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Added more encoder support, possible advantagescope support.

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thenetworkgrinch
2023-02-21 22:38:14 -06:00
parent 24e0a2d43c
commit 8bfa4a8824
114 changed files with 1455 additions and 399 deletions
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docs/swervelib/SwerveController.html
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<!DOCTYPE HTML>
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<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
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docs/swervelib/SwerveDrive.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
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<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="2023-02-20">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
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<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">
@@ -373,7 +373,7 @@ loadScripts(document, 'script');</script>
<section class="detail" id="getAbsolutePosition()">
<h3>getAbsolutePosition</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getAbsolutePosition</span>()</div>
<div class="block">Get the absolute position.</div>
<div class="block">Get the absolute position. Falls back to relative position on reading failure.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>Absolute encoder angle in degrees.</dd>

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docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html Normal file
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-21">
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<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
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<script type="text/javascript">var evenRowColor = "even-row-color";
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<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.encoders</a></div>
<h1 title="Class AnalogAbsoluteEncoderSwerve" class="title">Class AnalogAbsoluteEncoderSwerve</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"><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">swervelib.encoders.SwerveAbsoluteEncoder</a>
<div class="inheritance">swervelib.encoders.AnalogAbsoluteEncoderSwerve</div>
</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">AnalogAbsoluteEncoderSwerve</span>
<span class="extends-implements">extends <a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></span></div>
<div class="block">Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.</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>edu.wpi.first.wpilibj.AnalogInput</code></div>
<div class="col-second even-row-color"><code><a href="#encoder" class="member-name-link">encoder</a></code></div>
<div class="col-last even-row-color">
<div class="block">Encoder as Analog Input.</div>
</div>
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#inverted" class="member-name-link">inverted</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Inversion state of the encoder.</div>
</div>
</div>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-swervelib.encoders.SwerveAbsoluteEncoder">Fields inherited from class&nbsp;swervelib.encoders.<a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></h3>
<code><a href="SwerveAbsoluteEncoder.html#readingError">readingError</a></code></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">AnalogAbsoluteEncoderSwerve</a><wbr>(int&nbsp;channel)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct the Encoder given the analog input channel.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.wpilibj.AnalogInput)" class="member-name-link">AnalogAbsoluteEncoderSwerve</a><wbr>(edu.wpi.first.wpilibj.AnalogInput&nbsp;encoder)</code></div>
<div class="col-last odd-row-color">
<div class="block">Construct the Thrifty Encoder as a Swerve Absolute Encoder.</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="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Clear sticky faults on the encoder.</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="#configure(boolean)" class="member-name-link">configure</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</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="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset the encoder to factory defaults.</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/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAbsoluteEncoder()" class="member-name-link">getAbsoluteEncoder</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 instantiated absolute encoder Object.</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="#getAbsolutePosition()" class="member-name-link">getAbsolutePosition</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 absolute position of the encoder.</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="encoder">
<h3>encoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj.AnalogInput</span>&nbsp;<span class="element-name">encoder</span></div>
<div class="block">Encoder as Analog Input.</div>
</section>
</li>
<li>
<section class="detail" id="inverted">
<h3>inverted</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">inverted</span></div>
<div class="block">Inversion state of the encoder.</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;(edu.wpi.first.wpilibj.AnalogInput)">
<h3>AnalogAbsoluteEncoderSwerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">AnalogAbsoluteEncoderSwerve</span><wbr><span class="parameters">(edu.wpi.first.wpilibj.AnalogInput&nbsp;encoder)</span></div>
<div class="block">Construct the Thrifty Encoder as a Swerve Absolute Encoder.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>encoder</code> - Encoder to construct.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(int)">
<h3>AnalogAbsoluteEncoderSwerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">AnalogAbsoluteEncoderSwerve</span><wbr><span class="parameters">(int&nbsp;channel)</span></div>
<div class="block">Construct the Encoder given the analog input channel.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>channel</code> - Analog Input channel of which the encoder resides.</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="factoryDefault()">
<h3>factoryDefault</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
<div class="block">Reset the encoder to factory defaults.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="clearStickyFaults()">
<h3>clearStickyFaults</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
<div class="block">Clear sticky faults on the encoder.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#clearStickyFaults()">clearStickyFaults</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="configure(boolean)">
<h3>configure</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configure</span><wbr><span class="parameters">(boolean&nbsp;inverted)</span></div>
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#configure(boolean)">configure</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt>Parameters:</dt>
<dd><code>inverted</code> - Whether the encoder is inverted.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAbsolutePosition()">
<h3>getAbsolutePosition</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getAbsolutePosition</span>()</div>
<div class="block">Get the absolute position of the encoder.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt>Returns:</dt>
<dd>Absolute position in degrees from [0, 360).</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAbsoluteEncoder()">
<h3>getAbsoluteEncoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><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>&nbsp;<span class="element-name">getAbsoluteEncoder</span>()</div>
<div class="block">Get the instantiated absolute encoder Object.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsoluteEncoder()">getAbsoluteEncoder</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt>Returns:</dt>
<dd>Absolute encoder object.</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 Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.encoders, class: CANCoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.encoders, class: SparkMaxEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

6
docs/swervelib/encoders/SwerveAbsoluteEncoder.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.encoders, class: SwerveAbsoluteEncoder">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -77,7 +77,7 @@ loadScripts(document, 'script');</script>
<section class="class-description" id="class-description">
<dl class="notes">
<dt>Direct Known Subclasses:</dt>
<dd><code><a href="CANCoderSwerve.html" title="class in swervelib.encoders">CANCoderSwerve</a></code>, <code><a href="SparkMaxEncoderSwerve.html" title="class in swervelib.encoders">SparkMaxEncoderSwerve</a></code></dd>
<dd><code><a href="AnalogAbsoluteEncoderSwerve.html" title="class in swervelib.encoders">AnalogAbsoluteEncoderSwerve</a></code>, <code><a href="CANCoderSwerve.html" title="class in swervelib.encoders">CANCoderSwerve</a></code>, <code><a href="SparkMaxEncoderSwerve.html" title="class in swervelib.encoders">SparkMaxEncoderSwerve</a></code></dd>
</dl>
<hr>
<div class="type-signature"><span class="modifiers">public abstract class </span><span class="element-name type-name-label">SwerveAbsoluteEncoder</span>

38
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -75,26 +75,6 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.</div>
</div>
<div class="col-first odd-row-color"><a href="../imu/package-summary.html">swervelib.imu</a></div>
<div class="col-last odd-row-color">
<div class="block">IMUs used for controlling the robot heading.</div>
</div>
<div class="col-first even-row-color"><a href="../math/package-summary.html">swervelib.math</a></div>
<div class="col-last even-row-color">
<div class="block">Mathematics for swerve drives.</div>
</div>
<div class="col-first odd-row-color"><a href="../motors/package-summary.html">swervelib.motors</a></div>
<div class="col-last odd-row-color">
<div class="block">Swerve motor controller wrappers which implement <a href="../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a>.</div>
</div>
<div class="col-first even-row-color"><a href="../parser/package-summary.html">swervelib.parser</a></div>
<div class="col-last even-row-color">
<div class="block">JSON Parser for YAGSL configurations.</div>
</div>
<div class="col-first odd-row-color"><a href="../simulation/package-summary.html">swervelib.simulation</a></div>
<div class="col-last odd-row-color">
<div class="block">Classes used to simulate the swerve drive.</div>
</div>
</div>
</div>
</li>
@@ -104,16 +84,20 @@ 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="CANCoderSwerve.html" title="class in swervelib.encoders">CANCoderSwerve</a></div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="AnalogAbsoluteEncoderSwerve.html" title="class in swervelib.encoders">AnalogAbsoluteEncoderSwerve</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="CANCoderSwerve.html" title="class in swervelib.encoders">CANCoderSwerve</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Swerve Absolute Encoder for CTRE CANCoders.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="SparkMaxEncoderSwerve.html" title="class in swervelib.encoders">SparkMaxEncoderSwerve</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="SparkMaxEncoderSwerve.html" title="class in swervelib.encoders">SparkMaxEncoderSwerve</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">SparkMax absolute encoder, attached through the data port.</div>
</div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</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="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..</div>
</div>
</div>

5
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="tree: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageTreeWriter">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -61,6 +61,7 @@ loadScripts(document, 'script');</script>
<ul>
<li class="circle">swervelib.encoders.<a href="SwerveAbsoluteEncoder.html" class="type-name-link" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>
<ul>
<li class="circle">swervelib.encoders.<a href="AnalogAbsoluteEncoderSwerve.html" class="type-name-link" title="class in swervelib.encoders">AnalogAbsoluteEncoderSwerve</a></li>
<li class="circle">swervelib.encoders.<a href="CANCoderSwerve.html" class="type-name-link" title="class in swervelib.encoders">CANCoderSwerve</a></li>
<li class="circle">swervelib.encoders.<a href="SparkMaxEncoderSwerve.html" class="type-name-link" title="class in swervelib.encoders">SparkMaxEncoderSwerve</a></li>
</ul>

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16448Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<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 Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16470Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<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 Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.imu, class: ADXRS450Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<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 Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.imu, class: AnalogGyroSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<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 Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.imu, class: NavXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<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 Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<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">

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.imu, class: PigeonSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<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 Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.imu, class: SwerveIMU">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

24
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<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">
@@ -75,26 +75,6 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.</div>
</div>
<div class="col-first odd-row-color"><a href="../encoders/package-summary.html">swervelib.encoders</a></div>
<div class="col-last odd-row-color">
<div class="block">Absolute encoders for the swerve drive, all implement <a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a>.</div>
</div>
<div class="col-first even-row-color"><a href="../math/package-summary.html">swervelib.math</a></div>
<div class="col-last even-row-color">
<div class="block">Mathematics for swerve drives.</div>
</div>
<div class="col-first odd-row-color"><a href="../motors/package-summary.html">swervelib.motors</a></div>
<div class="col-last odd-row-color">
<div class="block">Swerve motor controller wrappers which implement <a href="../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a>.</div>
</div>
<div class="col-first even-row-color"><a href="../parser/package-summary.html">swervelib.parser</a></div>
<div class="col-last even-row-color">
<div class="block">JSON Parser for YAGSL configurations.</div>
</div>
<div class="col-first odd-row-color"><a href="../simulation/package-summary.html">swervelib.simulation</a></div>
<div class="col-last odd-row-color">
<div class="block">Classes used to simulate the swerve drive.</div>
</div>
</div>
</div>
</li>

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<title>swervelib.imu 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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="tree: package: swervelib.imu">
<meta name="generator" content="javadoc/PackageTreeWriter">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<title>SwerveKinematics2</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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveKinematics2">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/math/SwerveMath.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveMath">
<meta name="generator" content="javadoc/ClassWriterImpl">
<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 Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<title>SwerveModuleState2</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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveModuleState2">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

24
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<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">
@@ -75,26 +75,6 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.</div>
</div>
<div class="col-first odd-row-color"><a href="../encoders/package-summary.html">swervelib.encoders</a></div>
<div class="col-last odd-row-color">
<div class="block">Absolute encoders for the swerve drive, all implement <a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a>.</div>
</div>
<div class="col-first even-row-color"><a href="../imu/package-summary.html">swervelib.imu</a></div>
<div class="col-last even-row-color">
<div class="block">IMUs used for controlling the robot heading.</div>
</div>
<div class="col-first odd-row-color"><a href="../motors/package-summary.html">swervelib.motors</a></div>
<div class="col-last odd-row-color">
<div class="block">Swerve motor controller wrappers which implement <a href="../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a>.</div>
</div>
<div class="col-first even-row-color"><a href="../parser/package-summary.html">swervelib.parser</a></div>
<div class="col-last even-row-color">
<div class="block">JSON Parser for YAGSL configurations.</div>
</div>
<div class="col-first odd-row-color"><a href="../simulation/package-summary.html">swervelib.simulation</a></div>
<div class="col-last odd-row-color">
<div class="block">Classes used to simulate the swerve drive.</div>
</div>
</div>
</div>
</li>

4
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="tree: package: swervelib.math">
<meta name="generator" content="javadoc/PackageTreeWriter">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
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<title>SparkMaxSwerve.SparkMAX_slotIdx</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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxSwerve, enum: SparkMAX_slotIdx">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-20">
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<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxSwerve">
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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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.motors, class: SwerveMotor">
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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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.motors, class: TalonFXSwerve">
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<html lang="en">
<head>
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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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.motors, class: TalonSRXSwerve">
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<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 21 22:36:27 CST 2023 -->
<title>swervelib.motors</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="2023-02-20">
<meta name="dc.created" content="2023-02-21">
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@@ -79,26 +79,6 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.</div>
</div>
<div class="col-first odd-row-color"><a href="../encoders/package-summary.html">swervelib.encoders</a></div>
<div class="col-last odd-row-color">
<div class="block">Absolute encoders for the swerve drive, all implement <a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a>.</div>
</div>
<div class="col-first even-row-color"><a href="../imu/package-summary.html">swervelib.imu</a></div>
<div class="col-last even-row-color">
<div class="block">IMUs used for controlling the robot heading.</div>
</div>
<div class="col-first odd-row-color"><a href="../math/package-summary.html">swervelib.math</a></div>
<div class="col-last odd-row-color">
<div class="block">Mathematics for swerve drives.</div>
</div>
<div class="col-first even-row-color"><a href="../parser/package-summary.html">swervelib.parser</a></div>
<div class="col-last even-row-color">
<div class="block">JSON Parser for YAGSL configurations.</div>
</div>
<div class="col-first odd-row-color"><a href="../simulation/package-summary.html">swervelib.simulation</a></div>
<div class="col-last odd-row-color">
<div class="block">Classes used to simulate the swerve drive.</div>
</div>
</div>
</div>
</li>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
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<title>swervelib.motors Class Hierarchy</title>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-20">
<meta name="dc.created" content="2023-02-21">
<meta name="description" content="tree: package: swervelib.motors">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 20 22:01:54 CST 2023 -->
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<title>swervelib</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<div class="col-last odd-row-color">
<div class="block">Classes used to simulate the swerve drive.</div>
</div>
<div class="col-first even-row-color"><a href="telemetry/package-summary.html">swervelib.telemetry</a></div>
<div class="col-last even-row-color">
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</div>
</div>
</li>

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<title>swervelib.parser.json.modules Class Hierarchy</title>
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<div class="col-last even-row-color">
<div class="block">JSON Mapped classes for parsing configuration files.</div>
</div>
<div class="col-first odd-row-color"><a href="../encoders/package-summary.html">swervelib.encoders</a></div>
<div class="col-last odd-row-color">
<div class="block">Absolute encoders for the swerve drive, all implement <a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a>.</div>
</div>
<div class="col-first even-row-color"><a href="../imu/package-summary.html">swervelib.imu</a></div>
<div class="col-last even-row-color">
<div class="block">IMUs used for controlling the robot heading.</div>
</div>
<div class="col-first odd-row-color"><a href="../math/package-summary.html">swervelib.math</a></div>
<div class="col-last odd-row-color">
<div class="block">Mathematics for swerve drives.</div>
</div>
<div class="col-first even-row-color"><a href="../motors/package-summary.html">swervelib.motors</a></div>
<div class="col-last even-row-color">
<div class="block">Swerve motor controller wrappers which implement <a href="../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a>.</div>
</div>
<div class="col-first odd-row-color"><a href="../simulation/package-summary.html">swervelib.simulation</a></div>
<div class="col-last odd-row-color">
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<title>swervelib.simulation</title>
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@@ -79,26 +79,6 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">CTRE Physics Simulator.</div>
</div>
<div class="col-first even-row-color"><a href="../encoders/package-summary.html">swervelib.encoders</a></div>
<div class="col-last even-row-color">
<div class="block">Absolute encoders for the swerve drive, all implement <a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a>.</div>
</div>
<div class="col-first odd-row-color"><a href="../imu/package-summary.html">swervelib.imu</a></div>
<div class="col-last odd-row-color">
<div class="block">IMUs used for controlling the robot heading.</div>
</div>
<div class="col-first even-row-color"><a href="../math/package-summary.html">swervelib.math</a></div>
<div class="col-last even-row-color">
<div class="block">Mathematics for swerve drives.</div>
</div>
<div class="col-first odd-row-color"><a href="../motors/package-summary.html">swervelib.motors</a></div>
<div class="col-last odd-row-color">
<div class="block">Swerve motor controller wrappers which implement <a href="../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a>.</div>
</div>
<div class="col-first even-row-color"><a href="../parser/package-summary.html">swervelib.parser</a></div>
<div class="col-last even-row-color">
<div class="block">JSON Parser for YAGSL configurations.</div>
</div>
</div>
</div>
</li>

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<title>SwerveDriveTelemetry</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2023-02-21">
<meta name="description" content="declaration: package: swervelib.telemetry, class: SwerveDriveTelemetry">
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<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.telemetry</a></div>
<h1 title="Class SwerveDriveTelemetry" class="title">Class SwerveDriveTelemetry</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.telemetry.SwerveDriveTelemetry</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">SwerveDriveTelemetry</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">Telemetry to describe the <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> following frc-web-components. (Which follows AdvantageKit)</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>static double[]</code></div>
<div class="col-second even-row-color"><code><a href="#desiredChassisSpeeds" class="member-name-link">desiredChassisSpeeds</a></code></div>
<div class="col-last even-row-color">
<div class="block">Describes the desired forward, sideways and angular velocity of the robot.</div>
</div>
<div class="col-first odd-row-color"><code>static double[]</code></div>
<div class="col-second odd-row-color"><code><a href="#desiredStates" class="member-name-link">desiredStates</a></code></div>
<div class="col-last odd-row-color">
<div class="block">An array of rotation and velocity values describing the desired state of each swerve module</div>
</div>
<div class="col-first even-row-color"><code>static <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></code></div>
<div class="col-second even-row-color"><code><a href="#forwardDirection" class="member-name-link">forwardDirection</a></code></div>
<div class="col-last even-row-color">
<div class="block">The direction the robot should be facing when the "Robot Rotation" is zero or blank.</div>
</div>
<div class="col-first odd-row-color"><code>static double</code></div>
<div class="col-second odd-row-color"><code><a href="#maxAngularVelocity" class="member-name-link">maxAngularVelocity</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The maximum achievable angular velocity of the robot.</div>
</div>
<div class="col-first even-row-color"><code>static double</code></div>
<div class="col-second even-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-last even-row-color">
<div class="block">The maximum achievable speed of the modules, used to adjust the size of the vectors.</div>
</div>
<div class="col-first odd-row-color"><code>static double[]</code></div>
<div class="col-second odd-row-color"><code><a href="#measuredChassisSpeeds" class="member-name-link">measuredChassisSpeeds</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The maximum achievable angular velocity of the robot.</div>
</div>
<div class="col-first even-row-color"><code>static double[]</code></div>
<div class="col-second even-row-color"><code><a href="#measuredStates" class="member-name-link">measuredStates</a></code></div>
<div class="col-last even-row-color">
<div class="block">An array of rotation and velocity values describing the measured state of each swerve module</div>
</div>
<div class="col-first odd-row-color"><code>static int</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleCount" class="member-name-link">moduleCount</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The number of swerve modules</div>
</div>
<div class="col-first even-row-color"><code>static double</code></div>
<div class="col-second even-row-color"><code><a href="#robotRotation" class="member-name-link">robotRotation</a></code></div>
<div class="col-last even-row-color">
<div class="block">The robot's current rotation based on odometry or gyro readings</div>
</div>
<div class="col-first odd-row-color"><code>static <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></code></div>
<div class="col-second odd-row-color"><code><a href="#rotationUnit" class="member-name-link">rotationUnit</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The units of the module rotations and robot rotation</div>
</div>
<div class="col-first even-row-color"><code>static double</code></div>
<div class="col-second even-row-color"><code><a href="#sizeFrontBack" class="member-name-link">sizeFrontBack</a></code></div>
<div class="col-last even-row-color">
<div class="block">The distance between the front and back modules.</div>
</div>
<div class="col-first odd-row-color"><code>static double</code></div>
<div class="col-second odd-row-color"><code><a href="#sizeLeftRight" class="member-name-link">sizeLeftRight</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The distance between the left and right modules.</div>
</div>
<div class="col-first even-row-color"><code>static double[]</code></div>
<div class="col-second even-row-color"><code><a href="#wheelLocations" class="member-name-link">wheelLocations</a></code></div>
<div class="col-last even-row-color">
<div class="block">The number of swerve modules</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()" class="member-name-link">SwerveDriveTelemetry</a>()</code></div>
<div class="col-last even-row-color">&nbsp;</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-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 void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#updateData()" class="member-name-link">updateData</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Upload data to smartdashboard</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="moduleCount">
<h3>moduleCount</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">moduleCount</span></div>
<div class="block">The number of swerve modules</div>
</section>
</li>
<li>
<section class="detail" id="wheelLocations">
<h3>wheelLocations</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double[]</span>&nbsp;<span class="element-name">wheelLocations</span></div>
<div class="block">The number of swerve modules</div>
</section>
</li>
<li>
<section class="detail" id="measuredStates">
<h3>measuredStates</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double[]</span>&nbsp;<span class="element-name">measuredStates</span></div>
<div class="block">An array of rotation and velocity values describing the measured state of each swerve module</div>
</section>
</li>
<li>
<section class="detail" id="desiredStates">
<h3>desiredStates</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double[]</span>&nbsp;<span class="element-name">desiredStates</span></div>
<div class="block">An array of rotation and velocity values describing the desired state of each swerve module</div>
</section>
</li>
<li>
<section class="detail" id="robotRotation">
<h3>robotRotation</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">robotRotation</span></div>
<div class="block">The robot's current rotation based on odometry or gyro readings</div>
</section>
</li>
<li>
<section class="detail" id="maxSpeed">
<h3>maxSpeed</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="block">The maximum achievable speed of the modules, used to adjust the size of the vectors.</div>
</section>
</li>
<li>
<section class="detail" id="rotationUnit">
<h3>rotationUnit</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><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></span>&nbsp;<span class="element-name">rotationUnit</span></div>
<div class="block">The units of the module rotations and robot rotation</div>
</section>
</li>
<li>
<section class="detail" id="sizeLeftRight">
<h3>sizeLeftRight</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">sizeLeftRight</span></div>
<div class="block">The distance between the left and right modules.</div>
</section>
</li>
<li>
<section class="detail" id="sizeFrontBack">
<h3>sizeFrontBack</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">sizeFrontBack</span></div>
<div class="block">The distance between the front and back modules.</div>
</section>
</li>
<li>
<section class="detail" id="forwardDirection">
<h3>forwardDirection</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><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></span>&nbsp;<span class="element-name">forwardDirection</span></div>
<div class="block">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'</div>
</section>
</li>
<li>
<section class="detail" id="maxAngularVelocity">
<h3>maxAngularVelocity</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxAngularVelocity</span></div>
<div class="block">The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the
chassis speeds properties.</div>
</section>
</li>
<li>
<section class="detail" id="measuredChassisSpeeds">
<h3>measuredChassisSpeeds</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double[]</span>&nbsp;<span class="element-name">measuredChassisSpeeds</span></div>
<div class="block">The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the
chassis speeds properties.</div>
</section>
</li>
<li>
<section class="detail" id="desiredChassisSpeeds">
<h3>desiredChassisSpeeds</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double[]</span>&nbsp;<span class="element-name">desiredChassisSpeeds</span></div>
<div class="block">Describes the desired forward, sideways and angular velocity of the robot.</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;()">
<h3>SwerveDriveTelemetry</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveDriveTelemetry</span>()</div>
</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="updateData()">
<h3>updateData</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">updateData</span>()</div>
<div class="block">Upload data to smartdashboard</div>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
<!-- ========= END OF CLASS DATA ========= -->
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</div>
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<div class="package-signature">package <span class="element-name">swervelib.telemetry</span></div>
<section class="package-description" id="package-description">
<div class="block">Telemetry package for sending data to NT4 or SmartDashboard.</div>
</section>
<section class="summary">
<ul class="summary-list">
<li>
<div id="related-package-summary">
<div class="caption"><span>Related Packages</span></div>
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<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><a href="../package-summary.html">swervelib</a></div>
<div class="col-last even-row-color">
<div class="block">Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.</div>
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</div>
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<li>
<div id="class-summary">
<div class="caption"><span>Classes</span></div>
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<div class="col-first even-row-color class-summary class-summary-tab2"><a href="SwerveDriveTelemetry.html" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">Telemetry to describe the <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> following frc-web-components.</div>
</div>
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<h2 title="Class Hierarchy">Class Hierarchy</h2>
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<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>
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<li class="circle">swervelib.telemetry.<a href="SwerveDriveTelemetry.html" class="type-name-link" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></li>
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