div class="col-second even-row-color"><code><a href="#tunerXRecommendation" class="member-name-link">tunerXRecommendation</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private final <a href="telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
<div class="col-second odd-row-color"><code><a href="#tunerXRecommendation" class="member-name-link">tunerXRecommendation</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Alert to recommend Tuner X if the configuration is compatible.</div>
</div>
</div>
@@ -243,163 +270,175 @@ loadScripts(document, 'script');</script>
<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
the given timestamp of the vision measurement.</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="#checkIfTunerXCompatible()" class="member-name-link">checkIfTunerXCompatible</a>()</code></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="#angularVelocitySkewCorrection(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">angularVelocitySkewCorrection</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;velocity)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Correct for skew that worsens as angular velocity increases</div>
</div>
<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="#checkIfTunerXCompatible()" class="member-name-link">checkIfTunerXCompatible</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Check all components to ensure that Tuner X Swerve Generator is recommended instead.</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.geometry.Translation2d,double,boolean,boolean)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.geometry.Translation2d&nbsp;translation,
<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.geometry.Translation2d,double,boolean,boolean)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.geometry.Translation2d&nbsp;translation,
double&nbsp;rotation,
boolean&nbsp;fieldRelative,
boolean&nbsp;isOpenLoop)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">The primary 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.geometry.Translation2d,double,boolean,boolean,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.geometry.Translation2d&nbsp;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&nbsp;translation,
double&nbsp;rotation,
boolean&nbsp;fieldRelative,
boolean&nbsp;isOpenLoop,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</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">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&nbsp;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&nbsp;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&nbsp;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&nbsp;velocity,
boolean&nbsp;isOpenLoop,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</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">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&nbsp;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&nbsp;velocity,
edu.wpi.first.math.geometry.Translation2d&nbsp;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&nbsp;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&nbsp;velocity,
edu.wpi.first.math.geometry.Translation2d&nbsp;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&nbsp;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&nbsp;fieldOrientedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;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&nbsp;velocity,
edu.wpi.first.math.geometry.Translation2d&nbsp;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&nbsp;fieldOrientedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;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>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</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>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</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>&lt;<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>&gt;</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>&lt;<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>&gt;</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&nbsp;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&nbsp;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&nbsp;velocity,
boolean&nbsp;uesChassisDiscretize,
boolean&nbsp;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&nbsp;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&nbsp;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&nbsp;useInTeleop,
boolean&nbsp;useInAuto,
double&nbsp;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&nbsp;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&nbsp;useInTeleop,
boolean&nbsp;useInAuto,
double&nbsp;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&nbsp;enable,
double&nbsp;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&nbsp;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&nbsp;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&nbsp;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[]&nbsp;desiredStates,
boolean&nbsp;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&nbsp;enabled,
double&nbsp;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&nbsp;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[]&nbsp;desiredStates,
boolean&nbsp;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&nbsp;brake)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Sets the drive motors to brake/coast mode.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setOdometryPeriod(double)" class="member-name-link">setOdometryPeriod</a><wbr>(double&nbsp;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&nbsp;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[]&nbsp;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[]&nbsp;desiredStates,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;desiredChassisSpeed,
boolean&nbsp;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&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;&nbsp;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&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;&nbsp;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&nbsp;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&nbsp;imu,
long&nbsp;driveMotor,
long&nbsp;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>&nbsp;<span class="return-type">boolean</span>&nbsp;<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>&nbsp;<span class="return-type">boolean</span>&nbsp;<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>&nbsp;<span class="return-type">boolean</span>&nbsp;<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>&nbsp;<span class="return-type">double</span>&nbsp;<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>&nbsp;<span class="return-type">boolean</span>&nbsp;<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>&nbsp;<span class="return-type"><a href="imu/IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></span>&nbsp;<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>&nbsp;<span class="return-type"><a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></span>&nbsp;<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>&nbsp;controllerConfig,
double&nbsp;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>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setRawModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;desiredStates,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;desiredChassisSpeed,
boolean&nbsp;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>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;desiredStates,
boolean&nbsp;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>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setModuleEncoderAutoSynchronize</span><wbr><span class="parameters">(boolean&nbsp;enabled,
double&nbsp;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>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setMaximumSpeed</span><wbr><span class="parameters">(double&nbsp;maximumSpeed,
boolean&nbsp;updateModuleFeedforward,
double&nbsp;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>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setMaximumSpeed</span><wbr><span class="parameters">(double&nbsp;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>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setChassisDiscretization</span><wbr><span class="parameters">(boolean&nbsp;enable,
double&nbsp;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>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setChassisDiscretization</span><wbr><span class="parameters">(boolean&nbsp;useInTeleop,
boolean&nbsp;useInAuto,
double&nbsp;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>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setAngularVelocityCompensation</span><wbr><span class="parameters">(boolean&nbsp;useInTeleop,
boolean&nbsp;useInAuto,
double&nbsp;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>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">angularVelocitySkewCorrection</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;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>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">movementOptimizations</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;velocity,
boolean&nbsp;uesChassisDiscretize,
boolean&nbsp;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>

4
docs/swervelib/SwerveDriveTest.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>SwerveDriveTest</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib, class: SwerveDriveTest">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

63
docs/swervelib/SwerveModule.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>SwerveModule</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib, class: SwerveModule">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -201,6 +201,16 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Simulated swerve module.</div>
</div>
<div class="col-first even-row-color"><code>private double</code></div>
<div class="col-second even-row-color"><code><a href="#synchronizeEncoderDeadband" class="member-name-link">synchronizeEncoderDeadband</a></code></div>
<div class="col-last even-row-color">
<div class="block">Encoder synchronization deadband in degrees.</div>
</div>
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#synchronizeEncoderEnabled" class="member-name-link">synchronizeEncoderEnabled</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Encoder, Absolute encoder synchronization enabled.</div>
</div>
<div class="col-first even-row-color"><code>private boolean</code></div>
<div class="col-second even-row-color"><code><a href="#synchronizeEncoderQueued" class="member-name-link">synchronizeEncoderQueued</a></code></div>
<div class="col-last even-row-color">
@@ -365,6 +375,17 @@ loadScripts(document, 'script');</script>
<div class="block">Set the drive PIDF values.</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="#setEncoderAutoSynchronize(boolean)" class="member-name-link">setEncoderAutoSynchronize</a><wbr>(boolean&nbsp;enabled)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<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="#setEncoderAutoSynchronize(boolean,double)" class="member-name-link">setEncoderAutoSynchronize</a><wbr>(boolean&nbsp;enabled,
double&nbsp;deadband)</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 synchronization for encoders during a match.</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="#setFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">setFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;drive)</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 feedforward attributes to the given parameters.</div>
@@ -557,6 +578,20 @@ loadScripts(document, 'script');</script>
<div class="block">Encoder synchronization queued.</div>
</section>
</li>
<li>
<section class="detail" id="synchronizeEncoderEnabled">
<h3>synchronizeEncoderEnabled</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">synchronizeEncoderEnabled</span></div>
<div class="block">Encoder, Absolute encoder synchronization enabled.</div>
</section>
</li>
<li>
<section class="detail" id="synchronizeEncoderDeadband">
<h3>synchronizeEncoderDeadband</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">synchronizeEncoderDeadband</span></div>
<div class="block">Encoder synchronization deadband in degrees.</div>
</section>
</li>
</ul>
</section>
</li>
@@ -619,6 +654,30 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setEncoderAutoSynchronize(boolean,double)">
<h3>setEncoderAutoSynchronize</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setEncoderAutoSynchronize</span><wbr><span class="parameters">(boolean&nbsp;enabled,
double&nbsp;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="setEncoderAutoSynchronize(boolean)">
<h3>setEncoderAutoSynchronize</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setEncoderAutoSynchronize</span><wbr><span class="parameters">(boolean&nbsp;enabled)</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>
</dl>
</section>
</li>
<li>
<section class="detail" id="setAntiJitter(boolean)">
<h3>setAntiJitter</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setAntiJitter</span><wbr><span class="parameters">(boolean&nbsp;antiJitter)</span></div>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>AnalogAbsoluteEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.encoders, class: AnalogAbsoluteEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
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<title>CANCoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.encoders, class: CANCoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
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<title>CanAndMagSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.encoders, class: CanAndMagSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>PWMDutyCycleEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.encoders, class: PWMDutyCycleEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
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<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>SparkMaxAnalogEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.encoders, class: SparkMaxAnalogEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>SparkMaxEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.encoders, class: SparkMaxEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>SwerveAbsoluteEncoder</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.encoders, class: SwerveAbsoluteEncoder">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
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<title>swervelib.encoders</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta name="description" content="declaration: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
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<title>swervelib.encoders Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta name="description" content="tree: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageTreeWriter">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
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<title>ADIS16448Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16448Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
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<title>ADIS16470Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16470Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>ADXRS450Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.imu, class: ADXRS450Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>AnalogGyroSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.imu, class: AnalogGyroSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>IMUVelocity</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.imu, class: IMUVelocity">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
<link rel="stylesheet" type="text/css" href="../../script-dir/jquery-ui.min.css" title="Style">
<link rel="stylesheet" type="text/css" href="../../jquery-ui.overrides.css" title="Style">
<script type="text/javascript" src="../../script.js"></script>
<script type="text/javascript" src="../../script-dir/jquery-3.5.1.min.js"></script>
<script type="text/javascript" src="../../script-dir/jquery-ui.min.js"></script>
</head>
<body class="class-declaration-page">
<script type="text/javascript">var evenRowColor = "even-row-color";
var oddRowColor = "odd-row-color";
var tableTab = "table-tab";
var activeTableTab = "active-table-tab";
var pathtoroot = "../../";
loadScripts(document, 'script');</script>
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<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.imu</a></div>
<h1 title="Class IMUVelocity" class="title">Class IMUVelocity</h1>
</div>
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance">swervelib.imu.IMUVelocity</div>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">IMUVelocity</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Generic IMU Velocity filter.</div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>private boolean</code></div>
<div class="col-second even-row-color"><code><a href="#firstCycle" class="member-name-link">firstCycle</a></code></div>
<div class="col-last even-row-color">
<div class="block">Prevents calculation when no previous measurement exists.</div>
</div>
<div class="col-first odd-row-color"><code>private final <a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
<div class="col-second odd-row-color"><code><a href="#gyro" class="member-name-link">gyro</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve IMU.</div>
</div>
<div class="col-first even-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
<div class="col-second even-row-color"><code><a href="#notifier" class="member-name-link">notifier</a></code></div>
<div class="col-last even-row-color">
<div class="block">WPILib <code>Notifier</code> to keep IMU velocity up to date.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second odd-row-color"><code><a href="#position" class="member-name-link">position</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Tracks the previous loop's position as a Rotation2d.</div>
</div>
<div class="col-first even-row-color"><code>private double</code></div>
<div class="col-second even-row-color"><code><a href="#timestamp" class="member-name-link">timestamp</a></code></div>
<div class="col-last even-row-color">
<div class="block">Tracks the previous loop's recorded time.</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#velocity" class="member-name-link">velocity</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The calculated velocity of the robot based on averaged IMU measurements.</div>
</div>
<div class="col-first even-row-color"><code>private final <a href="../math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></code></div>
<div class="col-second even-row-color"><code><a href="#velocityFilter" class="member-name-link">velocityFilter</a></code></div>
<div class="col-last even-row-color">
<div class="block">Linear filter used to calculate velocity, we use a custom filter class
to prevent unwanted operations.</div>
</div>
</div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.imu.SwerveIMU,double,int)" class="member-name-link">IMUVelocity</a><wbr>(<a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a>&nbsp;gyro,
double&nbsp;periodSeconds,
int&nbsp;averagingTaps)</code></div>
<div class="col-last even-row-color">
<div class="block">Constructor for the IMU Velocity.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab1" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab1', 3)" class="table-tab">Static Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#createIMUVelocity(swervelib.imu.SwerveIMU)" class="member-name-link">createIMUVelocity</a><wbr>(<a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a>&nbsp;gyro)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Static factory for IMU Velocity.</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="#getVelocity()" class="member-name-link">getVelocity</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 robot's angular velocity based on averaged meaasurements from the IMU.</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="#update()" class="member-name-link">update</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 the robot's rotational velocity based on the current gyro position.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="gyro">
<h3>gyro</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type"><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span>&nbsp;<span class="element-name">gyro</span></div>
<div class="block">Swerve IMU.</div>
</section>
</li>
<li>
<section class="detail" id="velocityFilter">
<h3>velocityFilter</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type"><a href="../math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></span>&nbsp;<span class="element-name">velocityFilter</span></div>
<div class="block">Linear filter used to calculate velocity, we use a custom filter class
to prevent unwanted operations.</div>
</section>
</li>
<li>
<section class="detail" id="notifier">
<h3>notifier</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj.Notifier</span>&nbsp;<span class="element-name">notifier</span></div>
<div class="block">WPILib <code>Notifier</code> to keep IMU velocity up to date.</div>
</section>
</li>
<li>
<section class="detail" id="firstCycle">
<h3>firstCycle</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">firstCycle</span></div>
<div class="block">Prevents calculation when no previous measurement exists.</div>
</section>
</li>
<li>
<section class="detail" id="timestamp">
<h3>timestamp</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">timestamp</span></div>
<div class="block">Tracks the previous loop's recorded time.</div>
</section>
</li>
<li>
<section class="detail" id="position">
<h3>position</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">position</span></div>
<div class="block">Tracks the previous loop's position as a Rotation2d.</div>
</section>
</li>
<li>
<section class="detail" id="velocity">
<h3>velocity</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">velocity</span></div>
<div class="block">The calculated velocity of the robot based on averaged IMU measurements.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(swervelib.imu.SwerveIMU,double,int)">
<h3>IMUVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">IMUVelocity</span><wbr><span class="parameters">(<a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a>&nbsp;gyro,
double&nbsp;periodSeconds,
int&nbsp;averagingTaps)</span></div>
<div class="block">Constructor for the IMU Velocity.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>gyro</code> - The SwerveIMU gyro.</dd>
<dd><code>periodSeconds</code> - The rate to collect measurements from the gyro, in the form (1/number of samples per second),
make sure this does not exceed the update rate of your IMU.</dd>
<dd><code>averagingTaps</code> - The number of samples to used for the moving average linear filter. Higher values will not
allow the system to update to changes in velocity, lower values may create a less smooth signal. Expected taps
will probably be ~2-8, with the goal of having the lowest smooth value.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
<!-- ============ METHOD DETAIL ========== -->
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="createIMUVelocity(swervelib.imu.SwerveIMU)">
<h3>createIMUVelocity</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></span>&nbsp;<span class="element-name">createIMUVelocity</span><wbr><span class="parameters">(<a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a>&nbsp;gyro)</span></div>
<div class="block">Static factory for IMU Velocity. Supported IMU rates will be as quick as possible
but will not exceed 100hz and will use 5 taps (supported IMUs are listed in swervelib's IMU folder).
Other gyroscopes will default to 50hz and 5 taps. For custom rates please use the IMUVelocity constructor.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>gyro</code> - The SwerveIMU gyro.</dd>
<dt>Returns:</dt>
<dd><a href="IMUVelocity.html" title="class in swervelib.imu"><code>IMUVelocity</code></a> for the given gyro with adjusted period readings for velocity.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="update()">
<h3>update</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">update</span>()</div>
<div class="block">Update the robot's rotational velocity based on the current gyro position.</div>
</section>
</li>
<li>
<section class="detail" id="getVelocity()">
<h3>getVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getVelocity</span>()</div>
<div class="block">Get the robot's angular velocity based on averaged meaasurements from the IMU.
Velocity is multiplied by 1e+6 (1,000,000) because the timestamps are in microseconds.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>robot's angular velocity in rads/s as a double.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
<!-- ========= END OF CLASS DATA ========= -->
</main>
</div>
</div>
</body>
</html>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>NavXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.imu, class: NavXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>Pigeon2Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.imu, class: Pigeon2Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -93,24 +93,29 @@ loadScripts(document, 'script');</script>
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>(package private) com.ctre.phoenix6.hardware.Pigeon2</code></div>
<div class="col-second even-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
<div class="col-first even-row-color"><code>private com.ctre.phoenix6.configs.Pigeon2Configurator</code></div>
<div class="col-second even-row-color"><code><a href="#cfg" class="member-name-link">cfg</a></code></div>
<div class="col-last even-row-color">
<div class="block">Pigeon2 configurator.</div>
</div>
<div class="col-first odd-row-color"><code>(package private) com.ctre.phoenix6.hardware.Pigeon2</code></div>
<div class="col-second odd-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Pigeon2 IMU device.</div>
</div>
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private boolean</code></div>
<div class="col-second even-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-last even-row-color">
<div class="block">Inversion for the gyro</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Offset for the Pigeon 2.</div>
</div>
<div class="col-first odd-row-color"><code>static double</code></div>
<div class="col-second odd-row-color"><code><a href="#STATUS_TIMEOUT_SECONDS" class="member-name-link">STATUS_TIMEOUT_SECONDS</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>static double</code></div>
<div class="col-second even-row-color"><code><a href="#STATUS_TIMEOUT_SECONDS" class="member-name-link">STATUS_TIMEOUT_SECONDS</a></code></div>
<div class="col-last even-row-color">
<div class="block">Wait time for status frames to show up.</div>
</div>
</div>
@@ -237,6 +242,13 @@ loadScripts(document, 'script');</script>
<div class="block">Inversion for the gyro</div>
</section>
</li>
<li>
<section class="detail" id="cfg">
<h3>cfg</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">com.ctre.phoenix6.configs.Pigeon2Configurator</span>&nbsp;<span class="element-name">cfg</span></div>
<div class="block">Pigeon2 configurator.</div>
</section>
</li>
</ul>
</section>
</li>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>PigeonSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.imu, class: PigeonSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>SwerveIMU</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.imu, class: SwerveIMU">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>swervelib.imu</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.imu">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -100,20 +100,24 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Creates a IMU for <code>AnalogGyro</code> devices, only uses yaw.</div>
</div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">Generic IMU Velocity filter.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Communicates with the NavX as the IMU.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">SwerveIMU interface for the Pigeon2</div>
</div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">SwerveIMU interface for the Pigeon.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">Swerve IMU abstraction to define a standard interface with a swerve drive.</div>
</div>
</div>

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<html lang="en">
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<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
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<title>swervelib.imu Class Hierarchy</title>
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@@ -59,6 +59,7 @@ loadScripts(document, 'script');</script>
<ul>
<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" class="type-name-link external-link" title="class or interface in java.lang">Object</a>
<ul>
<li class="circle">swervelib.imu.<a href="IMUVelocity.html" class="type-name-link" title="class in swervelib.imu">IMUVelocity</a></li>
<li class="circle">swervelib.imu.<a href="SwerveIMU.html" class="type-name-link" title="class in swervelib.imu">SwerveIMU</a>
<ul>
<li class="circle">swervelib.imu.<a href="ADIS16448Swerve.html" class="type-name-link" title="class in swervelib.imu">ADIS16448Swerve</a></li>

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<title>IMULinearMovingAverageFilter</title>
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<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.math</a></div>
<h1 title="Class IMULinearMovingAverageFilter" class="title">Class IMULinearMovingAverageFilter</h1>
</div>
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance">swervelib.math.IMULinearMovingAverageFilter</div>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">IMULinearMovingAverageFilter</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">A linear filter that does not calculate() each time a value is added to
the DoubleCircularBuffer.</div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>private final double</code></div>
<div class="col-second even-row-color"><code><a href="#m_inputGain" class="member-name-link">m_inputGain</a></code></div>
<div class="col-last even-row-color">
<div class="block">Gain on each reading.</div>
</div>
<div class="col-first odd-row-color"><code>private final edu.wpi.first.util.DoubleCircularBuffer</code></div>
<div class="col-second odd-row-color"><code><a href="#m_inputs" class="member-name-link">m_inputs</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Circular buffer storing the current IMU readings</div>
</div>
</div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int)" class="member-name-link">IMULinearMovingAverageFilter</a><wbr>(int&nbsp;bufferLength)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct a linear moving average fitler</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</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="#addValue(double)" class="member-name-link">addValue</a><wbr>(double&nbsp;input)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Add a value to the DoubleCircularBuffer</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="#calculate()" class="member-name-link">calculate</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Calculate the average of the samples in the buffer</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="m_inputs">
<h3>m_inputs</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.util.DoubleCircularBuffer</span>&nbsp;<span class="element-name">m_inputs</span></div>
<div class="block">Circular buffer storing the current IMU readings</div>
</section>
</li>
<li>
<section class="detail" id="m_inputGain">
<h3>m_inputGain</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">m_inputGain</span></div>
<div class="block">Gain on each reading.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(int)">
<h3>IMULinearMovingAverageFilter</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">IMULinearMovingAverageFilter</span><wbr><span class="parameters">(int&nbsp;bufferLength)</span></div>
<div class="block">Construct a linear moving average fitler</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>bufferLength</code> - The number of values to average across</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
<!-- ============ METHOD DETAIL ========== -->
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="addValue(double)">
<h3>addValue</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addValue</span><wbr><span class="parameters">(double&nbsp;input)</span></div>
<div class="block">Add a value to the DoubleCircularBuffer</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>input</code> - Value to add</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="calculate()">
<h3>calculate</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calculate</span>()</div>
<div class="block">Calculate the average of the samples in the buffer</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>The average of the values in the buffer</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
<!-- ========= END OF CLASS DATA ========= -->
</main>
</div>
</div>
</body>
</html>

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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2024-09-03">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>SwerveMath</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveMath">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<title>swervelib.math</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta name="description" content="declaration: package: swervelib.math">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -86,12 +86,17 @@ loadScripts(document, 'script');</script>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Class</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="Matter.html" title="class in swervelib.math">Matter</a></div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">A linear filter that does not calculate() each time a value is added to
the DoubleCircularBuffer.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="Matter.html" title="class in swervelib.math">Matter</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Object with significant mass that needs to be taken into account.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="SwerveMath.html" title="class in swervelib.math">SwerveMath</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="SwerveMath.html" title="class in swervelib.math">SwerveMath</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">Mathematical functions which pertain to swerve drive.</div>
</div>
</div>

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<!-- Generated by javadoc (17) on Tue Sep 03 11:26:56 CDT 2024 -->
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<title>swervelib.math Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta name="description" content="tree: package: swervelib.math">
<meta name="generator" content="javadoc/PackageTreeWriter">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -59,6 +59,7 @@ loadScripts(document, 'script');</script>
<ul>
<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" class="type-name-link external-link" title="class or interface in java.lang">Object</a>
<ul>
<li class="circle">swervelib.math.<a href="IMULinearMovingAverageFilter.html" class="type-name-link" title="class in swervelib.math">IMULinearMovingAverageFilter</a></li>
<li class="circle">swervelib.math.<a href="Matter.html" class="type-name-link" title="class in swervelib.math">Matter</a></li>
<li class="circle">swervelib.math.<a href="SwerveMath.html" class="type-name-link" title="class in swervelib.math">SwerveMath</a></li>
</ul>

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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta name="description" content="declaration: package: swervelib.motors, class: SparkFlexSwerve, enum: SparkMAX_slotIdx">
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<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta name="description" content="declaration: package: swervelib.motors, class: SparkFlexSwerve">
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2024-09-03">
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<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxBrushedMotorSwerve">
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<meta name="dc.created" content="2024-09-03">
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<html lang="en">
<head>
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<title>SparkMaxSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<head>
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<title>SwerveMotor</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.motors, class: SwerveMotor">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>TalonFXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.motors, class: TalonFXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,39 +98,44 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Whether the absolute encoder is integrated.</div>
</div>
<div class="col-first odd-row-color"><code>private com.ctre.phoenix6.configs.TalonFXConfiguration</code></div>
<div class="col-second odd-row-color"><code><a href="#configuration" class="member-name-link">configuration</a></code></div>
<div class="col-first odd-row-color"><code>private com.ctre.phoenix6.configs.TalonFXConfigurator</code></div>
<div class="col-second odd-row-color"><code><a href="#cfg" class="member-name-link">cfg</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Current TalonFX Configurator.</div>
</div>
<div class="col-first even-row-color"><code>private com.ctre.phoenix6.configs.TalonFXConfiguration</code></div>
<div class="col-second even-row-color"><code><a href="#configuration" class="member-name-link">configuration</a></code></div>
<div class="col-last even-row-color">
<div class="block">Current TalonFX configuration.</div>
</div>
<div class="col-first even-row-color"><code>private double</code></div>
<div class="col-second even-row-color"><code><a href="#conversionFactor" class="member-name-link">conversionFactor</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#conversionFactor" class="member-name-link">conversionFactor</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Conversion factor for the motor.</div>
</div>
<div class="col-first odd-row-color"><code>private final boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#factoryDefaultOccurred" class="member-name-link">factoryDefaultOccurred</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private final boolean</code></div>
<div class="col-second even-row-color"><code><a href="#factoryDefaultOccurred" class="member-name-link">factoryDefaultOccurred</a></code></div>
<div class="col-last even-row-color">
<div class="block">Factory default already occurred.</div>
</div>
<div class="col-first even-row-color"><code>private final com.ctre.phoenix6.controls.MotionMagicVoltage</code></div>
<div class="col-second even-row-color"><code><a href="#m_angleVoltageSetter" class="member-name-link">m_angleVoltageSetter</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private final com.ctre.phoenix6.controls.MotionMagicVoltage</code></div>
<div class="col-second odd-row-color"><code><a href="#m_angleVoltageSetter" class="member-name-link">m_angleVoltageSetter</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Motion magic angle voltage setter.</div>
</div>
<div class="col-first odd-row-color"><code>private final com.ctre.phoenix6.controls.VelocityVoltage</code></div>
<div class="col-second odd-row-color"><code><a href="#m_velocityVoltageSetter" class="member-name-link">m_velocityVoltageSetter</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private final com.ctre.phoenix6.controls.VelocityVoltage</code></div>
<div class="col-second even-row-color"><code><a href="#m_velocityVoltageSetter" class="member-name-link">m_velocityVoltageSetter</a></code></div>
<div class="col-last even-row-color">
<div class="block">Velocity voltage setter for controlling drive motor.</div>
</div>
<div class="col-first even-row-color"><code>(package private) com.ctre.phoenix6.hardware.TalonFX</code></div>
<div class="col-second even-row-color"><code><a href="#motor" class="member-name-link">motor</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>(package private) com.ctre.phoenix6.hardware.TalonFX</code></div>
<div class="col-second odd-row-color"><code><a href="#motor" class="member-name-link">motor</a></code></div>
<div class="col-last odd-row-color">
<div class="block">TalonFX motor controller.</div>
</div>
<div class="col-first odd-row-color"><code>static double</code></div>
<div class="col-second odd-row-color"><code><a href="#STATUS_TIMEOUT_SECONDS" class="member-name-link">STATUS_TIMEOUT_SECONDS</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>static double</code></div>
<div class="col-second even-row-color"><code><a href="#STATUS_TIMEOUT_SECONDS" class="member-name-link">STATUS_TIMEOUT_SECONDS</a></code></div>
<div class="col-last even-row-color">
<div class="block">Wait time for status frames to show up.</div>
</div>
</div>
@@ -406,6 +411,13 @@ loadScripts(document, 'script');</script>
<div class="block">Current TalonFX configuration.</div>
</section>
</li>
<li>
<section class="detail" id="cfg">
<h3>cfg</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">com.ctre.phoenix6.configs.TalonFXConfigurator</span>&nbsp;<span class="element-name">cfg</span></div>
<div class="block">Current TalonFX Configurator.</div>
</section>
</li>
</ul>
</section>
</li>

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<title>TalonSRXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.motors, class: TalonSRXSwerve">
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<title>swervelib.motors</title>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.motors">
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<title>swervelib.motors Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="tree: package: swervelib.motors">
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<title>swervelib</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<title>swervelib Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="tree: package: swervelib">
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<title>Cache</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.parser, class: Cache">
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<title>PIDFConfig</title>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.parser, class: PIDFConfig">
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<title>SwerveControllerConfiguration</title>
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<meta name="dc.created" content="2024-09-03">
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<title>SwerveDriveConfiguration</title>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<title>SwerveModuleConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveModuleConfiguration">
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<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveModulePhysicalCharacteristics">
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<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveParser">
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<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.parser.deserializer, class: PIDFRange">
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<title>swervelib.parser.deserializer</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
<meta name="description" content="declaration: package: swervelib.parser.deserializer">
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<title>swervelib.parser.deserializer Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
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<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
<meta name="dc.created" content="2024-10-14">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-09-03">
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