diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index 21b91ce..2a35d14 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,11 +1,11 @@ - + All Classes and Interfaces - + @@ -72,114 +72,122 @@ loadScripts(document, 'script');
IMU Swerve class for the ADXRS450_Gyro device.
-
AnalogGyroSwerve
+
AnalogAbsoluteEncoderSwerve
+
Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
+
+
AnalogGyroSwerve
+
Creates a IMU for AnalogGyro devices, only uses yaw.
-
BoolMotorJson
-
+
BoolMotorJson
+
Inverted motor JSON parsed class.
-
CANCoderSwerve
-
+
CANCoderSwerve
+
Swerve Absolute Encoder for CTRE CANCoders.
-
ControllerPropertiesJson
-
+
ControllerPropertiesJson
+
SwerveController parsed class.
-
DeviceJson
-
+
DeviceJson
+
Device JSON parsed class.
-
LocationJson
-
+
LocationJson
+
Location JSON parsed class.
-
ModuleJson
-
+
ModuleJson
+
SwerveModule JSON parsed class.
-
MotorConfigDouble
-
+
MotorConfigDouble
+
Used to store doubles for motor configuration.
-
MotorConfigInt
-
+
MotorConfigInt
+
Used to store ints for motor configuration.
-
NavXSwerve
-
+
NavXSwerve
+
Communicates with the NavX as the IMU.
-
PhysicalPropertiesJson
-
+
PhysicalPropertiesJson
+
SwerveModulePhysicalCharacteristics parsed data.
-
PhysicsSim
-
+
PhysicsSim
+
Manages physics simulation for CTRE products.
-
PhysicsSim.SimProfile
-
+
PhysicsSim.SimProfile
+
Holds information about a simulated device.
-
PIDFConfig
-
+
PIDFConfig
+
Hold the PIDF and Integral Zone values for a PID.
-
PIDFPropertiesJson
-
+
PIDFPropertiesJson
+
SwerveModule PID with Feedforward for the drive motor and angle motor.
-
PIDFRange
-
+
PIDFRange
+
Class to hold the minimum and maximum input or output of the PIDF.
-
Pigeon2Swerve
-
+
Pigeon2Swerve
+
SwerveIMU interface for the Pigeon2
-
PigeonSwerve
-
+
PigeonSwerve
+
SwerveIMU interface for the Pigeon.
-
SparkMaxEncoderSwerve
-
+
SparkMaxEncoderSwerve
+
SparkMax absolute encoder, attached through the data port.
-
SparkMaxSwerve
-
+
SparkMaxSwerve
+
An implementation of CANSparkMax as a SwerveMotor.
-
SparkMaxSwerve.SparkMAX_slotIdx
-
+
SparkMaxSwerve.SparkMAX_slotIdx
+
REV Slots for PID configuration.
-
SwerveAbsoluteEncoder
-
+
SwerveAbsoluteEncoder
+
Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
-
SwerveController
-
+
SwerveController
+
Controller class used to convert raw inputs into robot speeds.
-
SwerveControllerConfiguration
-
+
SwerveControllerConfiguration
+
Swerve Controller configuration class which is used to configure SwerveController.
-
SwerveDrive
-
+
SwerveDrive
+
Swerve Drive class representing and controlling the swerve drive.
-
SwerveDriveConfiguration
-
+
SwerveDriveConfiguration
+
Swerve drive configurations used during SwerveDrive construction.
-
SwerveDriveJson
-
+
SwerveDriveJson
+
SwerveDrive JSON parsed class.
+
SwerveDriveTelemetry
+
+
Telemetry to describe the SwerveDrive following frc-web-components.
+
SwerveIMU
Swerve IMU abstraction to define a standard interface with a swerve drive.
diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index eedc944..7923c76 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,11 +1,11 @@ - + All Packages - + @@ -98,6 +98,10 @@ loadScripts(document, 'script');
CTRE Physics Simulator.
+
swervelib.telemetry
+
+
Telemetry package for sending data to NT4 or SmartDashboard.
+
diff --git a/docs/constant-values.html b/docs/constant-values.html index 62323b5..07c6d8e 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,11 +1,11 @@ - + Constant Field Values - + diff --git a/docs/element-list b/docs/element-list index 969b9dc..509cbf2 100644 --- a/docs/element-list +++ b/docs/element-list @@ -9,3 +9,4 @@ swervelib.parser.json swervelib.parser.json.modules swervelib.simulation swervelib.simulation.ctre +swervelib.telemetry diff --git a/docs/help-doc.html b/docs/help-doc.html index 19b8def..75caa58 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,11 +1,11 @@ - + API Help - + diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index bd99ff4..dc100f2 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,11 +1,11 @@ - + A-Index - + @@ -134,6 +134,18 @@ loadScripts(document, 'script');
Construct the ADXRS450 imu and reset default configurations.
+
AnalogAbsoluteEncoderSwerve - Class in swervelib.encoders
+
+
Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
+
+
AnalogAbsoluteEncoderSwerve(int) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve
+
+
Construct the Encoder given the analog input channel.
+
+
AnalogAbsoluteEncoderSwerve(AnalogInput) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve
+
+
Construct the Thrifty Encoder as a Swerve Absolute Encoder.
+
AnalogGyroSwerve - Class in swervelib.imu
Creates a IMU for AnalogGyro devices, only uses yaw.
diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index f543bfb..e7f0c5f 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,11 +1,11 @@ - + K-Index - + diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index f49fc0d..5d2db10 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,11 +1,11 @@ - + L-Index - + diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index a8e3cd6..cd5463d 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,11 +1,11 @@ - + M-Index - + @@ -85,6 +85,10 @@ loadScripts(document, 'script');
Maximum angular velocity in rad/s
+
maxAngularVelocity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
The maximum achievable angular velocity of the robot.
+
maxSpeed - Variable in class swervelib.parser.json.SwerveDriveJson
Maximum robot speed in feet per second.
@@ -101,6 +105,18 @@ loadScripts(document, 'script');
Maximum robot speed in meters per second.
+
maxSpeed - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
The maximum achievable speed of the modules, used to adjust the size of the vectors.
+
+
measuredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
The maximum achievable angular velocity of the robot.
+
+
measuredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
An array of rotation and velocity values describing the measured state of each swerve module
+
min - Variable in class swervelib.parser.deserializer.PIDFRange
Minimum value.
@@ -113,6 +129,10 @@ loadScripts(document, 'script');
Number of modules on the robot.
+
moduleCount - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
The number of swerve modules
+
ModuleJson - Class in swervelib.parser.json
SwerveModule JSON parsed class.
diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index 4c6009e..11a1e06 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,11 +1,11 @@ - + N-Index - + diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index a8bf5a2..399d452 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,11 +1,11 @@ - + O-Index - + diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index 3aa95a3..5437d6c 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,11 +1,11 @@ - + P-Index - + diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 47b3654..71bcb32 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,11 +1,11 @@ - + R-Index - + @@ -73,6 +73,14 @@ loadScripts(document, 'script');
Resets odometry to the given pose.
+
robotRotation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
The robot's current rotation based on odometry or gyro readings
+
+
rotationUnit - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
The units of the module rotations and robot rotation
+
run() - Method in class swervelib.simulation.ctre.PhysicsSim
Runs the simulator: - enable the robot - simulate sensors
diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index 02aea98..5f63ed8 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,11 +1,11 @@ - + S-Index - + @@ -277,6 +277,14 @@ loadScripts(document, 'script');
Slot 3, used arbitrarily.
+
sizeFrontBack - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
The distance between the front and back modules.
+
+
sizeLeftRight - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
The distance between the left and right modules.
+
SparkMAX_slotIdx() - Constructor for enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
 
SparkMaxEncoderSwerve - Class in swervelib.encoders
@@ -376,6 +384,12 @@ loadScripts(document, 'script');
Swerve odometry.
+
SwerveDriveTelemetry - Class in swervelib.telemetry
+
+
Telemetry to describe the SwerveDrive following frc-web-components.
+
+
SwerveDriveTelemetry() - Constructor for class swervelib.telemetry.SwerveDriveTelemetry
+
 
SwerveIMU - Class in swervelib.imu
Swerve IMU abstraction to define a standard interface with a swerve drive.
@@ -443,6 +457,10 @@ loadScripts(document, 'script');
CTRE Physics Simulator.
+
swervelib.telemetry - package swervelib.telemetry
+
+
Telemetry package for sending data to NT4 or SmartDashboard.
+
SwerveMath - Class in swervelib.math
Mathematical functions which pertain to swerve drive.
diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index 6b32341..65346a7 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,11 +1,11 @@ - + T-Index - + diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index 13a7ffd..abdb7b0 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,11 +1,11 @@ - + U-Index - + @@ -53,6 +53,10 @@ loadScripts(document, 'script'); A B C D E F G H I K L M N O P R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values

U

+
updateData() - Static method in class swervelib.telemetry.SwerveDriveTelemetry
+
+
Upload data to smartdashboard
+
updateOdometry() - Method in class swervelib.SwerveDrive
Update odometry should be run every loop.
diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index 4973e9e..6dc2025 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,11 +1,11 @@ - + B-Index - + diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index 38fb3a9..3a6b9ff 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,11 +1,11 @@ - + V-Index - + diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index 54e23c6..f965094 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,11 +1,11 @@ - + W-Index - + @@ -69,6 +69,10 @@ loadScripts(document, 'script');
Wheel grip tape coefficient of friction on carpet, as described by the vendor.
+
wheelLocations - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
The number of swerve modules
+
withinHypotDeadband(double, double) - Method in class swervelib.SwerveController
Calculate the hypot deadband and check if the joystick is within it.
diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index 2ab7674..cc46f39 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,11 +1,11 @@ - + X-Index - + diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index e25db8d..bff6e5c 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,11 +1,11 @@ - + Y-Index - + diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index 99f0ec5..0cfe64a 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,11 +1,11 @@ - + Z-Index - + diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index 1434a74..e43355b 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,11 +1,11 @@ - + _-Index - + diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index 1774954..9424c93 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,11 +1,11 @@ - + C-Index - + @@ -101,6 +101,10 @@ loadScripts(document, 'script');
Check directory structure.
+
clearStickyFaults() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
+
+
Clear sticky faults on the encoder.
+
clearStickyFaults() - Method in class swervelib.encoders.CANCoderSwerve
Clear sticky faults on the encoder.
@@ -178,6 +182,10 @@ loadScripts(document, 'script');
Swerve module configuration options.
+
configure(boolean) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
+
+
Configure the absolute encoder to read from [0, 360) per second.
+
configure(boolean) - Method in class swervelib.encoders.CANCoderSwerve
Configure the absolute encoder to read from [0, 360) per second.
diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index 3dfcd81..931142b 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,11 +1,11 @@ - + D-Index - + @@ -66,6 +66,14 @@ loadScripts(document, 'script');
Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of joystick saturation at edges of joystick.
+
desiredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
Describes the desired forward, sideways and angular velocity of the robot.
+
+
desiredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
An array of rotation and velocity values describing the desired state of each swerve module
+
DeviceJson - Class in swervelib.parser.json
Device JSON parsed class.
diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index b13d946..8e37965 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,11 +1,11 @@ - + E-Index - + @@ -53,6 +53,10 @@ loadScripts(document, 'script'); A B C D E F G H I K L M N O P R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values

E

+
encoder - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
+
+
Encoder as Analog Input.
+
encoder - Variable in class swervelib.encoders.CANCoderSwerve
CANCoder with WPILib sendable and support.
diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index 6a32003..d453fdd 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,11 +1,11 @@ - + F-Index - + @@ -57,6 +57,10 @@ loadScripts(document, 'script');
Feedforward value for PID.
+
factoryDefault() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
+
+
Reset the encoder to factory defaults.
+
factoryDefault() - Method in class swervelib.encoders.CANCoderSwerve
Reset the encoder to factory defaults.
@@ -145,6 +149,10 @@ loadScripts(document, 'script');
Field object.
+
forwardDirection - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
+
+
The direction the robot should be facing when the "Robot Rotation" is zero or blank.
+
fscalar - Variable in class swervelib.motors.TalonFXSwerve
Feedforward scalar value for the angle motor.
diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index 1e1ed4d..eb04394 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,11 +1,11 @@ - + G-Index - + @@ -57,6 +57,10 @@ loadScripts(document, 'script');
Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
+
getAbsoluteEncoder() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
+
+
Get the instantiated absolute encoder Object.
+
getAbsoluteEncoder() - Method in class swervelib.encoders.CANCoderSwerve
Get the instantiated absolute encoder Object.
@@ -69,6 +73,10 @@ loadScripts(document, 'script');
Get the instantiated absolute encoder Object.
+
getAbsolutePosition() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
+
+
Get the absolute position of the encoder.
+
getAbsolutePosition() - Method in class swervelib.encoders.CANCoderSwerve
Get the absolute position of the encoder.
diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index 75bd3b8..9b15e98 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,11 +1,11 @@ - + H-Index - + diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index 56cb35a..bf880e5 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,11 +1,11 @@ - + I-Index - + @@ -93,6 +93,10 @@ loadScripts(document, 'script');
Swerve IMU device for sensing the heading of the robot.
+
inverted - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
+
+
Inversion state of the encoder.
+
inverted - Variable in class swervelib.parser.json.ModuleJson
Defines which motors are inverted.
diff --git a/docs/index.html b/docs/index.html index 3cd20cb..7c7817f 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,11 +1,11 @@ - + Overview - + @@ -96,6 +96,10 @@ loadScripts(document, 'script');
CTRE Physics Simulator.
+
swervelib.telemetry
+
+
Telemetry package for sending data to NT4 or SmartDashboard.
+
diff --git a/docs/member-search-index.js b/docs/member-search-index.js index 00799c5..88c3c35 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = 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boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, String, boolean)","u":"%3Cinit%3E(int,java.lang.String,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(WPI_TalonFX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX,boolean)"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"TalonSRXSimProfile(TalonSRX, double, double, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(WPI_TalonSRX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX,boolean)"},{"p":"swervelib","c":"SwerveController","l":"thetaController"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"timer"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"timer"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toChassisSpeeds(SwerveModuleState2...)","u":"toChassisSpeeds(swervelib.math.SwerveModuleState2...)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toSwerveModuleStates(ChassisSpeeds)","u":"toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toSwerveModuleStates(ChassisSpeeds, Translation2d)","u":"toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toTwist2d(SwerveModulePosition...)","u":"toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"type"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"updateData()"},{"p":"swervelib","c":"SwerveDrive","l":"updateOdometry()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"updateOdometry(SwerveKinematics2, SwerveModuleState2[], Pose2d[], Field2d)","u":"updateOdometry(swervelib.math.SwerveKinematics2,swervelib.math.SwerveModuleState2[],edu.wpi.first.math.geometry.Pose2d[],edu.wpi.first.wpilibj.smartdashboard.Field2d)"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"updateStateAndPosition(SwerveModuleState2)","u":"updateStateAndPosition(swervelib.math.SwerveModuleState2)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"velocityPIDF"},{"p":"swervelib.simulation.ctre","c":"VictorSPXSimProfile","l":"VictorSPXSimProfile(VictorSPX)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.VictorSPX)"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelDiameter"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelDiameter"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"wheelLocations"},{"p":"swervelib","c":"SwerveController","l":"withinHypotDeadband(double, double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"yawOffset"},{"p":"swervelib.imu","c":"NavXSwerve","l":"yawOffset"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/overview-summary.html b/docs/overview-summary.html index a9d2b9a..9ab0be9 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -1,11 +1,11 @@ - + Generated Documentation (Untitled) - + diff --git a/docs/overview-tree.html b/docs/overview-tree.html index 4860e41..5819ebc 100644 --- a/docs/overview-tree.html +++ b/docs/overview-tree.html @@ -1,11 +1,11 @@ - + Class Hierarchy - + @@ -61,7 +61,8 @@ loadScripts(document, 'script');
  • swervelib.parser.json,
  • swervelib.parser.json.modules,
  • swervelib.simulation,
    • -
  • swervelib.simulation.ctre
    • +
  • swervelib.simulation.ctre,
    • +
  • swervelib.telemetry
    • @@ -90,6 +91,7 @@ loadScripts(document, 'script');
  • swervelib.parser.deserializer.PIDFRange
  • swervelib.encoders.SwerveAbsoluteEncoder @@ -104,6 +106,7 @@ loadScripts(document, 'script');
  • swervelib.math.SwerveKinematics2
    • +
  • swervelib.telemetry.SwerveDriveTelemetry
  • swervelib.imu.SwerveIMU
    • swervelib.imu.ADIS16448Swerve
      • diff --git a/docs/package-search-index.js b/docs/package-search-index.js index c6dda5b..63c5628 100644 --- a/docs/package-search-index.js +++ b/docs/package-search-index.js @@ -1 +1 @@ -packageSearchIndex = [{"l":"All Packages","u":"allpackages-index.html"},{"l":"swervelib"},{"l":"swervelib.encoders"},{"l":"swervelib.imu"},{"l":"swervelib.math"},{"l":"swervelib.motors"},{"l":"swervelib.parser"},{"l":"swervelib.parser.deserializer"},{"l":"swervelib.parser.json"},{"l":"swervelib.parser.json.modules"},{"l":"swervelib.simulation"},{"l":"swervelib.simulation.ctre"}];updateSearchResults(); \ No newline at end of file +packageSearchIndex = [{"l":"All Packages","u":"allpackages-index.html"},{"l":"swervelib"},{"l":"swervelib.encoders"},{"l":"swervelib.imu"},{"l":"swervelib.math"},{"l":"swervelib.motors"},{"l":"swervelib.parser"},{"l":"swervelib.parser.deserializer"},{"l":"swervelib.parser.json"},{"l":"swervelib.parser.json.modules"},{"l":"swervelib.simulation"},{"l":"swervelib.simulation.ctre"},{"l":"swervelib.telemetry"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html index 313c64c..b18c04b 100644 --- a/docs/swervelib/SwerveController.html +++ b/docs/swervelib/SwerveController.html @@ -1,11 +1,11 @@ - + SwerveController - + diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index ac3a7d5..0c79b40 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,11 +1,11 @@ - + SwerveDrive - + diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index 6e3b1fb..f07b2fa 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,11 +1,11 @@ - + SwerveModule - + @@ -373,7 +373,7 @@ loadScripts(document, 'script');

      getAbsolutePosition

      public double getAbsolutePosition()
      -
      Get the absolute position.
      +
      Get the absolute position. Falls back to relative position on reading failure.
      Returns:
      Absolute encoder angle in degrees.
      diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html new file mode 100644 index 0000000..6fbe63d --- /dev/null +++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html @@ -0,0 +1,307 @@ + + + + +AnalogAbsoluteEncoderSwerve + + + + + + + + + + + + + + + +
      + +
      +
      + +
      +
      Package swervelib.encoders
      +

      Class AnalogAbsoluteEncoderSwerve

      +
      +
      java.lang.Object +
      swervelib.encoders.SwerveAbsoluteEncoder +
      swervelib.encoders.AnalogAbsoluteEncoderSwerve
      +
      +
      +
      +
      +
      public class AnalogAbsoluteEncoderSwerve +extends SwerveAbsoluteEncoder
      +
      Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
      +
      +
      + +
      +
      +
        + +
      • +
        +

        Field Details

        +
          +
        • +
          +

          encoder

          +
          public edu.wpi.first.wpilibj.AnalogInput encoder
          +
          Encoder as Analog Input.
          +
          +
          • +
        • +
          +

          inverted

          +
          private boolean inverted
          +
          Inversion state of the encoder.
          +
          +
          • +
        +
        +
        • + +
      • +
        +

        Constructor Details

        +
          +
        • +
          +

          AnalogAbsoluteEncoderSwerve

          +
          public AnalogAbsoluteEncoderSwerve(edu.wpi.first.wpilibj.AnalogInput encoder)
          +
          Construct the Thrifty Encoder as a Swerve Absolute Encoder.
          +
          +
          Parameters:
          +
          encoder - Encoder to construct.
          +
          +
          +
          • +
        • +
          +

          AnalogAbsoluteEncoderSwerve

          +
          public AnalogAbsoluteEncoderSwerve(int channel)
          +
          Construct the Encoder given the analog input channel.
          +
          +
          Parameters:
          +
          channel - Analog Input channel of which the encoder resides.
          +
          +
          +
          • +
        +
        +
        • + +
      • +
        +

        Method Details

        +
          +
        • +
          +

          factoryDefault

          +
          public void factoryDefault()
          +
          Reset the encoder to factory defaults.
          +
          +
          Specified by:
          +
          factoryDefault in class SwerveAbsoluteEncoder
          +
          +
          +
          • +
        • +
          +

          clearStickyFaults

          +
          public void clearStickyFaults()
          +
          Clear sticky faults on the encoder.
          +
          +
          Specified by:
          +
          clearStickyFaults in class SwerveAbsoluteEncoder
          +
          +
          +
          • +
        • +
          +

          configure

          +
          public void configure(boolean inverted)
          +
          Configure the absolute encoder to read from [0, 360) per second.
          +
          +
          Specified by:
          +
          configure in class SwerveAbsoluteEncoder
          +
          Parameters:
          +
          inverted - Whether the encoder is inverted.
          +
          +
          +
          • +
        • +
          +

          getAbsolutePosition

          +
          public double getAbsolutePosition()
          +
          Get the absolute position of the encoder.
          +
          +
          Specified by:
          +
          getAbsolutePosition in class SwerveAbsoluteEncoder
          +
          Returns:
          +
          Absolute position in degrees from [0, 360).
          +
          +
          +
          • +
        • +
          +

          getAbsoluteEncoder

          +
          public Object getAbsoluteEncoder()
          +
          Get the instantiated absolute encoder Object.
          +
          +
          Specified by:
          +
          getAbsoluteEncoder in class SwerveAbsoluteEncoder
          +
          Returns:
          +
          Absolute encoder object.
          +
          +
          +
          • +
        +
        +
        • +
      +
      + +
      +
      +
      + + diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index 036023e..0749a1d 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,11 +1,11 @@ - + CANCoderSwerve - + diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index 1ddd194..775be1c 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxEncoderSwerve - + diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index 21ec261..071e141 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,11 +1,11 @@ - + SwerveAbsoluteEncoder - + @@ -77,7 +77,7 @@ loadScripts(document, 'script');
      Direct Known Subclasses:
      -
      CANCoderSwerve, SparkMaxEncoderSwerve
      +
      AnalogAbsoluteEncoderSwerve, CANCoderSwerve, SparkMaxEncoderSwerve
      public abstract class SwerveAbsoluteEncoder diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index 26aa5eb..1412376 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.encoders - + @@ -75,26 +75,6 @@ loadScripts(document, 'script');
      Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
      -
      swervelib.imu
      -
      -
      IMUs used for controlling the robot heading.
      -
      -
      swervelib.math
      -
      -
      Mathematics for swerve drives.
      -
      -
      swervelib.motors
      -
      -
      Swerve motor controller wrappers which implement SwerveMotor.
      -
      -
      swervelib.parser
      -
      -
      JSON Parser for YAGSL configurations.
      -
      -
      swervelib.simulation
      -
      -
      Classes used to simulate the swerve drive.
      -
    • @@ -104,16 +84,20 @@ loadScripts(document, 'script');
    Class
    Description
    -
    CANCoderSwerve
    +
    AnalogAbsoluteEncoderSwerve
    +
    Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
    +
    +
    CANCoderSwerve
    +
    Swerve Absolute Encoder for CTRE CANCoders.
    -
    SparkMaxEncoderSwerve
    -
    +
    SparkMaxEncoderSwerve
    +
    SparkMax absolute encoder, attached through the data port.
    -
    SwerveAbsoluteEncoder
    -
    +
    SwerveAbsoluteEncoder
    +
    Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
    diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index 682835a..5840dff 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.encoders Class Hierarchy - + @@ -61,6 +61,7 @@ loadScripts(document, 'script');
    • swervelib.encoders.SwerveAbsoluteEncoder diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html index b3519a0..6f5729d 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,11 +1,11 @@ - + ADIS16448Swerve - + diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html index 690a53e..3778ea8 100644 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ b/docs/swervelib/imu/ADIS16470Swerve.html @@ -1,11 +1,11 @@ - + ADIS16470Swerve - + diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html index 4b2d54b..1be3372 100644 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ b/docs/swervelib/imu/ADXRS450Swerve.html @@ -1,11 +1,11 @@ - + ADXRS450Swerve - + diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html index 62720e3..a9cd30e 100644 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ b/docs/swervelib/imu/AnalogGyroSwerve.html @@ -1,11 +1,11 @@ - + AnalogGyroSwerve - + diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index d2e517b..9b04fac 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,11 +1,11 @@ - + NavXSwerve - + diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index d9aff63..3177d83 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,11 +1,11 @@ - + Pigeon2Swerve - + diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index 9139249..92e64df 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,11 +1,11 @@ - + PigeonSwerve - + diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index f49e5a0..7186359 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,11 +1,11 @@ - + SwerveIMU - + diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index c18e4d4..307c0f1 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.imu - + @@ -75,26 +75,6 @@ loadScripts(document, 'script');
      Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
      -
      swervelib.encoders
      -
      -
      Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
      -
      -
      swervelib.math
      -
      -
      Mathematics for swerve drives.
      -
      -
      swervelib.motors
      -
      -
      Swerve motor controller wrappers which implement SwerveMotor.
      -
      -
      swervelib.parser
      -
      -
      JSON Parser for YAGSL configurations.
      -
      -
      swervelib.simulation
      -
      -
      Classes used to simulate the swerve drive.
      -
    diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index 06b9e58..846475c 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.imu Class Hierarchy - + diff --git a/docs/swervelib/math/SwerveKinematics2.html b/docs/swervelib/math/SwerveKinematics2.html index 56837f8..2fe502d 100644 --- a/docs/swervelib/math/SwerveKinematics2.html +++ b/docs/swervelib/math/SwerveKinematics2.html @@ -1,11 +1,11 @@ - + SwerveKinematics2 - + diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index 821fa7b..868c5af 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,11 +1,11 @@ - + SwerveMath - + diff --git a/docs/swervelib/math/SwerveModuleState2.html b/docs/swervelib/math/SwerveModuleState2.html index 1e01e5f..a40dbf8 100644 --- a/docs/swervelib/math/SwerveModuleState2.html +++ b/docs/swervelib/math/SwerveModuleState2.html @@ -1,11 +1,11 @@ - + SwerveModuleState2 - + diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index 67f6272..a0b7605 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.math - + @@ -75,26 +75,6 @@ loadScripts(document, 'script');
    Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
    -
    swervelib.encoders
    -
    -
    Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
    -
    -
    swervelib.imu
    -
    -
    IMUs used for controlling the robot heading.
    -
    -
    swervelib.motors
    -
    -
    Swerve motor controller wrappers which implement SwerveMotor.
    -
    -
    swervelib.parser
    -
    -
    JSON Parser for YAGSL configurations.
    -
    -
    swervelib.simulation
    -
    -
    Classes used to simulate the swerve drive.
    -
    diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index 310bfe7..89ab220 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.math Class Hierarchy - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html index 7ec8336..bbcf1e0 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve.SparkMAX_slotIdx - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index 8febb5e..1b5640d 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve - + diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index 6543e8c..3c8566d 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,11 +1,11 @@ - + SwerveMotor - + diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index 8695980..021442e 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,11 +1,11 @@ - + TalonFXSwerve - + diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index caa634c..b5862ad 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,11 +1,11 @@ - + TalonSRXSwerve - + diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index 99434f0..f326f3a 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.motors - + @@ -79,26 +79,6 @@ loadScripts(document, 'script');
    Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
    -
    swervelib.encoders
    -
    -
    Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
    -
    -
    swervelib.imu
    -
    -
    IMUs used for controlling the robot heading.
    -
    -
    swervelib.math
    -
    -
    Mathematics for swerve drives.
    -
    -
    swervelib.parser
    -
    -
    JSON Parser for YAGSL configurations.
    -
    -
    swervelib.simulation
    -
    -
    Classes used to simulate the swerve drive.
    -
    diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index cd559dc..f34f892 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.motors Class Hierarchy - + diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index 72a7e0a..61a0c79 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,11 +1,11 @@ - + swervelib - + @@ -95,6 +95,10 @@ loadScripts(document, 'script');
    Classes used to simulate the swerve drive.
    +
    swervelib.telemetry
    +
    +
    Telemetry package for sending data to NT4 or SmartDashboard.
    +
    diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index dd3966e..d2bfb76 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,11 +1,11 @@ - + swervelib Class Hierarchy - + diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index 6b7ecc4..bf2aa69 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,11 +1,11 @@ - + PIDFConfig - + diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index 04f4b75..49ba379 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ -1,11 +1,11 @@ - + SwerveControllerConfiguration - + diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index 7242698..4872413 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,11 +1,11 @@ - + SwerveDriveConfiguration - + diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index f3ce3e7..935c243 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,11 +1,11 @@ - + SwerveModuleConfiguration - + diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index 9e95949..29ccadb 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,11 +1,11 @@ - + SwerveModulePhysicalCharacteristics - + diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index eca7043..92dba59 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,11 +1,11 @@ - + SwerveParser - + diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index 4564161..2e1309f 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,11 +1,11 @@ - + PIDFRange - + diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index 748a3d6..c11566e 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer - + diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index 5b5937e..b8f6700 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer Class Hierarchy - + diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index dbf77c9..891bc81 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,11 +1,11 @@ - + ControllerPropertiesJson - + diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index 93cfbef..8544fac 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,11 +1,11 @@ - + DeviceJson - + diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index fc9ea3b..7b4eeb7 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,11 +1,11 @@ - + ModuleJson - + diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html index b76141a..57eafaa 100644 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ b/docs/swervelib/parser/json/MotorConfigDouble.html @@ -1,11 +1,11 @@ - + MotorConfigDouble - + diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html index 213b568..6adbd2a 100644 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ b/docs/swervelib/parser/json/MotorConfigInt.html @@ -1,11 +1,11 @@ - + MotorConfigInt - + diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index 67e2b01..0bd8c8d 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,11 +1,11 @@ - + PIDFPropertiesJson - + diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index 5733f54..4aa410d 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,11 +1,11 @@ - + PhysicalPropertiesJson - + diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index 9eebccb..08a169b 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,11 +1,11 @@ - + SwerveDriveJson - + diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index d212191..0aa76c4 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,11 +1,11 @@ - + BoolMotorJson - + diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index b3e08eb..c4b2e45 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,11 +1,11 @@ - + LocationJson - + diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index f1e9544..dc87621 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json.modules - + diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html index fcd7a0f..3188b8c 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json.modules Class Hierarchy - + diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html index e727f06..b5d634f 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json - + diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index 4e40362..0393638 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json Class Hierarchy - + diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index 75e6308..4977adc 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser - + @@ -83,26 +83,6 @@ loadScripts(document, 'script');
    JSON Mapped classes for parsing configuration files.
    -
    swervelib.encoders
    -
    -
    Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
    -
    -
    swervelib.imu
    -
    -
    IMUs used for controlling the robot heading.
    -
    -
    swervelib.math
    -
    -
    Mathematics for swerve drives.
    -
    -
    swervelib.motors
    -
    -
    Swerve motor controller wrappers which implement SwerveMotor.
    -
    -
    swervelib.simulation
    -
    -
    Classes used to simulate the swerve drive.
    -
    diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index 2eb8ac5..fbe29db 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser Class Hierarchy - + diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html index 95dfcd8..19cd2ad 100644 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ b/docs/swervelib/simulation/SwerveIMUSimulation.html @@ -1,11 +1,11 @@ - + SwerveIMUSimulation - + diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html index 0c9e65b..ad3be37 100644 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ b/docs/swervelib/simulation/SwerveModuleSimulation.html @@ -1,11 +1,11 @@ - + SwerveModuleSimulation - + diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html index b8ce95d..1a9d5a8 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html @@ -1,11 +1,11 @@ - + PhysicsSim.SimProfile - + diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.html b/docs/swervelib/simulation/ctre/PhysicsSim.html index bd379fa..1b05d25 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.html @@ -1,11 +1,11 @@ - + PhysicsSim - + diff --git a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html index 734df83..8087de0 100644 --- a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html @@ -1,11 +1,11 @@ - + TalonFXSimProfile - + diff --git a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html index 7b539d4..7412928 100644 --- a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html @@ -1,11 +1,11 @@ - + TalonSRXSimProfile - + diff --git a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html index d9e4483..22ceea3 100644 --- a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html +++ b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html @@ -1,11 +1,11 @@ - + VictorSPXSimProfile - + diff --git a/docs/swervelib/simulation/ctre/package-summary.html b/docs/swervelib/simulation/ctre/package-summary.html index 9a56da5..13b7327 100644 --- a/docs/swervelib/simulation/ctre/package-summary.html +++ b/docs/swervelib/simulation/ctre/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.simulation.ctre - + diff --git a/docs/swervelib/simulation/ctre/package-tree.html b/docs/swervelib/simulation/ctre/package-tree.html index 0db8315..f43b0d4 100644 --- a/docs/swervelib/simulation/ctre/package-tree.html +++ b/docs/swervelib/simulation/ctre/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.simulation.ctre Class Hierarchy - + diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html index 7f774d4..751cd33 100644 --- a/docs/swervelib/simulation/package-summary.html +++ b/docs/swervelib/simulation/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.simulation - + @@ -79,26 +79,6 @@ loadScripts(document, 'script');
    CTRE Physics Simulator.
    -
    swervelib.encoders
    -
    -
    Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
    -
    -
    swervelib.imu
    -
    -
    IMUs used for controlling the robot heading.
    -
    -
    swervelib.math
    -
    -
    Mathematics for swerve drives.
    -
    -
    swervelib.motors
    -
    -
    Swerve motor controller wrappers which implement SwerveMotor.
    -
    -
    swervelib.parser
    -
    -
    JSON Parser for YAGSL configurations.
    -
    diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html index 2cd045c..38c3ee2 100644 --- a/docs/swervelib/simulation/package-tree.html +++ b/docs/swervelib/simulation/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.simulation Class Hierarchy - + diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html new file mode 100644 index 0000000..99da4f4 --- /dev/null +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html @@ -0,0 +1,341 @@ + + + + +SwerveDriveTelemetry + + + + + + + + + + + + + + + +
    + +
    +
    + +
    +
    Package swervelib.telemetry
    +

    Class SwerveDriveTelemetry

    +
    +
    java.lang.Object +
    swervelib.telemetry.SwerveDriveTelemetry
    +
    +
    +
    +
    public class SwerveDriveTelemetry +extends Object
    +
    Telemetry to describe the SwerveDrive following frc-web-components. (Which follows AdvantageKit)
    +
    +
    +
      + +
    • +
      +

      Field Summary

      +
      Fields
      +
      +
      Modifier and Type
      +
      Field
      +
      Description
      +
      static double[]
      +
      desiredChassisSpeeds
      +
      +
      Describes the desired forward, sideways and angular velocity of the robot.
      +
      +
      static double[]
      +
      desiredStates
      +
      +
      An array of rotation and velocity values describing the desired state of each swerve module
      +
      +
      static String
      +
      forwardDirection
      +
      +
      The direction the robot should be facing when the "Robot Rotation" is zero or blank.
      +
      +
      static double
      +
      maxAngularVelocity
      +
      +
      The maximum achievable angular velocity of the robot.
      +
      +
      static double
      +
      maxSpeed
      +
      +
      The maximum achievable speed of the modules, used to adjust the size of the vectors.
      +
      +
      static double[]
      +
      measuredChassisSpeeds
      +
      +
      The maximum achievable angular velocity of the robot.
      +
      +
      static double[]
      +
      measuredStates
      +
      +
      An array of rotation and velocity values describing the measured state of each swerve module
      +
      +
      static int
      +
      moduleCount
      +
      +
      The number of swerve modules
      +
      +
      static double
      +
      robotRotation
      +
      +
      The robot's current rotation based on odometry or gyro readings
      +
      +
      static String
      +
      rotationUnit
      +
      +
      The units of the module rotations and robot rotation
      +
      +
      static double
      +
      sizeFrontBack
      +
      +
      The distance between the front and back modules.
      +
      +
      static double
      +
      sizeLeftRight
      +
      +
      The distance between the left and right modules.
      +
      +
      static double[]
      +
      wheelLocations
      +
      +
      The number of swerve modules
      +
      +
      +
      +
      • + +
    • +
      +

      Constructor Summary

      +
      Constructors
      +
      +
      Constructor
      +
      Description
      +
      SwerveDriveTelemetry()
      +
       
      +
      +
      +
      • + +
    • +
      +

      Method Summary

      +
      +
      +
      +
      +
      Modifier and Type
      +
      Method
      +
      Description
      +
      static void
      +
      updateData()
      +
      +
      Upload data to smartdashboard
      +
      +
      +
      +
      +
      +

      Methods inherited from class java.lang.Object

      +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
      +
      +
      • +
    +
    +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        moduleCount

        +
        public static int moduleCount
        +
        The number of swerve modules
        +
        +
        • +
      • +
        +

        wheelLocations

        +
        public static double[] wheelLocations
        +
        The number of swerve modules
        +
        +
        • +
      • +
        +

        measuredStates

        +
        public static double[] measuredStates
        +
        An array of rotation and velocity values describing the measured state of each swerve module
        +
        +
        • +
      • +
        +

        desiredStates

        +
        public static double[] desiredStates
        +
        An array of rotation and velocity values describing the desired state of each swerve module
        +
        +
        • +
      • +
        +

        robotRotation

        +
        public static double robotRotation
        +
        The robot's current rotation based on odometry or gyro readings
        +
        +
        • +
      • +
        +

        maxSpeed

        +
        public static double maxSpeed
        +
        The maximum achievable speed of the modules, used to adjust the size of the vectors.
        +
        +
        • +
      • +
        +

        rotationUnit

        +
        public static String rotationUnit
        +
        The units of the module rotations and robot rotation
        +
        +
        • +
      • +
        +

        sizeLeftRight

        +
        public static double sizeLeftRight
        +
        The distance between the left and right modules.
        +
        +
        • +
      • +
        +

        sizeFrontBack

        +
        public static double sizeFrontBack
        +
        The distance between the front and back modules.
        +
        +
        • +
      • +
        +

        forwardDirection

        +
        public static String forwardDirection
        +
        The direction the robot should be facing when the "Robot Rotation" is zero or blank. This option is often useful to + align with odometry data or match videos. 'up', 'right', 'down' or 'left'
        +
        +
        • +
      • +
        +

        maxAngularVelocity

        +
        public static double maxAngularVelocity
        +
        The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the + chassis speeds properties.
        +
        +
        • +
      • +
        +

        measuredChassisSpeeds

        +
        public static double[] measuredChassisSpeeds
        +
        The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the + chassis speeds properties.
        +
        +
        • +
      • +
        +

        desiredChassisSpeeds

        +
        public static double[] desiredChassisSpeeds
        +
        Describes the desired forward, sideways and angular velocity of the robot.
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        SwerveDriveTelemetry

        +
        public SwerveDriveTelemetry()
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Method Details

      +
        +
      • +
        +

        updateData

        +
        public static void updateData()
        +
        Upload data to smartdashboard
        +
        +
        • +
      +
      +
      • +
    +
    + +
    +
    +
    + + diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html new file mode 100644 index 0000000..e4f7931 --- /dev/null +++ b/docs/swervelib/telemetry/package-summary.html @@ -0,0 +1,100 @@ + + + + +swervelib.telemetry + + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Package swervelib.telemetry

    +
    +
    +
    package swervelib.telemetry
    +
    +
    Telemetry package for sending data to NT4 or SmartDashboard.
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    +
      +
    • + +
      • +
    • +
      +
      Classes
      +
      +
      Class
      +
      Description
      +
      SwerveDriveTelemetry
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      +
      Telemetry to describe the SwerveDrive following frc-web-components.
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      +
      +
      +
      • +
    +
    +
    +
    +
    + + diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html new file mode 100644 index 0000000..4a71e83 --- /dev/null +++ b/docs/swervelib/telemetry/package-tree.html @@ -0,0 +1,71 @@ + + + + +swervelib.telemetry Class Hierarchy + + + + + + + + + + + + + + + +
    + +
    +
    +
    +

    Hierarchy For Package swervelib.telemetry

    +Package Hierarchies: + +
    +
    +

    Class Hierarchy

    + +
    +
    +
    +
    + + diff --git a/docs/type-search-index.js b/docs/type-search-index.js index e997e1b..e90a937 100644 --- a/docs/type-search-index.js +++ b/docs/type-search-index.js @@ -1 +1 @@ -typeSearchIndex = [{"p":"swervelib.imu","l":"ADIS16448Swerve"},{"p":"swervelib.imu","l":"ADIS16470Swerve"},{"p":"swervelib.imu","l":"ADXRS450Swerve"},{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"swervelib.imu","l":"AnalogGyroSwerve"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.simulation.ctre","l":"PhysicsSim"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.simulation.ctre","l":"PhysicsSim.SimProfile"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.simulation","l":"SwerveIMUSimulation"},{"p":"swervelib.math","l":"SwerveKinematics2"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.simulation","l":"SwerveModuleSimulation"},{"p":"swervelib.math","l":"SwerveModuleState2"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.simulation.ctre","l":"TalonFXSimProfile"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.simulation.ctre","l":"TalonSRXSimProfile"},{"p":"swervelib.motors","l":"TalonSRXSwerve"},{"p":"swervelib.simulation.ctre","l":"VictorSPXSimProfile"}];updateSearchResults(); \ No newline at end of file +typeSearchIndex = [{"p":"swervelib.imu","l":"ADIS16448Swerve"},{"p":"swervelib.imu","l":"ADIS16470Swerve"},{"p":"swervelib.imu","l":"ADXRS450Swerve"},{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"swervelib.encoders","l":"AnalogAbsoluteEncoderSwerve"},{"p":"swervelib.imu","l":"AnalogGyroSwerve"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.simulation.ctre","l":"PhysicsSim"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.simulation.ctre","l":"PhysicsSim.SimProfile"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.simulation","l":"SwerveIMUSimulation"},{"p":"swervelib.math","l":"SwerveKinematics2"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.simulation","l":"SwerveModuleSimulation"},{"p":"swervelib.math","l":"SwerveModuleState2"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.simulation.ctre","l":"TalonFXSimProfile"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.simulation.ctre","l":"TalonSRXSimProfile"},{"p":"swervelib.motors","l":"TalonSRXSwerve"},{"p":"swervelib.simulation.ctre","l":"VictorSPXSimProfile"}];updateSearchResults(); \ No newline at end of file diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java index 7e7e3a8..1d5c646 100644 --- a/swervelib/SwerveDrive.java +++ b/swervelib/SwerveDrive.java @@ -19,10 +19,12 @@ import java.util.ArrayList; import java.util.List; import swervelib.imu.SwerveIMU; import swervelib.math.SwerveKinematics2; +import swervelib.math.SwerveMath; import swervelib.math.SwerveModuleState2; import swervelib.parser.SwerveControllerConfiguration; import swervelib.parser.SwerveDriveConfiguration; import swervelib.simulation.SwerveIMUSimulation; +import swervelib.telemetry.SwerveDriveTelemetry; /** * Swerve Drive class representing and controlling the swerve drive. @@ -113,7 +115,21 @@ public class SwerveDrive 0.9)); // x,y,heading in radians; Vision measurement std dev, higher=less weight zeroGyro(); + + // Initialize Telemetry SmartDashboard.putData("Field", field); + + SwerveDriveTelemetry.maxSpeed = swerveDriveConfiguration.maxSpeed; + SwerveDriveTelemetry.maxAngularVelocity = swerveController.config.maxAngularVelocity; + SwerveDriveTelemetry.moduleCount = swerveModules.length; + SwerveDriveTelemetry.sizeLeftRight = SwerveMath.getSwerveModule(swerveModules, true, false).moduleLocation.getX() - + SwerveMath.getSwerveModule(swerveModules, false, false).moduleLocation.getX(); + SwerveDriveTelemetry.sizeFrontBack = SwerveMath.getSwerveModule(swerveModules, false, true).moduleLocation.getY() - + SwerveMath.getSwerveModule(swerveModules, false, false).moduleLocation.getY(); + SwerveDriveTelemetry.wheelLocations = new double[SwerveDriveTelemetry.moduleCount * 2]; + SwerveDriveTelemetry.measuredStates = new double[SwerveDriveTelemetry.moduleCount * 2]; + SwerveDriveTelemetry.desiredStates = new double[SwerveDriveTelemetry.moduleCount * 2]; + // TODO: Might need to flip X and Y. } /** @@ -144,6 +160,9 @@ public class SwerveDrive // Display commanded speed for testing SmartDashboard.putString("RobotVelocity", velocity.toString()); + SwerveDriveTelemetry.desiredChassisSpeeds[1] = velocity.vyMetersPerSecond; + SwerveDriveTelemetry.desiredChassisSpeeds[0] = velocity.vxMetersPerSecond; + SwerveDriveTelemetry.desiredChassisSpeeds[2] = Math.toDegrees(velocity.omegaRadiansPerSecond); // Calculate required module states via kinematics SwerveModuleState2[] swerveModuleStates = kinematics.toSwerveModuleStates(velocity); @@ -439,24 +458,32 @@ public class SwerveDrive swerveDrivePoseEstimator.update(getYaw(), getModulePositions()); // Update angle accumulator if the robot is simulated + Pose2d[] modulePoses = getSwerveModulePoses(swerveDrivePoseEstimator.getEstimatedPosition()); if (RobotBase.isSimulation()) { simIMU.updateOdometry( kinematics, getStates(), - getSwerveModulePoses(swerveDrivePoseEstimator.getEstimatedPosition()), + modulePoses, field); } field.setRobotPose(swerveDrivePoseEstimator.getEstimatedPosition()); + ChassisSpeeds measuredChassisSpeeds = kinematics.toChassisSpeeds(getStates()); + SwerveDriveTelemetry.measuredChassisSpeeds[1] = measuredChassisSpeeds.vyMetersPerSecond; + SwerveDriveTelemetry.measuredChassisSpeeds[0] = measuredChassisSpeeds.vxMetersPerSecond; + SwerveDriveTelemetry.measuredChassisSpeeds[2] = Math.toDegrees(measuredChassisSpeeds.omegaRadiansPerSecond); + SwerveDriveTelemetry.robotRotation = getYaw().getDegrees(); - double[] moduleStates = new double[swerveModules.length * 2]; - double sumOmega = 0; + double sumOmega = 0; for (SwerveModule module : swerveModules) { SwerveModuleState2 moduleState = module.getState(); - moduleStates[module.moduleNumber] = moduleState.angle.getDegrees(); - moduleStates[module.moduleNumber + 1] = moduleState.speedMetersPerSecond; + SwerveDriveTelemetry.measuredStates[module.moduleNumber * 2] = moduleState.angle.getDegrees(); + SwerveDriveTelemetry.measuredStates[(module.moduleNumber * 2) + 1] = moduleState.speedMetersPerSecond; + SwerveDriveTelemetry.wheelLocations[module.moduleNumber * 2] = modulePoses[module.moduleNumber].getX(); + SwerveDriveTelemetry.wheelLocations[(module.moduleNumber * 2) + 1] = modulePoses[module.moduleNumber].getY(); + sumOmega += Math.abs(moduleState.omegaRadPerSecond); SmartDashboard.putNumber( @@ -464,7 +491,6 @@ public class SwerveDrive SmartDashboard.putNumber( "Module" + module.moduleNumber + "Absolute Encoder", module.getAbsolutePosition()); } - SmartDashboard.putNumberArray("moduleStates", moduleStates); // If the robot isn't moving synchronize the encoders every 100ms (Inspired by democrat's SDS // lib) @@ -474,6 +500,8 @@ public class SwerveDrive synchronizeModuleEncoders(); moduleSynchronizationCounter = 0; } + + SwerveDriveTelemetry.updateData(); } /** diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java index fba0122..82adebb 100644 --- a/swervelib/SwerveModule.java +++ b/swervelib/SwerveModule.java @@ -90,12 +90,12 @@ public class SwerveModule { absoluteEncoder.factoryDefault(); absoluteEncoder.configure(moduleConfiguration.absoluteEncoderInverted); - angleMotor.configureIntegratedEncoder( - moduleConfiguration.getPositionEncoderConversion(false)); angleMotor.setPosition(absoluteEncoder.getAbsolutePosition() - angleOffset); } // Config angle motor/controller + angleMotor.configureIntegratedEncoder( + moduleConfiguration.getPositionEncoderConversion(false)); angleMotor.configurePIDF(moduleConfiguration.anglePIDF); angleMotor.configurePIDWrapping(-180, 180); angleMotor.setInverted(moduleConfiguration.angleMotorInverted); @@ -183,7 +183,7 @@ public class SwerveModule */ public void setAngle(double angle) { - angleMotor.setReference(angle, 1 * configuration.angleKV); + angleMotor.setReference(angle, configuration.angleKV); lastAngle = angle; } @@ -231,19 +231,24 @@ public class SwerveModule } /** - * Get the absolute position. + * Get the absolute position. Falls back to relative position on reading failure. * * @return Absolute encoder angle in degrees. */ public double getAbsolutePosition() { - double angle = absoluteEncoder.getAbsolutePosition(); - if (absoluteEncoder.readingError) + if (absoluteEncoder != null) { - angle = getRelativePosition(); + double angle = absoluteEncoder.getAbsolutePosition(); + if (absoluteEncoder.readingError) + { + angle = getRelativePosition(); + } + + return angle; } - return angle; + return getRelativePosition(); } /** diff --git a/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java b/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java new file mode 100644 index 0000000..39f7b0c --- /dev/null +++ b/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java @@ -0,0 +1,92 @@ +package swervelib.encoders; + +import edu.wpi.first.wpilibj.AnalogInput; +import edu.wpi.first.wpilibj.RobotController; + +/** + * Swerve Absolute Encoder for Thrifty Encoders and other analog encoders. + */ +public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder +{ + // Entire class inspired by 5010 + // Source: https://github.com/FRC5010/FRCLibrary/blob/main/FRC5010Example2023/src/main/java/frc/robot/FRC5010/sensors/AnalogInput5010.java + /** + * Encoder as Analog Input. + */ + public AnalogInput encoder; + /** + * Inversion state of the encoder. + */ + private boolean inverted = false; + + /** + * Construct the Thrifty Encoder as a Swerve Absolute Encoder. + * + * @param encoder Encoder to construct. + */ + public AnalogAbsoluteEncoderSwerve(AnalogInput encoder) + { + this.encoder = encoder; + } + + /** + * Construct the Encoder given the analog input channel. + * + * @param channel Analog Input channel of which the encoder resides. + */ + public AnalogAbsoluteEncoderSwerve(int channel) + { + this(new AnalogInput(channel)); + } + + /** + * Reset the encoder to factory defaults. + */ + @Override + public void factoryDefault() + { + // Do nothing + } + + /** + * Clear sticky faults on the encoder. + */ + @Override + public void clearStickyFaults() + { + // Do nothing + } + + /** + * Configure the absolute encoder to read from [0, 360) per second. + * + * @param inverted Whether the encoder is inverted. + */ + @Override + public void configure(boolean inverted) + { + this.inverted = inverted; + } + + /** + * Get the absolute position of the encoder. + * + * @return Absolute position in degrees from [0, 360). + */ + @Override + public double getAbsolutePosition() + { + return (inverted ? -1.0 : 1.0) * (encoder.getAverageVoltage() / RobotController.getVoltage5V()) * 360; + } + + /** + * Get the instantiated absolute encoder Object. + * + * @return Absolute encoder object. + */ + @Override + public Object getAbsoluteEncoder() + { + return encoder; + } +} diff --git a/swervelib/parser/json/DeviceJson.java b/swervelib/parser/json/DeviceJson.java index 47232a7..4efd8c4 100644 --- a/swervelib/parser/json/DeviceJson.java +++ b/swervelib/parser/json/DeviceJson.java @@ -1,5 +1,6 @@ package swervelib.parser.json; +import swervelib.encoders.AnalogAbsoluteEncoderSwerve; import swervelib.encoders.CANCoderSwerve; import swervelib.encoders.SparkMaxEncoderSwerve; import swervelib.encoders.SwerveAbsoluteEncoder; @@ -48,6 +49,11 @@ public class DeviceJson case "integrated": case "attached": return null; + case "thrifty": + case "throughbore": + case "dutycycle": + case "analog": + return new AnalogAbsoluteEncoderSwerve(id); case "cancoder": return new CANCoderSwerve(id, canbus != null ? canbus : ""); default: @@ -117,7 +123,8 @@ public class DeviceJson { case "sparkmax": return new SparkMaxEncoderSwerve(motor); - case "none": + case "falcon": + case "talonfx": return null; } throw new RuntimeException( diff --git a/swervelib/telemetry/SwerveDriveTelemetry.java b/swervelib/telemetry/SwerveDriveTelemetry.java new file mode 100644 index 0000000..44d5e5d --- /dev/null +++ b/swervelib/telemetry/SwerveDriveTelemetry.java @@ -0,0 +1,86 @@ +package swervelib.telemetry; + +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +/** + * Telemetry to describe the {@link swervelib.SwerveDrive} following frc-web-components. (Which follows AdvantageKit) + */ +public class SwerveDriveTelemetry +{ + + /** + * The number of swerve modules + */ + public static int moduleCount; + /** + * The number of swerve modules + */ + public static double[] wheelLocations; + /** + * An array of rotation and velocity values describing the measured state of each swerve module + */ + public static double[] measuredStates; + /** + * An array of rotation and velocity values describing the desired state of each swerve module + */ + public static double[] desiredStates; + /** + * The robot's current rotation based on odometry or gyro readings + */ + public static double robotRotation = 0; + /** + * The maximum achievable speed of the modules, used to adjust the size of the vectors. + */ + public static double maxSpeed; + /** + * The units of the module rotations and robot rotation + */ + public static String rotationUnit = "degrees"; + /** + * The distance between the left and right modules. + */ + public static double sizeLeftRight; + /** + * The distance between the front and back modules. + */ + public static double sizeFrontBack; + /** + * The direction the robot should be facing when the "Robot Rotation" is zero or blank. This option is often useful to + * align with odometry data or match videos. 'up', 'right', 'down' or 'left' + */ + public static String forwardDirection = "up"; + /** + * The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the + * chassis speeds properties. + */ + public static double maxAngularVelocity; + /** + * The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the + * chassis speeds properties. + */ + public static double[] measuredChassisSpeeds = new double[3]; + /** + * Describes the desired forward, sideways and angular velocity of the robot. + */ + public static double[] desiredChassisSpeeds = new double[3]; + + /** + * Upload data to smartdashboard + */ + public static void updateData() + { + SmartDashboard.putNumber("/swerve/moduleCount", moduleCount); + SmartDashboard.putNumberArray("/swerve/wheelLocations", wheelLocations); + SmartDashboard.putNumberArray("/swerve/measuredStates", measuredStates); + SmartDashboard.putNumberArray("/swerve/desiredStates", desiredStates); + SmartDashboard.putNumber("/swerve/robotRotation", robotRotation); + SmartDashboard.putNumber("/swerve/maxSpeed", maxSpeed); + SmartDashboard.putString("/swerve/rotationUnit", rotationUnit); + SmartDashboard.putNumber("/swerve/sizeLeftRight", sizeLeftRight); + SmartDashboard.putNumber("/swerve/sizeFrontBack", sizeFrontBack); + SmartDashboard.putString("/swerve/forwardDirection", forwardDirection); + SmartDashboard.putNumber("/swerve/maxAngularVelocity", maxAngularVelocity); + SmartDashboard.putNumberArray("/swerve/measuredChassisSpeeds", measuredChassisSpeeds); + SmartDashboard.putNumberArray("/swerve/desiredChassisSpeeds", desiredChassisSpeeds); + } +} diff --git a/swervelib/telemetry/package-info.java b/swervelib/telemetry/package-info.java new file mode 100644 index 0000000..4b8f611 --- /dev/null +++ b/swervelib/telemetry/package-info.java @@ -0,0 +1,4 @@ +/** + * Telemetry package for sending data to NT4 or SmartDashboard. + */ +package swervelib.telemetry; \ No newline at end of file